From fbcd9a2eec18266bac47a9ac6b04c0dc61c13097 Mon Sep 17 00:00:00 2001 From: Ron Sluiter Date: Fri, 13 Mar 2015 14:59:54 +0000 Subject: [PATCH] Bug fix for incorrect deceleration calculation at end of JOG command. --- motorApp/OmsSrc/devOmsCom.cc | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/motorApp/OmsSrc/devOmsCom.cc b/motorApp/OmsSrc/devOmsCom.cc index 60d41107..0877d07c 100644 --- a/motorApp/OmsSrc/devOmsCom.cc +++ b/motorApp/OmsSrc/devOmsCom.cc @@ -70,6 +70,8 @@ HeadURL: $URL$ * different polarity (signs). * .24 11-29-12 rls Terminate UU command argument with a ';' character. * Fixes "Command error" with MAXv ver:1.41 firmware. + * .25 03-13-15 rls Bug fix for incorrect deceleration calculation at end of + * JOG command. * */ @@ -311,7 +313,7 @@ RTN_STATUS oms_build_trans(motor_cmnd command, double *parms, struct motorRecord /* Use MIP to determine which acc. rate to use. */ if (mr->mip & MIP_JOG_STOP) - acc = ((mr->jar) / fabs(mr->mres)) / mr->accl; + acc = mr->jar / fabs(mr->mres); else acc = ((mr->velo - mr->vbas) / fabs(mr->mres)) / mr->accl;