From ba71c79a92df33698fbadde06daa599d233eb768 Mon Sep 17 00:00:00 2001
From: Daniel Sissom <daniel.sissom@binarycoalescence.com>
Date: Wed, 5 Jun 2024 14:34:59 -0500
Subject: [PATCH] Updated moveVelocity command for md90.

---
 dsmApp/src/MD90Driver.cpp | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/dsmApp/src/MD90Driver.cpp b/dsmApp/src/MD90Driver.cpp
index a0e5976..2099cf8 100644
--- a/dsmApp/src/MD90Driver.cpp
+++ b/dsmApp/src/MD90Driver.cpp
@@ -208,13 +208,14 @@ asynStatus MD90Axis::moveVelocity(double minVelocity, double maxVelocity, double
     
   status = sendAccelAndVelocity(acceleration, maxVelocity);
 
-  /* MD-90 does not have jog command. Move 1 million steps */
+  /* MD-90 does not have jog command. Move max 6000 steps */
+  sprintf(pC_->outString_, "SNS 6000");
   if (maxVelocity > 0.) {
     /* This is a positive move in MD90 coordinates */
-    sprintf(pC_->outString_, "#%02dI+1000000", axisNo_);
+    sprintf(pC_->outString_, "ESF");
   } else {
-      /* This is a negative move in MD90 coordinates */
-      sprintf(pC_->outString_, "#%02dI-1000000", axisNo_);
+    /* This is a negative move in MD90 coordinates */
+    sprintf(pC_->outString_, "ESB");
   }
   status = pC_->writeReadController();
   return status;