The default behaviour of the pmac controller is to enable the motor at startup. With the controller V3 we want that at IOC startup the axis to be off.
A database entry like
record(longout, "$(P)$(M):Enable") {
field(DTYP, "asynInt32")
field(OUT, "@asyn($(PORT),$(N),1) ENABLE_AXIS")
field(PINI, "YES")
}
can be used to give access to enable/disable the axis.
- limit switches: use PXX37, PXX38 insteam of MXX21, MXX22
- if the motor is running query for axis position (QXX10) and status (PXX00)
- else query also error status (PXX01) and limit switches (PXX37-8)
- make the requests in 1+1 transactions
- make the number of extra parameters in SINQController configurable
- add database entry for the motor set field
- add the new function "setMotorPosition_" to the Selene controller
- execute Qx59=<pos> to set the new position
