Kevin Peterson

motorRecord.hmtl contains out-of-date information about the PID gain scaling for OMS controllers: https://github.com/epics-modules/motor/blob/d1ed86f128733070ec720286d1e1fad05e8e8156/docs/motorRecord.html#L2823-L2824 A scaling factor of `32767.0` is used for MAXv controllers: https://github.com/epics-motor/motorOms/blob/dca9b664904de6378854844882605179663a30e7/omsApp/src/devOmsCom.cc#L450-L457

STOP/Abort buttons that reference allstop are confusing on individual motor screens. Proposed solution: rename the buttons "allstop" and add real "STOP" buttons if the screen doesn't already have one (like...

Incorrect position restored on MRES mismatch

1

If the MRES the database/substitutions file that loads a motor record doesn't match the autosaved value, the restored position will (always?) use the MRES value from the database instead of...

Soft IOCs with model-1 motor drivers don't (always?) exit cleanly. The following error occurs and a `ctrl+c` is necessary to kill the IOC. ``` epics> exit epicsEventDestroy: pthread_mutex_destroy failed: Device...

32-bit limitation on raw motor positions

4

The ``RRBV``, ``REP``, and ``RMP`` are currently limited to 32 bits: https://github.com/epics-modules/motor/blob/302d4d61fc374dfd23c8a7dcdadeb4937cce40bc/motorApp/MotorSrc/motorRecord.dbd#L578-L589 Changing the fields from ``DBF_LONG`` to ``DBF_INT64`` will break compability with EPICS base 3.15. Higher-resolution encoders are going...

@MarkRivers noticed that the soft_init code is "needlessly complex": https://github.com/epics-modules/motor/issues/115#issuecomment-428353753 @timmmooney also has concerns: https://github.com/epics-modules/motor/issues/115#issuecomment-428745479 I agree that the code should be improved. It will be a priority after R7-0.

Incorrect acceleration calculation for controllers that don't support VBAS

4

### Problem If a motor controller doesn't support setting a base velocity and the associated motor record is configured to have a non-zero VBAS, the motor record will calculate an...

Increase arbitrary MAX_AXIS limit

3

`MAX_AXIS` was last increased (from 10 to 32) twenty years ago: https://github.com/epics-modules/motor/commit/141daff8174a2dbac1ab7162b8c5ca258fcd0c3a Controllers that support 64 axes are increasingly common. `MAX_AXIS` should probably be increase to 128. `MAX_AXIS` only appears...

Redefining the position of a motor with an absolute encoder

9

There are some situations where it is necessary to disallow redefining the position of an axis with an absolute encoder. This can be done at the driver level for model-3...

If a motor has the following setup: * MRES != ERES * UEIP = Yes * FOFF = Frozen * SET = Set And the DVAL is redefined, the DVAL...