From 9493eed8d446bd23b7f922dffad28fa9f6c730c9 Mon Sep 17 00:00:00 2001
From: kmpeters <kmpeters@anl.gov>
Date: Tue, 29 Oct 2013 15:46:51 +0000
Subject: [PATCH] Modified MMC200Driver.cpp to clear errors if present while
 polling.

---
 motorApp/MicronixSrc/MMC200Driver.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/motorApp/MicronixSrc/MMC200Driver.cpp b/motorApp/MicronixSrc/MMC200Driver.cpp
index e714abce..3de0f65b 100644
--- a/motorApp/MicronixSrc/MMC200Driver.cpp
+++ b/motorApp/MicronixSrc/MMC200Driver.cpp
@@ -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();