From d52fe5ee2e79f2f446200a0cf9cb00912a5462ec Mon Sep 17 00:00:00 2001 From: sluiter Date: Fri, 19 Feb 2016 11:14:53 -0600 Subject: [PATCH] Changed jog error checks from dial to user limits. --- motorApp/MotorSrc/motorRecord.cc | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/motorApp/MotorSrc/motorRecord.cc b/motorApp/MotorSrc/motorRecord.cc index e9e09e31..e1f29575 100644 --- a/motorApp/MotorSrc/motorRecord.cc +++ b/motorApp/MotorSrc/motorRecord.cc @@ -180,9 +180,9 @@ USAGE... Motor Record Support. * - Reversed order of issuing SET_VEL_BASE and SET_VELOCITY commands. Fixes MAXv * command errors. * .71 02-25-15 rls - Fix for excessive motor record forward link processing. - * * .72 03-13-15 rls - Changed RDBL to set RRBV rather than DRBV. - * + * .73 02-15-16 rls - JOGF/R soft limit error check was using the wrong coordinate sytem limits. + * Changed error checks from dial to user limits. */ #define VERSION 6.10 @@ -1366,8 +1366,8 @@ enter_do_work: else { if (pmr->mip & MIP_JOG) - pmr->lvio = (pmr->jogf && (pmr->drbv > pmr->dhlm - pmr->jvel)) || - (pmr->jogr && (pmr->drbv < pmr->dllm + pmr->jvel)); + pmr->lvio = (pmr->jogf && (pmr->rbv > pmr->hlm - pmr->jvel)) || + (pmr->jogr && (pmr->rbv < pmr->llm + pmr->jvel)); else if (pmr->mip & MIP_HOME) pmr->lvio = false; /* Disable soft-limit error check during home search. */ } @@ -1972,8 +1972,8 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind) /* check for limit violation */ if ((pmr->dhlm == pmr->dllm) && (pmr->dllm == 0.0)) ; - else if ((pmr->jogf && (pmr->dval > pmr->dhlm - pmr->jvel)) || - (pmr->jogr && (pmr->dval < pmr->dllm + pmr->jvel))) + else if ((pmr->jogf && (pmr->val > pmr->hlm - pmr->jvel)) || + (pmr->jogr && (pmr->val < pmr->llm + pmr->jvel))) { pmr->lvio = 1; MARK(M_LVIO);