From bc3811835f72d3336a834e1d4e9b07274296a96a Mon Sep 17 00:00:00 2001
From: PI-SRau <S.Rau@pi.ws>
Date: Wed, 11 Jan 2017 16:41:13 +0100
Subject: [PATCH] if controller does not know how to set velocity, setting
 acceleration and deceleration must be disabled also

---
 motorApp/PIGCS2Src/PIGCSMotorController.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/motorApp/PIGCS2Src/PIGCSMotorController.cpp b/motorApp/PIGCS2Src/PIGCSMotorController.cpp
index e62d0bbd..b763716b 100644
--- a/motorApp/PIGCS2Src/PIGCSMotorController.cpp
+++ b/motorApp/PIGCS2Src/PIGCSMotorController.cpp
@@ -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;