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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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State documentation additions #127

Open klauer opened 3 years ago

klauer commented 3 years ago

Some notes while reading through the state fix PR that could be worthy of inclusion into a state-howto document or so:

  1. Worth noting about mutually-exclusive states and favoring the higher states: https://github.com/pcdshub/lcls-twincat-motion/blob/25f33e83c451b406af8e883a2a7f12388b52743c/lcls-twincat-motion/Library/POUs/Motion/States/FB_PositionStateBase.TcPOU#L142-L143

  2. What does it mean to move to the 'unknown' (0) state? -> invalid DUT_PositionState means no motion will be attempted. If the axis is currently moving, I think it will stop and indicate error ID 16#7902

  3. Max state count has changed over time, primarily due to pytmc limitations which have since been worked around. Updated a documentation reference in a PR.