R2-1-1

• Fixed crash when beckhoff not connected

R2-1-0 Support for encoders and jog functions

• Added support for encoders
• Added support for sweep in velocity
• Improved performance of the configuration commands when using contiguos ranges of axes.
• Added documentation on the motor record usage

R2-0-1

Bug fixes

• Fixed compile problems with newer versions of epics base and removed some warnings.
• Fixed a problem which resulted in a erroneous position after homing procedure in some cases.

R2-0-0 Improved responsiveness

Changed

• 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

• 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

First release

This is the first working release. It has been tested with some motors and limit switches.