lin-epics-modules/motorBase
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if controller does not know how to set velocity, setting acceleration and deceleration must be disabled also

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PI-SRau
2017-01-11 16:41:13 +01:00
parent 89220a12dd
commit bc3811835f
1 changed files with 8 additions and 0 deletions
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motorApp/PIGCS2Src/PIGCSMotorController.cpp
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@@ -163,6 +163,10 @@ asynStatus PIGCSMotorController::getStatus(PIasynAxis* pAxis, int& homing, int&
asynStatus PIGCSMotorController::getMaxAcceleration(PIasynAxis* pAxis)
{
if (!m_KnowsVELcommand)
{
return asynSuccess;
}
double maxAcc, maxDec;
asynStatus status = getGCSParameter(pAxis, PI_PARA_MOT_MAX_ACCEL, maxAcc);
if (asynSuccess != status)
@@ -184,6 +188,10 @@ asynStatus PIGCSMotorController::getMaxAcceleration(PIasynAxis* pAxis)
asynStatus PIGCSMotorController::setAcceleration( PIasynAxis* pAxis, double acceleration)
{
if (!m_KnowsVELcommand)
{
return asynSuccess;
}
asynStatus status = setGCSParameter(pAxis, PI_PARA_MOT_CURR_ACCEL, acceleration);
if (asynSuccess != status)
return status;