Fixed wrong limits after power cycle

Update to sinqMotor 1.6.1
2026-06-09 15:12:22 +02:00 · 2026-06-09 14:28:39 +02:00
2 changed files with 17 additions and 4 deletions
@@ -788,9 +788,22 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
        }
    }

-    // Update the enable PV
-    setAxisParamChecked(this, motorEnableRBV,
-                        readyToBeSwitchedOn() && switchedOn());
+    /*
+    If the motor just got enabled, we need to initialize it, because some
+    parameters like the limits on the motor controllers are lost during a power
+    cycle and are rewritten from the masterMacs "meta-controller" when enabling.
+    */
+    int wasEnabled = 0;
+    int isEnabled = readyToBeSwitchedOn() && switchedOn();
+
+    getAxisParamChecked(this, motorEnableRBV, &wasEnabled);
+    if (isEnabled && !wasEnabled) {
+        rwStatus = init();
+        if (rwStatus != asynSuccess) {
+            return rwStatus;
+        }
+    }
+    setAxisParamChecked(this, motorEnableRBV, isEnabled);

    if (*moving) {
        // If the axis is moving, evaluate the movement direction
Author	SHA1	Message	Date
mathis_s	ce23d261be	Fixed wrong limits after power cycle Test And Build / Build (push) Failing after 2s Details Test And Build / Lint (push) Failing after 4s Details	2026-06-09 15:12:22 +02:00
mathis_s	89740d3956	Update to sinqMotor 1.6.1	2026-06-09 14:28:39 +02:00