motor: added check for zero acceleration when doing a normal move in the XPS driver. This can happen if in the motor record VELO=VBAS. The move will fail if a zero acceleration is sent to the controller. So in the case of a zero acceleration I ignore it and use the controller value.

2011-05-20 17:25:45 +00:00
parent 048fa5f0f4
commit 1bc379f792
1 changed files with 2 additions and 1 deletions
@@ -927,10 +927,11 @@ static int motorAxisMove(AXIS_HDL pAxis, double position, int relative,
            return MOTOR_AXIS_ERROR;
        }
    }
+
    status = PositionerSGammaParametersSet(pAxis->pollSocket,
                                           pAxis->positionerName, 
                                           max_velocity*pAxis->stepSize,
-                                           acceleration*pAxis->stepSize,
+                                           ((acceleration!=0) ? acceleration*pAxis->stepSize : pAxis->accel),
                                           pAxis->minJerkTime,
                                           pAxis->maxJerkTime);
    if (status != 0) {