From b5dcc7bdf1b5cd1e7948a6b2e1431a43ff79f820 Mon Sep 17 00:00:00 2001
From: smathis <stefan.mathis@psi.ch>
Date: Thu, 12 Feb 2026 12:04:20 +0100
Subject: [PATCH] Fixed scaling of the written motorVelocity value

---
 src/masterMacsAxis.cpp | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/src/masterMacsAxis.cpp b/src/masterMacsAxis.cpp
index a2d9a85..0b08621 100644
--- a/src/masterMacsAxis.cpp
+++ b/src/masterMacsAxis.cpp
@@ -510,9 +510,6 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
     setAxisParamChecked(this, motorEncoderPosition, currentPosition);
 
     if (pMasterMacsA_->lastMoveCommand == velocityMode && !speedEqualZero()) {
-
-        // TODO: Not sure whether the RVEL field of the motor record does not
-        // work - has to be clarified
         double actualVelocity = 0.0;
 
         rwStatus = pC_->read(axisNo_, 14, response);
@@ -525,8 +522,10 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
                                               __PRETTY_FUNCTION__, __LINE__);
         }
 
-        // Write the actual velocity to the paramLib (TODO: does it though?)
-        setAxisParamChecked(this, motorVelocity, actualVelocity);
+        // Writes the actual speed in steps per second to the paramLib. This
+        // value is then returned by the RVEL field of the motor record.
+        setAxisParamChecked(this, motorVelocity,
+                            actualVelocity / motorRecResolution);
 
         // Motor is moving in velocity mode
         *moving = true;