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Modified drvXPSAsyn.c to set motorAxisPowerOn instead of motorAxisProblem so the CNEN field updates properly. Only set motorAxisProblem if the axis is uninitialized or unreferenced.

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kmpeters
2012-08-15 21:05:14 +00:00
parent 13d616b139
commit d6ae408040
1 changed files with 14 additions and 5 deletions
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motorApp/NewportSrc/drvXPSAsyn.c
+14 -5
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@@ -1332,20 +1332,29 @@ static void XPSPoller(XPSController *pController)
}
/*Test for states that mean we cannot move an axis (disabled, uninitialised, etc.)
and set problem bit in MSTA.*/
and set motorAxisPowerOn (CNEN).*/
if ((pAxis->axisStatus < 10) || ((pAxis->axisStatus >= 20) && (pAxis->axisStatus <= 42)) ||
(pAxis->axisStatus == 50) || (pAxis->axisStatus == 64)) {
(pAxis->axisStatus == 50) || (pAxis->axisStatus == 63) || (pAxis->axisStatus == 64)) {
if ( (pAxis->noDisabledError > 0) && (pAxis->axisStatus==20) ) {
motorParam->setInteger(pAxis->params, motorAxisProblem, 0);
motorParam->setInteger(pAxis->params, motorAxisPowerOn, 1);
} else {
PRINT(pAxis->logParam, FLOW, "XPS Axis %d is uninitialised/disabled/not referenced. XPS State Code: %d\n",
pAxis->axis, pAxis->axisStatus);
motorParam->setInteger(pAxis->params, motorAxisProblem, 1);
motorParam->setInteger(pAxis->params, motorAxisPowerOn, 0);
}
} else {
motorParam->setInteger(pAxis->params, motorAxisPowerOn, 1);
}
/*Test for uninitialized states.*/
if ((pAxis->axisStatus < 10) || (pAxis->axisStatus == 42) || (pAxis->axisStatus == 50) || (pAxis->axisStatus == 63)) {
PRINT(pAxis->logParam, FLOW, "XPS Axis %d is uninitialised. XPS State Code: %d\n",
pAxis->axis, pAxis->axisStatus);
motorParam->setInteger(pAxis->params, motorAxisProblem, 1);
} else {
motorParam->setInteger(pAxis->params, motorAxisProblem, 0);
}
}
status = GroupPositionSetpointGet(pAxis->pollSocket,