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- relative moves only if RTRY != 0.

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- NTM logic uses reference positions.
- Don't post process previous move on "tdir" detection.
This commit is contained in:
Ron Sluiter
2007-11-07 18:54:13 +00:00
parent e5b9987b95
commit ffc234d0d0
1 changed files with 26 additions and 16 deletions
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motorApp/MotorSrc/motorRecord.cc
+26 -16
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@@ -2,9 +2,9 @@
FILENAME... motorRecord.cc
USAGE... Motor Record Support.
Version: $Revision: 1.40 $
Modified By: $Author: peterd $
Last Modified: $Date: 2007-11-02 14:39:59 $
Version: $Revision: 1.41 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2007-11-07 18:54:13 $
*/
/*
@@ -93,6 +93,13 @@ Last Modified: $Date: 2007-11-02 14:39:59 $
* .31 04-06-07 rls - RDBD was being used in motordevCom.cc
* motor_init_record_com() before the validation check.
* .40 11-02-07 pnd - Use absolute value of mres to calculate rdbdpos
* .41 11-06-07 rls - Do relative moves only if retries are enabled (RTRY != 0).
* - Change NTM logic to use reference positions rather than
* feedback (readback). This eliminates unwanted MR stop
* commands with DC servoing.
* - Do not post process previous move on "tdir" detection.
* Clear post process indicator (pp). This fixes long moves
* at backlash velocity after a new target position.
*/
#define VERSION 6.3
@@ -725,7 +732,7 @@ static long postProcess(motorRecord * pmr)
/* Use if encoder or ReadbackLink is in use. */
msta.All = pmr->msta;
int use_rel = (msta.Bits.EA_PRESENT && pmr->ueip) || pmr->urip;
bool use_rel = (pmr->rtry != 0 && (msta.Bits.EA_PRESENT && pmr->ueip) || pmr->urip);
double relpos = pmr->diff / pmr->mres;
double relbpos = ((pmr->dval - pmr->bdst) - pmr->drbv) / pmr->mres;
@@ -745,7 +752,7 @@ static long postProcess(motorRecord * pmr)
WRITE_MSG(SET_VELOCITY, &vel);
if (acc > 0.0) /* Don't SET_ACCEL if vel = vbase. */
WRITE_MSG(SET_ACCEL, &acc);
if (use_rel)
if (use_rel == true)
WRITE_MSG(MOVE_REL, &relbpos);
else
WRITE_MSG(MOVE_ABS, &bpos);
@@ -761,7 +768,7 @@ static long postProcess(motorRecord * pmr)
WRITE_MSG(SET_VELOCITY, &bvel);
if (bacc > 0.0) /* Don't SET_ACCEL if bvel = vbase. */
WRITE_MSG(SET_ACCEL, &bacc);
if (use_rel)
if (use_rel == true)
{
relpos = (relpos - relbpos) * pmr->frac;
WRITE_MSG(MOVE_REL, &relpos);
@@ -801,7 +808,7 @@ static long postProcess(motorRecord * pmr)
/* Use if encoder or ReadbackLink is in use. */
msta.All = pmr->msta;
int use_rel = (msta.Bits.EA_PRESENT && pmr->ueip) || pmr->urip;
bool use_rel = (pmr->rtry != 0 && (msta.Bits.EA_PRESENT && pmr->ueip) || pmr->urip);
double relpos = pmr->diff / pmr->mres;
double relbpos = ((pmr->dval - pmr->bdst) - pmr->drbv) / pmr->mres;
@@ -816,7 +823,7 @@ static long postProcess(motorRecord * pmr)
WRITE_MSG(SET_VELOCITY, &bvel);
if (bacc > 0.0) /* Don't SET_ACCEL if bvel = vbase. */
WRITE_MSG(SET_ACCEL, &bacc);
if (use_rel)
if (use_rel == true)
{
relpos = (relpos - relbpos) * pmr->frac;
WRITE_MSG(MOVE_REL, &relpos);
@@ -989,10 +996,11 @@ LOGIC:
Call process_motor_info().
IF motor-in-motion indicator (MOVN) is true.
IF new target position in opposite direction of current motion.
[Sign of RDIF is NOT the same as sign of CDIR], AND,
[Dist. to target {DIFF} > 2 x (|Backlash Dist.| + Retry Deadband)], AND,
[MIP indicates this move is either (a result of a retry),OR,
(not from a Jog* or Hom*)]
[New target monitoring is enabled], AND,
[Sign of the commanded difference is NOT the same as sign of CDIR], AND,
[|commanded difference| > 2 x (|Backlash Dist.| + Retry Deadband)], AND,
[MIP indicates this move is either (a result of a retry), OR, (a
normal move; not a Jog or Home)]
Send Stop Motor command.
Set STOP indicator in MIP true.
Mark MIP as changed.
@@ -1112,14 +1120,15 @@ static long process(dbCommon *arg)
if (pmr->movn)
{
int sign_rdif = (pmr->rdif < 0) ? 0 : 1;
double cdiff = (pmr->rval - pmr->rmp) * pmr->mres; /* Commanded difference. */
int sign_cdiff = (cdiff < 0.0) ? 0 : 1;
/* Test for new target position in opposite direction of current
motion.
*/
if (pmr->ntm == menuYesNoYES &&
(sign_rdif != pmr->cdir) &&
(fabs(pmr->diff) > 2 * (fabs(pmr->bdst) + pmr->rdbd)) &&
(sign_cdiff != pmr->cdir) &&
(fabs(cdiff) > 2 * (fabs(pmr->bdst) + pmr->rdbd)) &&
(pmr->mip == MIP_RETRY || pmr->mip == MIP_MOVE))
{
@@ -1130,6 +1139,7 @@ static long process(dbCommon *arg)
SEND_MSG();
pmr->mip |= MIP_STOP;
MARK(M_MIP);
pmr->pp = FALSE; /* Don't post process the previous move. */
}
status = 0;
}
@@ -1997,7 +2007,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
msta.All = pmr->msta;
/*** Use if encoder or ReadbackLink is in use. ***/
if ((msta.Bits.EA_PRESENT && pmr->ueip) || pmr->urip)
if (pmr->rtry != 0 && (msta.Bits.EA_PRESENT && pmr->ueip) || pmr->urip)
use_rel = true;
else
use_rel = false;