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- bug fix for backlash using relative moves when RMOD = "In-Position".

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- bug fix for "can't tweak in either direction near soft-travel limit".  No need in process() to test MIP_MOVE type moves for soft-travel limits.
 - Need "preferred_dir" for LVIO test. Moved LVIO test in do_work() to after "preferred_dir" is set.
This commit is contained in:
Ron Sluiter
2013-06-20 18:55:48 +00:00
parent e515d23f20
commit 98452caf93
1 changed files with 52 additions and 49 deletions
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motorApp/MotorSrc/motorRecord.cc
+52 -49
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@@ -168,7 +168,11 @@ HeadURL: $URL$
* - Allow moving (new target position, jog or home search) out of invalid
* soft limit travel range toward valid soft limit travel range.
* - Added In-position retry mode for servos.
*
* .68 06-20-13 rls - bug fix for backlash using relative moves when RMOD = "In-Position".
* - bug fix for "can't tweak in either direction near soft-travel limit".
* No need in process() to test MIP_MOVE type moves for soft-travel limits.
* - Need "preferred_dir" for LVIO test. Moved LVIO test in do_work() to
* after "preferred_dir" is set.
*/
#define VERSION 6.8
@@ -833,7 +837,7 @@ static long postProcess(motorRecord * pmr)
/* Use if encoder or ReadbackLink is in use. */
msta.All = pmr->msta;
bool use_rel = (pmr->rtry != 0 && ((msta.Bits.EA_PRESENT && pmr->ueip) || pmr->urip));
bool use_rel = (pmr->rtry != 0 && pmr->rmod != motorRMOD_I && ((msta.Bits.EA_PRESENT && pmr->ueip) || pmr->urip));
double relpos = pmr->diff / pmr->mres;
double relbpos = ((pmr->dval - pmr->bdst) - pmr->drbv) / pmr->mres;
@@ -903,7 +907,7 @@ static long postProcess(motorRecord * pmr)
/* Use if encoder or ReadbackLink is in use. */
msta.All = pmr->msta;
bool use_rel = (pmr->rtry != 0 && ((msta.Bits.EA_PRESENT && pmr->ueip) || pmr->urip));
bool use_rel = (pmr->rtry != 0 && pmr->rmod != motorRMOD_I && ((msta.Bits.EA_PRESENT && pmr->ueip) || pmr->urip));
double relpos = pmr->diff / pmr->mres;
double relbpos = ((pmr->dval - pmr->bdst) - pmr->drbv) / pmr->mres;
@@ -1363,26 +1367,12 @@ enter_do_work:
(pmr->jogr && (pmr->drbv < pmr->dllm + pmr->jvel));
else if (pmr->mip & MIP_HOME)
pmr->lvio = false; /* Disable soft-limit error check during home search. */
else if (pmr->mip & MIP_MOVE)
pmr->lvio = (pmr->dval > pmr->dhlm + fabs(pmr->rdbd)) ||
(pmr->dval < pmr->dllm - fabs(pmr->rdbd));
}
if (pmr->lvio != old_lvio)
{
bool stopmove = true;
Debug(4, "process: lvio changed to %d\n", pmr->lvio);
MARK(M_LVIO);
if (pmr->mip & MIP_MOVE)
{
if (pmr->lvio && ((pmr->dval > pmr->dhlm) && (pmr->cdir == 0)))
stopmove = false;
else if (pmr->lvio && ((pmr->dval < pmr->dhlm) && (pmr->cdir == 1)))
stopmove = false;
}
if (stopmove == true && pmr->lvio && !pmr->set)
if (pmr->lvio && !pmr->set)
{
pmr->stop = 1;
MARK(M_STOP);
@@ -1580,6 +1570,9 @@ LOGIC:
IF Limit violation occurred.
Restore VAL, DVAL and RVAL to previous, valid values.
IF MIP state is RETRY
Set MIP to DONE and mark as changes.
ENDIF
IF MIP state is DONE
Set DMOV TRUE.
ENDIF
@@ -2114,37 +2107,6 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
pmr->dval = (pmr->val - pmr->off) / dir; /* Later we'll act on this. */
}
/* Record limit violation */
if ((pmr->dhlm == pmr->dllm) && (pmr->dllm == 0.0))
pmr->lvio = false;
/* LVIO = TRUE, AND, Move request towards valid travel limit range. */
else if (pmr->lvio && (((pmr->dval > pmr->dhlm) && (pmr->dval < pmr->ldvl)) ||
((pmr->dval < pmr->dllm) && (pmr->dval > pmr->ldvl))))
pmr->lvio = false;
else
pmr->lvio = (pmr->dval > pmr->dhlm) ||
(pmr->dval > pmr->dhlm + pmr->bdst) ||
(pmr->dval < pmr->dllm) ||
(pmr->dval < pmr->dllm + pmr->bdst);
if (pmr->lvio != old_lvio)
MARK(M_LVIO);
if (pmr->lvio)
{
pmr->val = pmr->lval;
MARK(M_VAL);
pmr->dval = pmr->ldvl;
MARK(M_DVAL);
pmr->rval = pmr->lrvl;
MARK(M_RVAL);
if (pmr->mip == MIP_DONE && pmr->dmov == FALSE)
{
pmr->dmov = TRUE;
MARK(M_DMOV);
}
return(OK);
}
if (stop_or_pause == true)
return(OK);
@@ -2293,6 +2255,47 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
else
preferred_dir = false;
/* Check for soft-travel limit violation */
if ((pmr->dhlm == pmr->dllm) && (pmr->dllm == 0.0))
pmr->lvio = false;
/* LVIO = TRUE, AND, Move request towards valid travel limit range. */
else if (((pmr->dval > pmr->dhlm) && (pmr->dval < pmr->ldvl)) ||
((pmr->dval < pmr->dllm) && (pmr->dval > pmr->ldvl)))
pmr->lvio = false;
else
{
if (preferred_dir == true)
pmr->lvio = ((pmr->dval > pmr->dhlm) || (pmr->dval < pmr->dllm));
else
{
double bdstpos = pmr->dval - pmr->bdst;
pmr->lvio = ((bdstpos > pmr->dhlm) || (bdstpos < pmr->dllm));
}
}
if (pmr->lvio != old_lvio)
MARK(M_LVIO);
if (pmr->lvio)
{
pmr->val = pmr->lval;
MARK(M_VAL);
pmr->dval = pmr->ldvl;
MARK(M_DVAL);
pmr->rval = pmr->lrvl;
MARK(M_RVAL);
if ((pmr->mip & MIP_RETRY) != 0)
{
pmr->mip = MIP_DONE;
MARK(M_MIP);
}
if (pmr->mip == MIP_DONE && pmr->dmov == FALSE)
{
pmr->dmov = TRUE;
MARK(M_DMOV);
}
return(OK);
}
if (pmr->mip == MIP_DONE || pmr->mip == MIP_RETRY)
{
double velocity, position, accel;