Merge pull request pcdshub#219 from NSLentz/fix-4.1.0-bug-target-pos

Fixed bug with NC Target position not playing nice with how ioc comm…
jozamudi · Jun 4, 2024 · 36ab7c2 · 36ab7c2
2 parents 55e38da + 9ebd660
commit 36ab7c2
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/lcls-twincat-motion/Library/POUs/Motion/PMPS/FB_StatePMPSEnables.TcPOU b/lcls-twincat-motion/Library/POUs/Motion/PMPS/FB_StatePMPSEnables.TcPOU
@@ -143,8 +143,8 @@ ffNoGoal(
 IF bLockBounds THEN
     // Prevent forward/backward motion if the position of the axis is outside of the upper/lower bounds respectively.
     // Prevent forward/backward motion if the command to the axis is outside of the upper/lower bounds respectively.
-    bForwardEnabled  := stMotionStage.Axis.NcToPlc.ActPos < fUpperPos AND stMotionStage.Axis.NcToPlc.TargetPos < fUpperPos;
-    bBackwardEnabled := stMotionStage.Axis.NcToPlc.ActPos > fLowerPos AND stMotionStage.Axis.NcToPlc.TargetPos > fLowerPos;
+    bForwardEnabled  := stMotionStage.Axis.NcToPlc.ActPos < fUpperPos AND stMotionStage.fPosition < fUpperPos;
+    bBackwardEnabled := stMotionStage.Axis.NcToPlc.ActPos > fLowerPos AND stMotionStage.fPosition > fLowerPos;
 
     IF (stMotionStage.nErrorId = 16#4223 OR stMotionStage.nErrorId = 16#4260) AND
         ((stMotionStage.bAllForwardEnable AND NOT bForwardEnabled) OR