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pcdshub / lcls-twincat-motion

TwinCAT 3 Motion Control Utilities - PLC Motion Library for all PCDS Applications
https://pcdshub.github.io/lcls-twincat-motion
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MNT: add waits where appropriate in the homing routines #118

Closed ZLLentz closed 3 years ago

ZLLentz commented 3 years ago

closes #113

Simply wait for the axis to stop prior to setting the position to home, to avoid the homing failure where we try to set the position of an axis still in motion.

I reproduced the bug on my test stage, then routed all transitions in the state machine that should wait through a new waiting state. Apply the patch to my test stage, then test the homing- all was well.

This has previously affected the scatter slits and the XTES imager zoom/focus, but this should fix both cases.

ZLLentz commented 3 years ago

Confirmed that this fixes the XTES lens motor homing with Phil

ZLLentz commented 3 years ago

Merging without review because it seems to work