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- Restored RES field for backward compatibility; RES == MRES.

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- Backlash done in a separate command; after orginial move completed.
- Bug fix on RVAL when setting commanded <= feedback positions.
This commit is contained in:
Ron Sluiter
2002-04-19 16:24:10 +00:00
parent 14c7a1bbc4
commit 5fe0e236fd
1 changed files with 41 additions and 52 deletions
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motorApp/MotorSrc/motorRecord.c
+41 -52
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@@ -2,9 +2,9 @@
FILENAME... motorRecord.c
USAGE... Motor Record Support.
Version: $Revision: 1.18 $
Version: $Revision: 1.19 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2002-04-01 22:47:03 $
Last Modified: $Date: 2002-04-19 16:24:10 $
*/
/*
@@ -137,9 +137,10 @@ Last Modified: $Date: 2002-04-01 22:47:03 $
* so that init_record() can call process_motor_info()
* without reading the external readback device (RDBL).
* init_record() was causing LINK alarms.
* .41 03-25-02 rls - Eliminated RES.
* .41 03-25-02 rls - RES=MRES. RES preserved for backward compatibility only.
* - Eliminated "Set Encoder Ratio" motor command.
* - Range check JVEL when VMAX or VBAS change.
* - Do backlash in a separate command; after move completed .
*/
#define VERSION 4.5
@@ -291,6 +292,7 @@ fields. ('pmr' is a pointer to motorRecord.)
#define MIP_MOVE 0x0020 /* A move not resulting from Jog* or Hom*. */
#define MIP_RETRY 0x0040 /* A retry is in progress. */
#define MIP_LOAD_P 0x0080 /* A load-position command is in progress. */
#define MIP_MOVE_BL 0x0100 /* Done moving; now take out backlash. */
#define MIP_STOP 0x0200 /* We're trying to stop. When combined with */
/* MIP_JOG* or MIP_HOM*, the jog or home */
/* command is performed after motor stops */
@@ -612,6 +614,7 @@ STATIC long init_record(motorRecord * pmr, int pass)
*/
(*pdset->update_values) (pmr);
pmr->res = pmr->mres; /* After R4.5, RES is always = MRES. */
if (pmr->eres == 0.0)
{
pmr->eres = pmr->mres;
@@ -633,7 +636,7 @@ STATIC long init_record(motorRecord * pmr, int pass)
MARK(M_VAL);
pmr->dval = pmr->drbv;
MARK(M_DVAL);
pmr->rval = pmr->rrbv;
pmr->rval = NINT(pmr->dval / pmr->mres);
MARK(M_RVAL);
}
@@ -691,11 +694,12 @@ any of several reasons:
7) We hit a limit switch.
LOGIC:
Clear post process command field; PP.
IF Output Mode Select field set to CLOSED_LOOP.
IF Output Mode Select field set to CLOSED_LOOP, AND,
NOT a "move", AND, NOT a "backlash move".
Make drive values agree with readback value;
VAL <- RBV
DVAL <- DRBV
RVAL <- RRBV
RVAL <- DVAL converted to motor steps.
DIFF <- RDIF <- 0
ENDIF
IF done with either load-position or load-encoder-ratio commands.
@@ -730,7 +734,8 @@ STATIC long postProcess(motorRecord * pmr)
pmr->pp = FALSE;
if (pmr->omsl != CLOSED_LOOP)
if (pmr->omsl != CLOSED_LOOP && !(pmr->mip & MIP_MOVE) &&
!(pmr->mip & MIP_MOVE_BL))
{
/* Make drive values agree with readback value. */
#ifdef DMR_SOFTMOTOR_MODS
@@ -744,7 +749,7 @@ STATIC long postProcess(motorRecord * pmr)
#endif
MARK(M_VAL);
MARK(M_DVAL);
pmr->rval = pmr->rrbv;
pmr->rval = NINT(pmr->dval / pmr->mres);
MARK(M_RVAL);
pmr->diff = 0.;
MARK(M_DIFF);
@@ -753,12 +758,7 @@ STATIC long postProcess(motorRecord * pmr)
}
if (pmr->mip & MIP_LOAD_P)
{
/* We sent LOAD_POS, followed by GET_INFO. */
pmr->mip = MIP_DONE;
MARK(M_MIP);
}
pmr->mip = MIP_DONE; /* We sent LOAD_POS, followed by GET_INFO. */
else if (pmr->mip & MIP_HOME)
{
/* Home command */
@@ -772,7 +772,6 @@ STATIC long postProcess(motorRecord * pmr)
if (hvel <= vbase)
hvel = vbase + 1;
pmr->mip &= ~MIP_STOP;
MARK(M_MIP);
pmr->dmov = FALSE;
MARK(M_DMOV);
pmr->rcnt = 0;
@@ -790,7 +789,6 @@ STATIC long postProcess(motorRecord * pmr)
if (pmr->mip & MIP_HOMF)
{
pmr->mip &= ~MIP_HOMF;
MARK(M_MIP);
pmr->homf = 0;
db_post_events(pmr, &pmr->homf, monitor_mask);
}
@@ -798,15 +796,13 @@ STATIC long postProcess(motorRecord * pmr)
{
pmr->mip &= ~MIP_HOMR;
MARK(M_MIP);
pmr->homr = 0;
db_post_events(pmr, &pmr->homr, monitor_mask);
}
}
}
else if (pmr->mip & MIP_JOG_STOP)
else if (pmr->mip & MIP_JOG_STOP || pmr->mip & MIP_MOVE)
{
pmr->mip &= ~MIP_JOG_STOP;
if (fabs(pmr->bdst) > fabs(pmr->mres))
{
/* First part of jog done. Do backlash correction. */
@@ -826,22 +822,22 @@ STATIC long postProcess(motorRecord * pmr)
pmr->dmov = FALSE;
MARK(M_DMOV);
pmr->mip = MIP_JOG_BL;
MARK(M_MIP);
pmr->pp = TRUE;
INIT_MSG();
WRITE_MSG(SET_VEL_BASE, &vbase);
if (vel <= vbase)
vel = vbase + 1;
WRITE_MSG(SET_VELOCITY, &vel);
WRITE_MSG(SET_ACCEL, &acc);
if (use_rel)
WRITE_MSG(MOVE_REL, &relbpos);
else
WRITE_MSG(MOVE_ABS, &bpos);
WRITE_MSG(GO, NULL);
if (pmr->mip & MIP_JOG_STOP)
{
WRITE_MSG(SET_VEL_BASE, &vbase);
if (vel <= vbase)
vel = vbase + 1;
WRITE_MSG(SET_VELOCITY, &vel);
WRITE_MSG(SET_ACCEL, &acc);
if (use_rel)
WRITE_MSG(MOVE_REL, &relbpos);
else
WRITE_MSG(MOVE_ABS, &bpos);
WRITE_MSG(GO, NULL);
}
if (bvel <= vbase)
bvel = vbase + 1;
@@ -860,20 +856,26 @@ STATIC long postProcess(motorRecord * pmr)
}
WRITE_MSG(GO, NULL);
SEND_MSG();
if (pmr->mip & MIP_JOG_STOP)
pmr->mip = MIP_JOG_BL;
else
pmr->mip = MIP_MOVE_BL;
pmr->pp = TRUE;
}
else
{
pmr->mip = MIP_DONE; /* Backup distance = 0; skip backlash. */
MARK(M_MIP);
if ((pmr->jogf && !pmr->hls) || (pmr->jogr && !pmr->lls))
pmr->mip |= MIP_JOG_REQ;
}
pmr->mip &= ~MIP_JOG_STOP;
pmr->mip &= ~MIP_MOVE;
}
else if (pmr->mip & MIP_JOG_BL)
else if (pmr->mip & MIP_JOG_BL || pmr->mip & MIP_MOVE_BL)
{
/* Completed backlash part of jog command. */
pmr->mip = MIP_DONE;
MARK(M_MIP);
if ((pmr->jogf && !pmr->hls) || (pmr->jogr && !pmr->lls))
pmr->mip |= MIP_JOG_REQ;
}
@@ -1562,7 +1564,7 @@ STATIC long do_work(motorRecord * pmr)
MARK(M_VAL);
pmr->dval = pmr->drbv;
MARK(M_DVAL);
pmr->rval = pmr->rrbv;
pmr->rval = NINT(pmr->dval / pmr->mres);
MARK(M_RVAL);
}
}
@@ -1611,6 +1613,8 @@ STATIC long do_work(motorRecord * pmr)
mmap_bits.All = pmr->mmap; /* Initialize for MARKED. */
if (MARKED(M_MRES) || MARKED(M_ERES) || MARKED(M_UEIP))
{
if (MARKED(M_MRES))
pmr->res = pmr->mres; /* After R4.5, RES is always = MRES. */
/* Make sure retry deadband is achievable */
enforceMinRetryDeadband(pmr);
@@ -2064,22 +2068,7 @@ STATIC long do_work(motorRecord * pmr)
else
WRITE_MSG(MOVE_ABS, &bpos);
WRITE_MSG(GO, NULL);
/* Move to newpos at (bvel, bacc). */
WRITE_MSG(SET_VELOCITY, &bvel);
WRITE_MSG(SET_ACCEL, &bacc);
/* See note regarding backlash and overshoot above. */
if (use_rel)
{
mRelPos = (mRelPos - mRelBPos) * pmr->frac;
WRITE_MSG(MOVE_REL, &mRelPos);
}
else
{
newpos = bpos + pmr->frac * (newpos - bpos);
WRITE_MSG(MOVE_ABS, &newpos);
}
WRITE_MSG(GO, NULL);
pmr->pp = TRUE; /* Do backlash from posprocess(). */
}
pmr->cdir = (pmr->rdif >= 0.0) ? 0 : 1;
SEND_MSG();