v2.4.0

• Remove watchdog on beckDriver creation. This means that the IOC can start even with the watchdog set.
• Perform a softReset when changing NC/NO configuration of the limit switches. The new configuration is thus applied immediatly.

v2.3.0

• Added autoStop configuration

v2.2.3

• Fix memory access error

v2.2.2

Fixed

• Fix compatibility with modbus 3.0

v2.2.1

Fixed

• Bugfix for older gcc

v2.2.0

Changed

• 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.

v2.1.5

Fixed

• Fix a problem with the direction of the first homing after IOC reboot.

v2.1.4

Changed

• Updated CI build to use darcato/epicsmng image
• More verbose output to signal some failures

Fixed

• 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

Known Issues

• 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.

R2-1-3

• 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

R2-1-2

Fixed

• Fixed compiler errors with older compilers
• Fixed wrong error print at startup with encoders and microstep set to 1