EPICS Asyn Galil 4-0-02

Has the following attributes:

1. Updated start scripts to aid instantiating many controllers
2. Updated substitution files to aid instantiating many controllers
3. Updated autosave arrangement to aid instantiating many controllers
4. GalilCreateAxis has reduced 4 parameters as described below:

GalilCreateAxis command parameters are:

1. char *portName Asyn port for controller
2. char axis A-H,
3. char *Motor interlock digital port number 1 to 8 eg. "1,2,4". 1st 8 bits are supported
4. int Interlock switch type 0 active when opto active, all other values switch type active when opto inactive

The limits as home option has been moved to the database galil_motor_extras.template

Change_log_4_0_02.txt

EPICS Asyn Galil 3-6-91

Has the following attributes:

1. Original Galil 3-6 start scripts
2. Original Galil 3-6 substitution files
3. Original Galil 3-6 autosave arrangement
4. Contains all bug fixes from 4-0-01
5. GalilCreateAxis has original 5 parameters as described below:

GalilCreateAxis command parameters are:

1. char *portName Asyn port for controller
2. char axis A-H,
3. int limits_as_home (0 off 1 on),
4. char *Motor interlock digital port number 1 to 8 eg. "1,2,4". 1st 8 bits are supported
5. int Interlock switch type 0 normally open, all other values is normally closed interlock switch type

Change_log_3_6_91.txt

EPICS Asyn Galil 3-5

Removed kinematic variables
Removed ability to move related CSAxis at same time
Add CSAxis moves now support retries, backlash on individual motors aswell as on the CSAxis
Add motors to profile start move now supports backlash, retries
Add Jog after home move now supports backlash, retries
Add setpoint behaviour to CSAxis
Add HOMING_MONITOR PV for all axis
Fixed issue with motorStatusAtHome set 1 whilst motor on limit and limit_as_home is set 0
Add SSI encoder direction invert for open loop motors, and binary encoders
Fixed issue with home switch homing
Fixed issue programing home value after homing completion
Changed home value now specified in dial coordinates
Add enforce CSAxis completion order rules
Add ability to move related CSAxis at same time when deferred moves true
Add unknown unsolicited messages now routed to controller message PV for display
Altered axis homeval now always 0 in dial coordinates
Removed home value from motor extras
Fix runProfile was exiting before motor completion
Add motors to profile start move now has synchronous start
Add update CSAxis setpoint position after homing
Improve jog after home robustness
Add validate real axis motor record settings before CSAxis home
Fix issue with homing when useSwitch set false
Fix issue with NTM on real motors
Add stop reason to internal stop mechanism
Tidy up of internal motor stop mechansim
Altered decimal places used in CSAxis velocity checking messages
Improve internal stop mechanism so CSAxis stops are fully coordinated
Fix GalilAxis and GalilCSAXis destructors to remove compiler warnings on gcc 4.8.5 and above
Add ability to enable/disable hardware limits

EPICS Asyn Galil 3-4

Alter PV prefix usage to be more consistent with community databases
Alter directory naming to be more consistent with community
Alter galil code examples to have .dmc extension consistent with GalilTools
Add saveData support for step scans
Fixed issue with user variable periodic monitor
Fixed output compare parameter parsing
Add commutation initialized flag
Fixed issue with wrong limit protection becoming inactive
Fixed issue with galil code variables not initialized at re-connect
Add I/O Intr support for user defined variables
Fixed galil code home variables not set after controller re-connect
Add ability to set TCP port number in controller address. If no port number specified then default is 23
Changed default encoder stall time to .2 seconds
Add stop delay for heavy loads
Add controller start status PV
Fix motor velocity readback when using custom time base
Add galil amplifier controls
Optimized generated code for limits handling and homing
Fixed motor enable/disable interlock variables not being set correctly
Fixed issue with motorUpdateStatus_ when using motor record set field
Fixed issue with CSAxis jog function in sync start and stop mode
Improved CSAxis limit handling
Fixed motor wont move initially after IOC start when part of CSAxis

EPICS Asyn Galil 3-3

change_log.txt

EPICS Asyn Galil 3-2

changelog.txt

EPICS Asyn Galil 3-1

changelog.txt

EPICS Asyn Galil 3-0

EPICS Asyn driver for Galil products V3-0. This is the last version which will use the Galil communications library for communication with the controllers.