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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PMPS Hanging Transition With Motion Errors #93

Open ZLLentz opened 4 years ago

ZLLentz commented 4 years ago

Currently it's possible for there to be a transition assertion hanging in the arbiter after a failed state move. This hanging assertion is not cleared when the error is reset.

It's unclear exactly why this happens, but we expect that the transition assertion should no longer apply after a failed move if we didn't even get started, and should continue to apply if we got started and had to stop in the middle.