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Bug fix for LOAD_POS command with encoder.

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Ron Sluiter
2004-03-15 20:10:25 +00:00
parent 9847893e42
commit 457b432d30
1 changed files with 27 additions and 13 deletions
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motorApp/ImsSrc/devMDrive.cc
+27 -13
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@@ -3,9 +3,9 @@ FILENAME... devMDrive.cc
USAGE... Motor record device level support for Intelligent Motion
Systems, Inc. MDrive series of controllers.
Version: $Revision: 1.1 $
Version: $Revision: 1.2 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-05-19 16:41:02 $
Last Modified: $Date: 2004-03-15 20:10:25 $
*/
/*
@@ -37,6 +37,7 @@ Last Modified: $Date: 2003-05-19 16:41:02 $
* -----------------
* .01 03/21/03 rls copied from devIM483PL.c
* .02 05/15/03 rls R3.14 compatible.
* .03 03/15/04 rls bug fix for LOAD_POS command with encoder.
*/
#include <string.h>
@@ -157,11 +158,13 @@ STATIC RTN_STATUS MDrive_build_trans(motor_cmnd command, double *parms, struct m
unsigned int size;
RTN_STATUS rtnval;
bool send;
msta_field msta;
send = true; /* Default to send motor command. */
rtnval = OK;
buff[0] = '\0';
intval = NINT(parms[0]);
msta.All = mr->msta;
motor_start_trans_com(mr, MDrive_cards);
@@ -210,11 +213,11 @@ STATIC RTN_STATUS MDrive_build_trans(motor_cmnd command, double *parms, struct m
switch (command)
{
case MOVE_ABS:
sprintf(buff, "? MA %d", intval);
sprintf(buff, "?MA %d", intval);
break;
case MOVE_REL:
sprintf(buff, "? MR %d", intval);
sprintf(buff, "?MR %d", intval);
break;
case HOME_FOR:
@@ -226,25 +229,36 @@ STATIC RTN_STATUS MDrive_build_trans(motor_cmnd command, double *parms, struct m
break;
case LOAD_POS:
sprintf(buff, "? P=%d", intval);
sprintf(buff, "?P=%d", intval);
if (msta.Bits.EA_PRESENT == 1)
{
/* Finish 1st message; MDrive can only handle one msg. */
strcpy(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, MDrive_cards);
intval = NINT(mr->dval / mr->eres);
sprintf(buff, "?C2=%d", intval);
motor_call->type = MDrive_table[command];
}
break;
case SET_VEL_BASE:
sprintf(buff, "? VI %d", intval);
sprintf(buff, "?VI %d", intval);
break;
case SET_VELOCITY:
sprintf(buff, "? VM %d", intval);
sprintf(buff, "?VM %d", intval);
break;
case SET_ACCEL:
sprintf(buff, "? A=%d", intval);
sprintf(buff, "?A=%d", intval);
break;
case GO:
/* The MDrive starts moving immediately on move commands, GO command
* does nothing. Use it to set ACCL = DECL. */
sprintf(buff, "? A=D");
sprintf(buff, "?A=D");
break;
case PRIMITIVE:
@@ -255,12 +269,12 @@ STATIC RTN_STATUS MDrive_build_trans(motor_cmnd command, double *parms, struct m
break;
case STOP_AXIS:
sprintf(buff, "? SL 0");
sprintf(buff, "?SL 0");
break;
case JOG_VELOCITY:
case JOG:
sprintf(buff, "? SL=%d", intval);
sprintf(buff, "?SL=%d", intval);
break;
case SET_PGAIN:
@@ -270,11 +284,11 @@ STATIC RTN_STATUS MDrive_build_trans(motor_cmnd command, double *parms, struct m
break;
case ENABLE_TORQUE:
sprintf(buff, "? DE=1");
sprintf(buff, "?DE=1");
break;
case DISABL_TORQUE:
sprintf(buff, "? DE=0");
sprintf(buff, "?DE=0");
break;
case SET_HIGH_LIMIT: