Added content for 6.8

6-asyn-troubleshooting.md

@@ -69,7 +69,7 @@ Connect to the IOC's console
 $ ./softioc/xxx.sh console
 ```
 
-Turn **traceIODriver** On:
+Turn **traceIODriver** on:
 
 ![screenshot of asynRecord.ui with traceIODriver enabled](images/asynRecord-traceIODriver.png)
 
@@ -138,4 +138,40 @@ $ ./softioc/xxx.sh run
 
 ### 6.8 Observe the motor behavior with the new firmware
 
+What is the first error that occurs when the IOC starts?
+
+<details>
+<summary>answer</summary>
+
+If all the motor positions were zero, there may not be any errors when the IOC starts.
+
+If a motor has a non-zero position, the first error is an asyn writeFloat64 error that occurs at iocInit when the motor's autosaved position is being restored:
+```
+2023/02/24 13:44:00.287 asynMotorController:writeFloat64 error, status=1 axis=0, function=8, value=400.000000
+2023/02/24 13:44:00.287 devMotorAsyn::asynCallback: kmp:m1 pasyn{Float64,Int32}->write returned
+```
+</details>
+
+The IOC doesn't autosave the asyn trace settings, so turn **traceIODriver** on again:
+
+![screenshot of asynRecord.ui with traceIODriver enabled](images/asynRecord-traceIODriver.png)
+
+Other questions to answer:
+
+* Is controller responding to the commands sent by the IOC?
+<details>
+<summary>answer</summary>
+
+* Yes, the controller is responding to commands sent by the IOC, but each response takes much longer than it should.
+</details>
+
+* If the motor record's VAL field is changed, does the motor move?
+<details>
+<summary>answer</summary>
+
+* Yes, but you can't tell from the motor screen.  A controller error appears when a move is attempted, but the asyn trace shows that the MV command does get sent to the controller and the queried position is correct.
+</details>
+
+
+
 ## [The End](README.md)