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OMS STOP problem update.

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Ron Sluiter
2000-04-19 15:40:04 +00:00
parent e288ad273b
commit 002db7e7ab
1 changed files with 16 additions and 0 deletions
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README
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@@ -86,6 +86,22 @@ action (i.e., "setting" a soft motor) results in the record being processed;
which, in most cases, will clear DMOV.
Files modified: devSoft.h, devSoft.c, devSoftAux.c
4) A problem with issuing a stop command (via either the STOP or SPMG field)
was found with ALL OMS boards and ALL versions of the OMS device drivers. The
root cause of this problem is a statement in the OMS manual that is not
entirely correct; i.e., the AC and VL commands are not completely queued.
The motor record issues both the target move and the backlash move on the same
command line to the motor controller. Each move (target and backlash) has its'
own acceleration rate. The problem was that when a STOP command was issued
during the target move, the backlash acceleration would go into effect. This
could result in a prolonged deceleration if the backlash acceleration rate
(BACC) is much smaller than the target acceleration rate (ACCL).
With this release both the devOms and the devOms58 device support issue the
target acceleration rate (ACCL) with the STOP command.
File modified: devOmsCom.c
Modification Log from V3.5 to V4.0
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