All notable changes to this project will be documented in this file.
The format is based on Keep a Changelog and this project adheres to Semantic Versioning.
- Added support for the motor record MRES field. It must always be set the same as
microstepPerStep, that is the value of microstepping set on the controller. After that, all the other fields of the record (velocities, distances, etc...) must be considered in microstep unit.
- Fix a problem with the direction of the first homing after IOC reboot.
- Updated CI build to use darcato/epicsmng image
- More verbose output to signal some failures
- Fix crash when the IP port is disconnected
- Homing procedure does not stop in wrong position when starting from LS
- Stop is now working also during homing procedures
- Latching positions readings to avoid false readings
- Setting the target position with both registers always to be more robust
- The first movement after the IOC is started may begin on the wrong direction. When a limit switch is hit, the motor record adjusts it and bring the motor to desired position.
- When homing is started from a limit switch, the movement is not continuous. This is because the driver actually does a first movement to exit LS and then starts the homing.
- Check the actual available number of controllers on the beckDriver port to avoid errors when using incorrect parameters
- Restrict axis ranges for the shell commands to the available ones
- Fix soft and hard reset
- Using epicsmng
- Fixed compiler errors with older compilers
- Fixed wrong error print at startup with encoders and microstep set to 1
- Fixed crash when beckhoff not connected
- Support for encoders
- Support for jog movements (moveVelocity) - the motor moves with a certain velocity in one direction until stopped
- Added documentation for motor record usage
- Performace improvements on the config commands when used on axis ranges.
- Using new asynPortDriver constructor for asyn >= 4.32. This removes compiling warnings/errors depending on your EPICS base version.
- Removed compile warnings for unused variables
- Fixed wrong position after homing procedure in some cases
- HUGE performance inprovements, especially when using multiple axes. The poll method has been completely rewritten to minimize network access. Now a single modbus I/O is executed per each poll (in the controller poll) to update the position and status of all the axes, requiring just about 15-20ms, instead of about 70-100ms per axis. This enables much faster movement startup.
- beckDriver now implements asynInt32Array to read/write values from multiple modules at the same time.
- now using modbus absolute addressing to have syncronous readings.
- fixed wrong record value at startup
- fixed multiple errors printings at startup
- fixed moving reporting to motor record to set polling period
- other bug fixes
- Implemented STOP function
- Small efficiency improvements
- First release
- Position control movements
- Limit switches control
- Homing
- Startup commands for configuration
- Separate module from epics motor