From 1e8a6495b81c8aa3c567a37c2368ccdae665b07a Mon Sep 17 00:00:00 2001
From: smathis <stefan.mathis@psi.ch>
Date: Tue, 1 Jul 2025 13:11:06 +0200
Subject: [PATCH] Disable the axis on reset, if it is not moving

Resetting the axis now also disables it, if it is not moving.
---
 src/turboPmacAxis.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/src/turboPmacAxis.cpp b/src/turboPmacAxis.cpp
index 704e95b..4dd1219 100644
--- a/src/turboPmacAxis.cpp
+++ b/src/turboPmacAxis.cpp
@@ -886,6 +886,13 @@ asynStatus turboPmacAxis::doReset() {
     // if we're currently inside it.
     pTurboPmacA_->waitForHandshake = false;
 
+    // Disable the axis, if it is not in a moving state
+    int axStat = pTurboPmacA_->axisStatus;
+    if (axStat == 0 || axStat == -6) {
+        snprintf(command, sizeof(command), "M%2.2d14=0", axisNo_);
+        status = pC_->writeRead(axisNo_, command, response, 0);
+    }
+
     return status;
 }