lin-epics-modules/motorBase
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Moved 'WAIT MODE NOWAIT' from EnsembleAsynConfig to motorAxisSetInteger where torque is enabled/disabled.

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Ron Sluiter
2014-11-24 17:47:32 +00:00
parent d061c16ca8
commit 33fbdb67d5
1 changed files with 7 additions and 4 deletions
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motorApp/AerotechSrc/drvEnsembleAsyn.cc
+7 -4
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@@ -65,7 +65,9 @@ in file LICENSE that is included with this distribution.
* - Deleted duplicate error messages.
* .17 09-27-12 rls - Bug fix for incorrect jog acceleration rate.
* .18 09-27-12 rls - Support for actual velocity in status update.
* .19 09-11-14 rls - sendAndReceive() diagnostic message added when controller returns NAK.
* .19 09-11-14 rls - sendAndReceive() diagnostic message added when controller returns NAK.
* .20 11-24-14 rls - Moved "WAIT MODE NOWAIT" from EnsembleAsynConfig to motorAxisSetInteger
* where torque is enabled/disabled.
*/
@@ -437,6 +439,10 @@ static int motorAxisSetInteger(AXIS_HDL pAxis, motorAxisParam_t function, int va
sprintf(outputBuff, "ENABLE @%d", pAxis->axis);
}
ret_status = sendAndReceive(pAxis->pController, outputBuff, inputBuff, sizeof(inputBuff));
/* Prevent ASCII interpreter from blocking during MOVEABS/INC commands. */
ret_status = sendAndReceive(pAxis->pController, (char *) "WAIT MODE NOWAIT", inputBuff, sizeof(inputBuff));
break;
default:
PRINT(pAxis->logParam, TERROR, "motorAxisSetInteger: unknown function %d\n", function);
@@ -975,9 +981,6 @@ int EnsembleAsynConfig(int card, /* Controller number */
if (inputBuff[0] == ASCII_ACK_CHAR)
pAxis->swconfig.All = atoi(&inputBuff[1]);
/* Prevent ASCII interpreter from blocking during MOVEABS/INC commands. */
sendAndReceive(pController, (char *) "WAIT MODE NOWAIT", inputBuff, sizeof(inputBuff));
/* Set RAMP MODE to RATE. */
sprintf(outputBuff, "RAMP MODE @%d RATE", axis);
sendAndReceive(pController, outputBuff, inputBuff, sizeof(inputBuff));