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Ignore limit switch errors when the motor is homing or has been homed
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mathis_s
2026-02-10 12:57:52 +01:00
parent fa4a20d83d
commit 238a47f38e
2 changed files with 44 additions and 33 deletions
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2
Makefile
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@@ -9,6 +9,8 @@ ARCH_FILTER=RHEL%
# Specify the version of asynMotor we want to build against # Specify the version of asynMotor we want to build against
motorBase_VERSION=7.2.2 motorBase_VERSION=7.2.2
LIBVERSION=homeerror
# These headers allow to depend on this library for derived drivers. # These headers allow to depend on this library for derived drivers.
HEADERS += src/masterMacsAxis.h HEADERS += src/masterMacsAxis.h
HEADERS += src/masterMacsController.h HEADERS += src/masterMacsController.h

75
src/masterMacsAxis.cpp
View File

@@ -629,42 +629,51 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
} }
/* /*
Either the software limits or the end switches of the controller If the motor is homing or has been homed, ignore limit switch errors.
have been hit. Since the EPICS limits are derived from the software */
limits and are a little bit smaller, these error cases can only int homing = 0;
happen if either the axis has an incremental encoder which is not int homed = 0;
properly homed or if a bug occured. getAxisParamChecked(this, motorStatusHome, &homing);
*/ getAxisParamChecked(this, motorStatusHomed, &homed);
if (positiveLimitSwitch() || negativeLimitSwitch() || if (homing || homed) {
positiveSoftwareLimit() || negativeSoftwareLimit()) { /*
Either the software limits or the end switches of the controller
have been hit. Since the EPICS limits are derived from the software
limits and are a little bit smaller, these error cases can only
happen if either the axis has an incremental encoder which is not
properly homed or if a bug occured.
*/
if (positiveLimitSwitch() || negativeLimitSwitch() ||
positiveSoftwareLimit() || negativeSoftwareLimit()) {
// Distinction for developers // Distinction for developers
if (positiveLimitSwitch()) { if (positiveLimitSwitch()) {
appendErrorMessage(shellMessage, sizeof(shellMessage), appendErrorMessage(shellMessage, sizeof(shellMessage),
"Positive limit switch."); "Positive limit switch.");
} }
if (negativeLimitSwitch()) { if (negativeLimitSwitch()) {
appendErrorMessage(shellMessage, sizeof(shellMessage), appendErrorMessage(shellMessage, sizeof(shellMessage),
"Negative limit switch."); "Negative limit switch.");
} }
if (positiveSoftwareLimit()) { if (positiveSoftwareLimit()) {
appendErrorMessage(shellMessage, sizeof(shellMessage), appendErrorMessage(shellMessage, sizeof(shellMessage),
"Positive software limit."); "Positive software limit.");
} }
if (negativeSoftwareLimit()) { if (negativeSoftwareLimit()) {
appendErrorMessage(shellMessage, sizeof(shellMessage), appendErrorMessage(shellMessage, sizeof(shellMessage),
"Negative software limit."); "Negative software limit.");
} }
// Generic error message for user // Generic error message for user
appendErrorMessage( appendErrorMessage(
errorMessage, sizeof(errorMessage), errorMessage, sizeof(errorMessage),
"Software limits or end switch hit. Try homing the motor, " "Software limits or end switch hit. Try homing the motor, "
"moving in the opposite direction or check the SPS for " "moving in the opposite direction or check the SPS for "
"errors (if available). Otherwise please call the " "errors (if available). Otherwise please call the "
"support."); "support.");
poll_status = asynError; poll_status = asynError;
}
} }
if (overCurrent()) { if (overCurrent()) {