Motor Module: Known problems with Release 6-8

1. Soft-travel Limits

   • Although there are a number of improvements with R6-8's support of soft-travel limits (LVIO), there are also two problems that will remain "Known Problems". These limitation are as follows:
   • Tweaking (TWF/TWR) very small increments with UEIP = Yes while in the invalid range of the soft-travel limits may put the motor record in a state where the user cannot tweak in either direction. The solution is to either jog the motor towards the valid range or increase the tweak increment value (TWV field).
   • Tapping the Jog button can cause the motor to move past the soft-travel limit when backlash is nonzero.

2. Newport ESP100/300/301

   The R6.8 ESP support changes made to "Use MRES rather than controller resolution to do EGUtoRAWbacktoEGU conversion." do not work. (Model 1 drivers do not always have access to motor record data.) The most obvious problem with R6.8 ESP support is the inability to "set" the controller's position.

   This patch file rolls back the R6.8 ESP changes and adds one bug fix to the EPS100/300/301 driver; when a controller error occurs, the driver prints the error code to the console and sets the RA_PROBLEM bit of the MSTA field. The motor record patch unconditionally sends a "stop motor" command whenever a driver sets the RA_PROBLEM bit. Finally, the patch file updates ESP info in the README file.

   R6-8-1 includes both the MRES related rollback and the STOP on RA_PROBLEM bug fix.