lin-epics-modules/motorBase
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- Due LOAD_POS based on "reference" indicator.

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- If torque is disabled, clear error conditions before ENABLE_TORQUE command.
This commit is contained in:
Ron Sluiter
2007-10-17 19:54:51 +00:00
parent 48811c56e3
commit c6bc4832d9
1 changed files with 36 additions and 10 deletions
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motorApp/PiSrc/devPIC848.cc
+36 -10
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@@ -3,9 +3,9 @@ FILENAME... devPIC848.cc
USAGE... Motor record device level support for Physik Instrumente (PI)
GmbH & Co. C-848 motor controller.
Version: $Revision: 1.1 $
Version: $Revision: 1.2 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2005-10-04 19:45:52 $
Last Modified: $Date: 2007-10-17 19:54:51 $
*/
/*
@@ -37,6 +37,9 @@ Last Modified: $Date: 2005-10-04 19:45:52 $
* -----------------
* .01 12/17/03 rls - copied from devIM483PL.cc
* .02 01/22/03 rls - fix INIT field processing; support HOME and PID commands.
* .03 10/17/07 rls - Due LOAD_POS based on "reference" indicator.
* - If torque is disabled, clear error conditions before
* ENABLE_TORQUE command.
*/
@@ -158,6 +161,7 @@ static RTN_STATUS PIC848_build_trans(motor_cmnd command, double *parms, struct m
double dval, cntrl_units, res;
RTN_STATUS rtnval;
bool send;
msta_field msta;
send = true; /* Default to send motor command. */
rtnval = OK;
@@ -166,6 +170,8 @@ static RTN_STATUS PIC848_build_trans(motor_cmnd command, double *parms, struct m
/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
dval = (parms == NULL) ? 0.0 : *parms;
msta.All = mr->msta;
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PIC848_cards);
motor_call = &(trans->motor_call);
@@ -227,10 +233,16 @@ static RTN_STATUS PIC848_build_trans(motor_cmnd command, double *parms, struct m
break;
case LOAD_POS:
if (cntrl_units == 0.0)
sprintf(buff, "DFH #");
else
rtnval = ERROR;
if (cntrl->reference[motor_call->signal] == true)
{
if (cntrl_units == 0.0)
sprintf(buff, "DFH #");
else
rtnval = ERROR;
}
else
sprintf(buff, "POS #%+.*f", maxdigits, (cntrl_units * res));
break;
case SET_VEL_BASE:
@@ -240,9 +252,23 @@ static RTN_STATUS PIC848_build_trans(motor_cmnd command, double *parms, struct m
case SET_VELOCITY:
sprintf(buff, "VEL # %.*f", maxdigits, (cntrl_units * res));
break;
case ENABLE_TORQUE:
case DISABL_TORQUE:
case ENABLE_TORQUE:
if (msta.Bits.EA_POSITION == 0) /* Test for torque disabled. */
{
/* Clear the axis status. */
sprintf(buff, "CLR #");
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PIC848_cards);
motor_call->type = PIC848_table[command];
}
sprintf(buff, "SVO #1");
break;
case DISABL_TORQUE:
sprintf(buff, "SVO #0");
break;
case SET_ACCEL:
/* The PIC848 does not support acceleration commands. */
case GO:
@@ -264,7 +290,7 @@ static RTN_STATUS PIC848_build_trans(motor_cmnd command, double *parms, struct m
case JOG_VELOCITY:
case JOG:
sprintf(buff, "VEL #%.*f", maxdigits, cntrl_units);
sprintf(buff, "VEL #%.*f", maxdigits, (cntrl_units * res));
break;
case SET_PGAIN: