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Only calculate difference when moving #34

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15 changes: 9 additions & 6 deletions GalilSup/Db/galil_motor_extras.template
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Original file line number Diff line number Diff line change
Expand Up @@ -1018,24 +1018,27 @@ record(stringout,"$(P):$(M)_MOVE_CMD")

##
## calculate the live difference between motor and encoder position
## only calculate if UEIP is true and an encoder is actually
## only calculate if UEIP is true and an encoder is also actually
## present (as per relevant MSTA bit)
## In addition only calculate when moving to avoid noisy
## encoder post move triggering recording
##
record(calcout,"$(P):$(M)_MTRENC_DIFF")
{
field(DESC, "Encoder motor difference")
field(DESC, "In motion encoder motor difference")
field(INPA, "$(P):$(M).RMP CP")
field(INPB, "$(P):$(M).MRES CP")
field(INPC, "$(P):$(M).REP CP")
field(INPD, "$(P):$(M).ERES CP")
field(INPE, "$(P):$(M).UEIP CP")
field(INPF, "$(P):$(M).MSTA CP")
field(CALC, "(E&&(F&256))?(ABS(A*B)-ABS(C*D)):0")
field(INPG, "$(P):$(M).DMOV CP")
field(CALC, "H:=(G=0?((E&&(F&256))?(ABS(A*B)-ABS(C*D)):0):H);H")
}

##
## calculate the difference between motor and encoder position
## when not in motion
## determine the difference between motor and encoder position
## when motion complete
##
record(calcout,"$(P):$(M)_MTRENC_DRIFT_")
{
Expand All @@ -1050,7 +1053,7 @@ record(calcout,"$(P):$(M)_MTRENC_DRIFT_")
}

##
## difference between motor and encoder position when not in motion
## record difference between motor and encoder position when motion complete
##
record(ai,"$(P):$(M)_MTRENC_DRIFT")
{
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