These are left over from the original pitch control mechanism used for FEE-M1/FEE-M2. They should correspond to encoder counts of pitch limit switch positions while diEncCnt gets linked to the encoder readback. I have found that nothing happens when diEncCnt exceeds diEncPosLimHi or diEncPosLimLo
Regardless, hitting the physical limit switch does halt motion. This almost always occurs in PC_State := PCM_CoarseMove, where the state machine halts (I.e the original move request which resulted in hitting the limit switch is still present, but the motor has lost its FeedFwd/FeedBwd Enable so no motion occurs). The state machine will remain in PCM_CoarseMove until receiving a new motion request away from the limit, at which point the state machine can resume.
This is not ideal, but we do still also have HOMS_PitchMechanism.ReqPosLimHi/ReqPosLimLo along with NC axis soft limits that are set within the hard limits, so moves to the physical limit switches should not occur.
These are left over from the original pitch control mechanism used for FEE-M1/FEE-M2. They should correspond to encoder counts of pitch limit switch positions while
diEncCntgets linked to the encoder readback. I have found that nothing happens whendiEncCntexceedsdiEncPosLimHiordiEncPosLimLohttps://github.com/jsheppard95/lcls-twincat-optics/blob/piezo-control/lcls-twincat-optics/lcls_twincat_optics_plc/DUTs/HOMS_PitchMechanism.TcDUT
Regardless, hitting the physical limit switch does halt motion. This almost always occurs in
PC_State := PCM_CoarseMove, where the state machine halts (I.e the original move request which resulted in hitting the limit switch is still present, but the motor has lost its FeedFwd/FeedBwd Enable so no motion occurs). The state machine will remain inPCM_CoarseMoveuntil receiving a new motion request away from the limit, at which point the state machine can resume.This is not ideal, but we do still also have
HOMS_PitchMechanism.ReqPosLimHi/ReqPosLimLoalong with NC axis soft limits that are set within the hard limits, so moves to the physical limit switches should not occur.