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Implemented speed for the PMAC controller

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This commit is contained in:
koennecke
2023-02-22 11:54:54 +01:00
parent acf1751081
commit b8896b7a85
2 changed files with 8 additions and 0 deletions
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5
sinqEPICSApp/src/pmacAxis.cpp
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@ -219,6 +219,11 @@ asynStatus pmacAxis::move(double position, int relative, double min_velocity,
status6Time = 0; status6Time = 0;
starting = 1; 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_, sprintf(command, "P%2.2d23=0 Q%2.2d01=%12.4f M%2.2d=1", axisNo_, axisNo_,
realPosition, axisNo_); realPosition, axisNo_);

3
utils/syncPmacSub.py
View File

@ -62,6 +62,9 @@ def fix_line(par_list, index_list):
highlim = transact('Q%d13' % motNo) highlim = transact('Q%d13' % motNo)
highidx = index_list.index('DHLM') highidx = index_list.index('DHLM')
par_list[highidx] = highlim.strip() par_list[highidx] = highlim.strip()
speed = transact('Q%d03' % motNo)
speedidx = index_list['VELO']
par_list[speedidx] = speed.trim()
return par_list return par_list
def scan_substitution_file(filename): def scan_substitution_file(filename):