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Bug fix for jog velocity and acceleration not converted from raw units to Ensemble user units

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when the PosScaleFactor parameter is not 1.
This commit is contained in:
Ron Sluiter
2011-06-21 16:50:07 +00:00
parent 14c9877f3b
commit f72ae520df
1 changed files with 5 additions and 2 deletions
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motorApp/AerotechSrc/drvEnsembleAsyn.cc
+5 -2
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@@ -50,6 +50,9 @@ in file LICENSE that is included with this distribution.
* Ensemble firmware 2.54.004 and above.
* .10 09-29-10 rls - Commented out home search until firmware upgrade that
* allows aborting home search from ASCII protocol.
* .11 06-21-11 rls - Bug fix for jog velocity and acceleration not converted
* from raw units to Ensemble user units when the
* PosScaleFactor parameter is not 1.
*/
@@ -567,9 +570,9 @@ static int motorAxisVelocityMove(AXIS_HDL pAxis, double min_velocity, double vel
if (pAxis == NULL || pAxis->pController == NULL)
return(MOTOR_AXIS_ERROR);
sprintf(outputBuff, "SETPARM @%d, 103, %.*f", pAxis->axis, pAxis->maxDigits, acceleration);
sprintf(outputBuff, "SETPARM @%d, 103, %.*f", pAxis->axis, pAxis->maxDigits, acceleration * fabs(pAxis->stepSize));
ret_status = sendAndReceive(pAxis->pController, outputBuff, inputBuff, sizeof(inputBuff));
sprintf(outputBuff, "FREERUN @%d %.*f", pAxis->axis, pAxis->maxDigits, velocity);
sprintf(outputBuff, "FREERUN @%d %.*f", pAxis->axis, pAxis->maxDigits, velocity * fabs(pAxis->stepSize));
ret_status = sendAndReceive(pAxis->pController, outputBuff, inputBuff, sizeof(inputBuff));
if (epicsMutexLock(pAxis->mutexId) == epicsMutexLockOK)