Implemented speed for the PMAC controller

2023-02-22 11:54:54 +01:00
parent acf1751081
commit b8896b7a85
2 changed files with 8 additions and 0 deletions
--- a/sinqEPICSApp/src/pmacAxis.cpp
+++ b/sinqEPICSApp/src/pmacAxis.cpp
@ -219,6 +219,11 @@ asynStatus pmacAxis::move(double position, int relative, double min_velocity,
  status6Time = 0;
  starting = 1;

+  /* set speed first */
+  sprintf(command, "Q%d04=%f", axisNo_, max_velocity);
+  status = pC_->lowLevelWriteRead(axisNo_, command, response);
+
+  /* send drive command */
  sprintf(command, "P%2.2d23=0 Q%2.2d01=%12.4f M%2.2d=1", axisNo_, axisNo_,
          realPosition, axisNo_);