lin-epics-modules/motorBase
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Made the setClosedLoop function do nothing. Tried to send the clear command error command,but that caused a command error from which I couldn't recover (presumably reconfiguring the axis would have resolved that problem.

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kpetersn
2018-03-23 16:21:49 -05:00
parent 3fa5f9fadf
commit 192b396a99
1 changed files with 23 additions and 32 deletions
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motorApp/AMCISrc/ANF2Driver.cpp
+23 -32
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@@ -724,34 +724,26 @@ asynStatus ANF2Axis::setPosition(double position)
asynStatus ANF2Axis::setClosedLoop(bool closedLoop)
{
asynStatus status;
int enable = 0x8000;
int disable = 0x0000;
int cmd;
printf(" ** setClosedLoop called \n");
epicsInt32 clReg[5];
//static const char *functionName = "ANF2Axis::setClosedLoop";
// The ANF2 doesn't have a closed-loop enable/disable command, so do nothing.
// The configuration of an axis:
// * can be changed so that an axis is disabled, but that doesn't disable torque
// * can be changed to disable the use of encoder inputs, but that isn't currently allowed on-the-fly
/*printf(" ** setClosedLoop called \n");
if (closedLoop) {
printf("setting enable %X\n", enable);
// Let's reset errors first
cmd = 0x0;
status = pC_->writeReg16(axisNo_, CMD_MSW, cmd, DEFAULT_CONTROLLER_TIMEOUT);
cmd = 0x400;
status = pC_->writeReg16(axisNo_, CMD_MSW, cmd, DEFAULT_CONTROLLER_TIMEOUT);
cmd = 0x0;
status = pC_->writeReg16(axisNo_, CMD_MSW, cmd, DEFAULT_CONTROLLER_TIMEOUT);
/*
status = pC_->writeReg16(axisNo_, CMD_LSW, enable, DEFAULT_CONTROLLER_TIMEOUT);
setIntegerParam(pC_->motorStatusPowerOn_, 1);
*/
printf("setting enable true\n");
setIntegerParam(pC_->motorStatusPowerOn_, 1);
} else {
printf("setting disable %X\n", disable);
status = pC_->writeReg16(axisNo_, CMD_LSW, disable, DEFAULT_CONTROLLER_TIMEOUT);
printf("setting disable false\n");
setIntegerParam(pC_->motorStatusPowerOn_, 0);
}
return status;*/
return status;
return asynSuccess;
}
// POLL
@@ -805,6 +797,14 @@ asynStatus ANF2Axis::poll(bool *moving)
setIntegerParam(pC_->motorStatusDone_, done);
*moving = done ? false:true;
//printf("done is %d\n", done);
// Check for enable/disable (not actually the torque status) and set accordingly.
// Enable/disable is determined by the configuration and it isn't obvious why one would disable an axis.
enabled = (read_val & 0x4000);
if (enabled)
setIntegerParam(pC_->motorStatusPowerOn_, 1);
else
setIntegerParam(pC_->motorStatusPowerOn_, 0);
// Read the limit status
//
@@ -837,15 +837,6 @@ asynStatus ANF2Axis::poll(bool *moving)
// Should be in init routine? Allows CNEN to be used.
setIntegerParam(pC_->motorStatusGainSupport_, 1);
// Check for the torque status and set accordingly.
// The ANG1 driver does the wrong thing for torque enable/disable
//enabled = (read_val & 0x8000);
enabled = 1;
if (enabled)
setIntegerParam(pC_->motorStatusPowerOn_, 1);
else
setIntegerParam(pC_->motorStatusPowerOn_, 0);
// Notify asynMotorController polling routine that we're ready
callParamCallbacks();