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Updated moveVelocity command for md90.

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This commit is contained in:
Daniel Sissom
2024-06-05 14:34:59 -05:00
parent 9fa37e8cd0
commit ba71c79a92
1 changed files with 5 additions and 4 deletions
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9
dsmApp/src/MD90Driver.cpp
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@@ -208,13 +208,14 @@ asynStatus MD90Axis::moveVelocity(double minVelocity, double maxVelocity, double
status = sendAccelAndVelocity(acceleration, maxVelocity); 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.) { if (maxVelocity > 0.) {
/* This is a positive move in MD90 coordinates */ /* This is a positive move in MD90 coordinates */
sprintf(pC_->outString_, "#%02dI+1000000", axisNo_); sprintf(pC_->outString_, "ESF");
} else { } else {
/* This is a negative move in MD90 coordinates */ /* This is a negative move in MD90 coordinates */
sprintf(pC_->outString_, "#%02dI-1000000", axisNo_); sprintf(pC_->outString_, "ESB");
} }
status = pC_->writeReadController(); status = pC_->writeReadController();
return status; return status;