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- fix multiple STOP commands.

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- fix for no backlash after new target position.
This commit is contained in:
Ron Sluiter
2009-03-24 18:41:34 +00:00
parent dd909d6335
commit 0b3032b96b
1 changed files with 46 additions and 8 deletions
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motorApp/MotorSrc/motorRecord.cc
+46 -8
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@@ -2,9 +2,9 @@
FILENAME... motorRecord.cc
USAGE... Motor Record Support.
Version: $Revision: 1.51 $
Version: $Revision: 1.52 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2008-12-05 17:07:44 $
Last Modified: $Date: 2009-03-24 18:41:34 $
*/
/*
@@ -117,6 +117,10 @@ Last Modified: $Date: 2008-12-05 17:07:44 $
* retries; i.e., 10/10, 9/10, 8/10,...
* - post changes to TWF/TWR.
* - ramifications of ORing MIP_MOVE with MIP_RETRY.
* .50 03-18-09 rls - Prevents multiple STOP commands by adding check for
* !MIP_STOP to NTM logic.
* - Unconditionally set postprocess indicator TRUE in
* do_work() so postProcess() can do backlash.
*/
#define VERSION 6.5
@@ -1017,7 +1021,8 @@ LOGIC:
[Sign of RDIF is NOT the same as sign of CDIR], AND,
[|Dist. to target| > (NTMF x (|BDST| + RDBD)], AND,
[MIP indicates this move is either (a result of a retry),OR,
(not from a Jog* or Hom*)]
(not from a Jog* or Hom*)], AND
[Not already waiting for motor to stop]
Send Stop Motor command.
Set STOP indicator in MIP true.
Mark MIP as changed.
@@ -1164,7 +1169,8 @@ static long process(dbCommon *arg)
if (pmr->ntm == menuYesNoYES &&
(sign_rdif != pmr->cdir) &&
(fabs(pmr->diff) > ntm_deadband) &&
(move_or_retry == true))
(move_or_retry == true) &&
(pmr->mip & MIP_STOP) == 0)
{
/* We're going in the wrong direction. Readback problem? */
@@ -1531,8 +1537,41 @@ LOGIC:
....
....
IF motion in progress indicator is false.
Set MIP MOVE indicator ON.
.....
Set MIP MOVE indicator ON and mark for posting.
IF DMOV is TRUE.
Set DMOV to FALSE and mark for posting.
ENDIF
Update last DVAL/VAL/RVAL.
Initialize comm. transaction.
IF backlash disabled, OR, no need for separate backlash move
since move is in preferred direction (preferred_dir==ON),
AND, backlash acceleration and velocity are the same as
slew values (BVEL == VELO, AND, BACC == ACCL).
Initialize local velocity and acceleration variables to
slew values.
IF use relative positioning indicator is TRUE.
Set local position variable based on relative position.
ELSE
Set local position variable based on absolute position.
ENDIF
ELSE IF current position is within backlash or retry range.
Initialize local velocity and acceleration variables to
backlash values.
IF use relative positioning indicator is TRUE.
Set local position variable based on relative position.
ELSE
Set local position variable based on absolute position.
ENDIF
ELSE
Initialize local velocity and acceleration variables to
slew values.
IF use relative positioning indicator is TRUE.
Set local position variable based on relative backlash position.
ELSE
Set local position variable based on absolute backlash position.
ENDIF
Set postprocess indicator TRUE so postprocess can do backlash.
ENDIF
.....
.....
Send message to controller.
@@ -2197,8 +2236,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
position = relbpos;
else
position = bpos;
if ((pmr->mip & MIP_RETRY) == 0) /* If this is not a retry, */
pmr->pp = TRUE; /* do backlash from posprocess(). */
pmr->pp = TRUE; /* do backlash from posprocess(). */
}
pmr->cdir = (pmr->rdif < 0.0) ? 0 : 1;