lin-epics-modules/turboPmac
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Disable the axis on reset, if it is not moving

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Resetting the axis now also disables it, if it is not moving.
This commit is contained in:
mathis_s
2025-07-01 13:11:06 +02:00
parent 6b91ab6d51
commit 1e8a6495b8
1 changed files with 7 additions and 0 deletions
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7
src/turboPmacAxis.cpp
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@ -886,6 +886,13 @@ asynStatus turboPmacAxis::doReset() {
// if we're currently inside it. // if we're currently inside it.
pTurboPmacA_->waitForHandshake = false; 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; return status;
} }