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Support individual axis power on/off for MM4005/6.

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This commit is contained in:
Ron Sluiter
2008-09-09 18:22:12 +00:00
parent 803f5593d2
commit 7f10c327be
1 changed files with 29 additions and 22 deletions
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motorApp/NewportSrc/devMM4000.cc
+29 -22
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@@ -1,10 +1,10 @@
/*
FILENAME... devMM4000.cc
USAGE... Motor record device level support for Newport MM4000.
FILENAME... devMM4000.cc
USAGE... Motor record device level support for Newport MM4000.
Version: $Revision: 1.5 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2008-07-07 15:52:58 $
Version: $Revision: 1.6 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2008-09-09 18:22:12 $
*/
/*
@@ -21,26 +21,27 @@ Last Modified: $Date: 2008-07-07 15:52:58 $
* and (W-31-109-ENG-38) at Argonne National Laboratory.
*
* Initial development by:
* The Controls and Automation Group (AT-8)
* Ground Test Accelerator
* Accelerator Technology Division
* Los Alamos National Laboratory
* The Controls and Automation Group (AT-8)
* Ground Test Accelerator
* Accelerator Technology Division
* Los Alamos National Laboratory
*
* Co-developed with
* The Controls and Computing Group
* Accelerator Systems Division
* Advanced Photon Source
* Argonne National Laboratory
* The Controls and Computing Group
* Accelerator Systems Division
* Advanced Photon Source
* Argonne National Laboratory
*
* Modification Log:
* -----------------
* .01 10-20-97 mlr initialized from drvOms58
* .02 10-30-97 mlr Replaced driver calls with gpipIO functions
* .03 10-30-98 mlr Minor code cleanup, improved formatting
* .04 02-01-99 mlr Added temporary fix to delay reading motor
* positions at the end of a move.
* .05 04-21-01 rls Added jog velocity motor command.
* .06 05-19-03 rls Converted to R3.14.x.
* .01 10-20-97 mlr initialized from drvOms58
* .02 10-30-97 mlr Replaced driver calls with gpipIO functions
* .03 10-30-98 mlr Minor code cleanup, improved formatting
* .04 02-01-99 mlr Added temporary fix to delay reading motor
* positions at the end of a move.
* .05 04-21-01 rls Added jog velocity motor command.
* .06 05-19-03 rls Converted to R3.14.x.
* .07 07-07-08 rls Support individual axis power on/off for MM4005/6.
*/
@@ -302,11 +303,17 @@ STATIC RTN_STATUS MM4000_build_trans(motor_cmnd command, double *parms, struct m
break;
case ENABLE_TORQUE:
sprintf(buff, "MO;");
if (cntrl->model == MM4000)
sprintf(buff, "MO;");
else
sprintf(buff, "%dMO;", axis);
break;
case DISABL_TORQUE:
sprintf(buff, "MF;");
if (cntrl->model == MM4000)
sprintf(buff, "MF;");
else
sprintf(buff, "%dMF;", axis);
break;
case SET_HIGH_LIMIT: