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Fix for backlash not done when MRES<0 and DIR="Neg".

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This commit is contained in:
Ron Sluiter
2010-02-18 17:38:13 +00:00
parent 295f5ea917
commit 4993ae192c
1 changed files with 15 additions and 11 deletions
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motorApp/MotorSrc/motorRecord.cc
+15 -11
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@@ -130,6 +130,7 @@ HeadURL: $URL$
* change in dbScan.h
* .54 10-27-09 rls - reverse which limit switch is used in do_work() home
* search error check based on DIR field.
* .55 02-18-10 rls - Fix for backlash not done when MRES<0 and DIR="Neg".
*
*/
@@ -780,7 +781,7 @@ static long postProcess(motorRecord * pmr)
}
else if (pmr->mip & MIP_JOG_STOP || pmr->mip & MIP_MOVE)
{
if (fabs(pmr->bdst) > fabs(pmr->mres))
if (fabs(pmr->bdst) >= fabs(pmr->mres))
{
msta_field msta;
@@ -829,7 +830,7 @@ static long postProcess(motorRecord * pmr)
WRITE_MSG(SET_ACCEL, &bacc);
if (use_rel == true)
{
relpos = (relpos - relbpos) * pmr->frac;
relpos = relpos * pmr->frac;
WRITE_MSG(MOVE_REL, &relpos);
}
else
@@ -926,7 +927,7 @@ that it will happen when we return.
******************************************************************************/
static void maybeRetry(motorRecord * pmr)
{
if ((fabs(pmr->diff) > pmr->rdbd) && !pmr->hls && !pmr->lls)
if ((fabs(pmr->diff) >= pmr->rdbd) && !pmr->hls && !pmr->lls)
{
/* No, we're not close enough. Try again. */
Debug(1, "maybeRetry: not close enough; diff = %f\n", pmr->diff);
@@ -1585,7 +1586,7 @@ LOGIC:
Update last DVAL/VAL/RVAL.
Initialize comm. transaction.
IF backlash disabled, OR, no need for separate backlash move
since move is in preferred direction (preferred_dir==ON),
since move is in preferred direction (preferred_dir==True),
AND, backlash acceleration and velocity are the same as
slew values (BVEL == VELO, AND, BACC == ACCL).
Initialize local velocity and acceleration variables to
@@ -1595,7 +1596,8 @@ LOGIC:
ELSE
Set local position variable based on absolute position.
ENDIF
ELSE IF current position is within backlash or retry range.
ELSE IF move is in preferred direction (preferred_dir==True),
AND, |DVAL - LDVL| <= |BDST + MRES|.
Initialize local velocity and acceleration variables to
backlash values.
IF use relative positioning indicator is TRUE.
@@ -2129,6 +2131,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
bool use_rel, preferred_dir;
double relpos = pmr->diff / pmr->mres;
double relbpos = ((pmr->dval - pmr->bdst) - pmr->drbv) / pmr->mres;
double rbdst1 = 1.0 + (fabs(pmr->bdst) / fabs(pmr->mres));
long rdbdpos = NINT(pmr->rdbd / fabs(pmr->mres)); /* retry deadband steps */
long rpos, npos;
msta_field msta;
@@ -2233,7 +2236,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
pmr->ldvl = pmr->dval;
pmr->lval = pmr->val;
pmr->lrvl = pmr->rval;
INIT_MSG();
/* Backlash disabled, OR, no need for seperate backlash move
@@ -2251,11 +2254,12 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
else
position = currpos + pmr->frac * (newpos - currpos);
}
/* Is current position within backlash or retry range? */
else if ((fabs(pmr->diff) < pmr->rdbd) ||
(use_rel == true && ((relbpos < 0) == (relpos > 0))) ||
(use_rel == false && (((currpos + pmr->rdbd) > bpos) ==
(newpos > currpos))))
/* IF move is in preferred direction, AND, current position is within backlash range. */
else if ((preferred_dir == true) &&
((use_rel == true && relbpos <= 1.0) ||
(use_rel == false && (fabs(newpos - currpos) <= rbdst1))
)
)
{
/******************************************************************************
* Backlash correction imposes a much larger penalty on overshoot than on