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- Prevent multiple LOAD_POS actions due to STUP's.

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- Remove redundant DMOV posting from special().
- NTM logic is restored to using feedbacks.
- NTM deadband factor (NTMF) added.
This commit is contained in:
Ron Sluiter
2008-02-28 17:44:23 +00:00
parent 8c6e56ed4b
commit 951431095e
1 changed files with 33 additions and 20 deletions
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motorApp/MotorSrc/motorRecord.cc
+33 -20
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@@ -2,9 +2,9 @@
FILENAME... motorRecord.cc
USAGE... Motor Record Support.
Version: $Revision: 1.43 $
Version: $Revision: 1.44 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2007-11-27 17:53:42 $
Last Modified: $Date: 2008-02-28 17:44:23 $
*/
/*
@@ -102,9 +102,12 @@ Last Modified: $Date: 2007-11-27 17:53:42 $
* at backlash velocity after a new target position.
* .42 11-23-07 pnd - Correct use of MRES in NTM logic to use absolute value
* .43 11-27-07 rls - Set VBAS before jogging.
* .44 02-28-08 rls - Prevent multiple LOAD_POS actions due to STUP's.
* - Remove redundant DMOV posting from special().
* - NTM logic is restored to using feedbacks; NTMF added.
*/
#define VERSION 6.3
#define VERSION 6.4
#include <stdlib.h>
#include <string.h>
@@ -998,11 +1001,10 @@ LOGIC:
Call process_motor_info().
IF motor-in-motion indicator (MOVN) is true.
IF new target position in opposite direction of current motion.
[New target monitoring is enabled], AND,
[Sign of the commanded difference is NOT the same as sign of CDIR], AND,
[|commanded difference| > 2 x (|Backlash Dist.| + Retry Deadband)], AND,
[MIP indicates this move is either (a result of a retry), OR, (a
normal move; not a Jog or Home)]
[Sign of RDIF is NOT the same as sign of CDIR], AND,
[Dist. to target {DIFF} > (NTMF x (|BDST| + RDBD)], AND,
[MIP indicates this move is either (a result of a retry),OR,
(not from a Jog* or Hom*)]
Send Stop Motor command.
Set STOP indicator in MIP true.
Mark MIP as changed.
@@ -1122,15 +1124,15 @@ static long process(dbCommon *arg)
if (pmr->movn)
{
double cdiff = (pmr->rval - pmr->rmp) * fabs(pmr->mres); /* Commanded difference. */
int sign_cdiff = (cdiff < 0.0) ? 0 : 1;
int sign_rdif = (pmr->rdif < 0) ? 0 : 1;
double ntm_deadband = pmr->ntmf * (fabs(pmr->bdst) + pmr->rdbd);
/* Test for new target position in opposite direction of current
motion.
*/
if (pmr->ntm == menuYesNoYES &&
(sign_cdiff != pmr->cdir) &&
(fabs(cdiff) > 2 * (fabs(pmr->bdst) + pmr->rdbd)) &&
(sign_rdif != pmr->cdir) &&
(fabs(pmr->diff) > ntm_deadband) &&
(pmr->mip == MIP_RETRY || pmr->mip == MIP_MOVE))
{
@@ -1698,7 +1700,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
WRITE_MSG(GET_INFO, NULL);
SEND_MSG();
}
else
else if ((pmr->mip & MIP_LOAD_P) == 0) /* Test for LOAD_POS completion. */
load_pos(pmr);
return(OK);
@@ -1981,10 +1983,9 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
MARK(M_RDIF);
if (set)
{
load_pos(pmr);
/*
* device support will call us back when load is done.
*/
if ((pmr->mip & MIP_LOAD_P) == 0) /* Test for LOAD_POS completion. */
load_pos(pmr);
/* device support will call us back when load is done. */
return(OK);
}
else
@@ -2201,9 +2202,12 @@ static long special(DBADDR *paddr, int after)
case motorRecordRLV:
if (pmr->disa == pmr->disv || pmr->disp)
return(OK);
pmr->dmov = FALSE;
db_post_events(pmr, &pmr->dmov, DBE_VAL_LOG);
return(OK);
if (pmr->dmov == TRUE)
{
pmr->dmov = FALSE;
db_post_events(pmr, &pmr->dmov, DBE_VAL_LOG);
}
return(OK);
case motorRecordHOMF:
case motorRecordHOMR:
@@ -2718,6 +2722,15 @@ pidcof:
}
break;
case motorRecordNTMF:
if (pmr->ntmf < 2)
{
pmr->ntmf = 2;
db_post_events(pmr, &pmr->ntmf, DBE_VAL_LOG);
return(ERROR); /* Prevent record processing. */
}
break;
default:
break;
}