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Corrected the max acceleration/deceleration

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kpetersn
2018-03-21 15:07:55 -05:00
parent 1f8e9d8a23
commit 1a4d1756b9
1 changed files with 4 additions and 4 deletions
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motorApp/AMCISrc/ANF2Driver.cpp
+4 -4
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@@ -502,17 +502,17 @@ asynStatus ANF2Axis::sendAccelAndVelocity(double acceleration, double velocity)
registers_[2] = NINT(velocity);
// Send the acceleration
// ANF2 acceleration range 1 to 5000 steps/ms/sec
// ANF2 acceleration range 1 to 2000 steps/ms/sec
// Therefore need to limit range received by motor record from 1000 to 5e6 steps/sec/sec
if (acceleration < 1000) {
// print message noting that accel has been capped low
//printf("Acceleration is < 1000: %lf\n", acceleration);
acceleration = 1000;
}
if (acceleration > 5000000) {
if (acceleration > 2000000) {
// print message noting that accel has been capped high
//printf("Acceleration is > 5000: %lf\n", acceleration);
acceleration = 5000000;
//printf("Acceleration is > 2000: %lf\n", acceleration);
acceleration = 2000000;
}
// ANF2 acceleration units are steps/millisecond/second, so we divide by 1000 here
//status = pC_->writeReg16(axisNo_, ACCEL, NINT(acceleration/1000.0), DEFAULT_CONTROLLER_TIMEOUT);