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Zeroing the CMD_MSW doesn't fix the unable-to-move problem

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This commit is contained in:
kpetersn
2018-03-16 13:50:41 -05:00
parent 65dea5b7d2
commit aaae2e642a
1 changed files with 6 additions and 4 deletions
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motorApp/AMCISrc/ANF2Driver.cpp
+6 -4
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@@ -454,10 +454,12 @@ asynStatus ANF2Axis::sendAccelAndVelocity(double acceleration, double velocity)
// Therefore need to limit range received by motor record from 1000 to 5e6 steps/sec/sec
if (acceleration < 1000) {
// print message noting that accel has been capped low
//printf("Acceleration is < 1000: %lf\n", acceleration);
acceleration = 1000;
}
if (acceleration > 5000000) {
// print message noting that accel has been capped high
//printf("Acceleration is > 5000: %lf\n", acceleration);
acceleration = 5000000;
}
// ANF2 acceleration units are steps/millisecond/second, so we divide by 1000 here
@@ -483,8 +485,8 @@ asynStatus ANF2Axis::move(double position, int relative, double minVelocity, dou
distance = NINT(position);
status = pC_->writeReg32(axisNo_, POS_WR_UPR, distance, DEFAULT_CONTROLLER_TIMEOUT);
//move_bit = 0x0;
//status = pC_->writeReg16(axisNo_, CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
move_bit = 0x0;
status = pC_->writeReg16(axisNo_, CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
move_bit = 0x2;
status = pC_->writeReg16(axisNo_, CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
@@ -497,8 +499,8 @@ asynStatus ANF2Axis::move(double position, int relative, double minVelocity, dou
printf(" ** distance = %d\n", distance);
status = pC_->writeReg32(axisNo_, POS_WR_UPR, distance, DEFAULT_CONTROLLER_TIMEOUT);
//move_bit = 0x0;
//status = pC_->writeReg16(axisNo_, CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
move_bit = 0x0;
status = pC_->writeReg16(axisNo_, CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
move_bit = 0x1;
status = pC_->writeReg16(axisNo_, CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);