diff --git a/motorApp/V544Src/devV544.c b/motorApp/V544Src/devV544.c index 836d58df..a489cd05 100644 --- a/motorApp/V544Src/devV544.c +++ b/motorApp/V544Src/devV544.c @@ -129,7 +129,6 @@ static struct v544_motor_table v544_table[] = { {IMMEDIATE, -1, 1}, /* SET_VELO */ {IMMEDIATE, -1, 1}, /* SET_ACCEL */ {IMMEDIATE, CS_GO, 0}, /* GO */ - {IMMEDIATE, -1, 2}, /* SET_ENC_RATIO - Not supported */ {INFO, -1, 0}, /* GET_INFO */ {MOVE_TERM, CS_IDLE, 0}, /* STOP_AXIS */ {VELOCITY, -1, 1}, /* JOG */ @@ -229,11 +228,10 @@ STATIC long v544_init(int after) STATIC long v544_init_record(struct motorRecord * mr) { int card, signal; - int initEncoder, initPos; + int initPos; struct v544_trans *ptrans; MOTOR_AXIS_QUERY axis_query; MOTOR_CALL *motor_call; - double ep_mp[2]; /* encoder pulses, motor pulses */ int rtnStat; Debug(1, "v544_init_record: entry...\n", 0); @@ -308,41 +306,10 @@ STATIC long v544_init_record(struct motorRecord * mr) v544_cards[card].v544_axis[signal].in_use = YES; -/*jps: setting the encoder ratio was moved from init_record() remove callbacks during iocInit */ - /* - * Set the encoder ratio. Note this is blatantly device dependent. - * Determine the number of encoder pulses and the number of motor pulses - * per engineering unit (EGU). Send an array containing this information - * to device support. - */ - if ((initEncoder = (mr->msta & EA_PRESENT)) && mr->ueip) - { - if (fabs(mr->mres) < 1.e-9) - mr->mres = 1.; - if (fabs(mr->eres) < 1.e-9) - mr->eres = mr->mres; - { - int m; - for (m=10000000; (m > 1) && - (fabs(m/mr->eres) > 1.e6 || fabs(m/mr->mres) > 1.e6); - m /= 10) - ; - Debug(5, "oms58_init_record: ER mult = %d\n", m); - ep_mp[0] = m / mr->eres; /* encoder pulses per ...*/ - ep_mp[1] = m / mr->mres; /* motor pulses */ - } - } - else - { - ep_mp[0] = 1.; - ep_mp[1] = 1.; - } - - /* Program the device if an initial position is programmed or * an encoder is present. */ - if ((initPos = (mr->dval && mr->mres)) || initEncoder) + if (initPos = (mr->dval && mr->mres)) { /* @@ -358,17 +325,6 @@ STATIC long v544_init_record(struct motorRecord * mr) callbackSetCallback((void (*)(struct callbackPvt *)) v544_init_callback, &(motor_call->callback)); - if (initEncoder) - { - Debug(7, "v544_init_record: encoder pulses per EGU = %f\n", ep_mp[0]); - Debug(7, "v544_init_record: motor pulses per EGU = %f\n", ep_mp[1]); - - - v544_start_trans(mr); - v544_build_trans(SET_ENC_RATIO, ep_mp, mr); - v544_end_trans(mr); - } - if (initPos) { double setPos = mr->dval / mr->mres; @@ -565,7 +521,6 @@ STATIC long v544_build_trans(motor_cmnd command, double *parms, struct motorReco motor_call->cmndList[motor_call->cmndCnt].cmnd |= v544_table[command].command; motor_call->cmndCnt++; break; - case SET_ENC_RATIO: case GET_INFO: motor_call->cmndCnt++; break;