Modified MMC200Driver.cpp to clear errors if present while polling.

2013-10-29 15:46:51 +00:00
parent f1d6a3ced5
commit 9493eed8d4
1 changed files with 7 additions and 0 deletions
@@ -393,6 +393,13 @@ asynStatus MMC200Axis::poll(bool *moving)
  
  //setIntegerParam(pC_->motorStatusAtHome_, limit);

+  // Clear error buffer 
+  if (status & 0x80)
+  {
+    sprintf(pC_->outString_, "%dCER", axisIndex_);
+    status = pC_->writeController();
+  }
+
  // Read the drive power on status
  sprintf(pC_->outString_, "%dMOT?", axisIndex_);
  comStatus = pC_->writeReadController();