V2.0: Fix issues #6

feecat · Jan 18, 2024 · abc4f49 · abc4f49
1 parent 4b6b9ae
commit abc4f49
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Showing 7 changed files with 7 additions and 7 deletions.
diff --git a/OpenSML.library b/OpenSML.library
diff --git a/OpenSML_TC3.library b/OpenSML_TC3.library
diff --git a/src/OpenSML_AxisController.txt b/src/OpenSML_AxisController.txt
@@ -65,7 +65,7 @@ CASE iState OF
 		Axis.Modes_of_operation:=8;//Cyclic Synchronous Position Mode
 		Axis.ControlWord.3:=Axis.Modes_of_operation_display=8;//Success change mode, enable operation
 		otg.CurrentPosition:=DINT_TO_LREAL(Axis.Position_Actual_Value) / Control.Scale;//Write actual position to otg
-		IF Axis.StatusWord.2 THEN//Operation Enabled
+		IF Axis.StatusWord.2 AND Axis.Modes_of_operation_display = 8 THEN//Operation Enabled, Mode Changed success
 			iState:=20;
 		END_IF
 	20://Movement
@@ -92,7 +92,7 @@ CASE iState OF
 			TargetPosition:= Control.lrFollowPosition , 
 			TargetVelocity:= JogVel , 
 			TargetAcceleration:= 0 , 
-			CycleTIme:=0.01,
+			CycleTIme:= Control.CycleTime,
 			MaxVelocity:= MoveVel,//Control.para.MaxVelocity , 
 			MaxAcceleration:= Control.MaxAcceleration , 
 			MaxJerk:= Control.MaxJerk);//accept new position and going on

diff --git a/src/OpenSML_ProfilePosition.txt b/src/OpenSML_ProfilePosition.txt
@@ -55,7 +55,7 @@ CASE iState OF
 	10://Set Mode
 		Axis.Modes_of_operation:=1;//Profile Position Mode
 		Axis.ControlWord.3:=Axis.Modes_of_operation_display=1;//Success change mode, enable operation
-		IF Axis.StatusWord.2 THEN//Operation Enabled
+		IF Axis.StatusWord.2 AND Axis.Modes_of_operation_display = 1 THEN//Operation Enabled, Mode Changed success
 			iState:=20;
 		END_IF
 	20://Movement

diff --git a/src/OpenSML_ProfileVelocity.txt b/src/OpenSML_ProfileVelocity.txt
@@ -39,7 +39,7 @@ CASE iState OF
 	10://Set Mode
 		Axis.Modes_of_operation:=3;//Profile Velocity Mode
 		Axis.ControlWord.3:=Axis.Modes_of_operation_display=3;//Success change mode, enable operation
-		IF Axis.StatusWord.2 THEN//Operation Enabled
+		IF Axis.StatusWord.2 AND Axis.Modes_of_operation_display = 3 THEN//Operation Enabled, Mode Changed success
 			iState:=20;
 		END_IF
 	20://Movement

diff --git a/src/OpenSML_SyncPosition.txt b/src/OpenSML_SyncPosition.txt
@@ -63,7 +63,7 @@ CASE iState OF
 		Axis.Modes_of_operation:=8;//Cyclic Synchronous Position Mode
 		Axis.ControlWord.3:=Axis.Modes_of_operation_display=8;//Success change mode, enable operation
 		otg.CurrentPosition:=DINT_TO_LREAL(Axis.Position_Actual_Value) / lrScale;//Write actual position to otg
-		IF Axis.StatusWord.2 THEN//Operation Enabled
+		IF Axis.StatusWord.2 AND Axis.Modes_of_operation_display = 8 THEN//Operation Enabled, Mode Changed success
 			iState:=20;
 		END_IF
 	20://Movement

diff --git a/src/OpenSML_SyncVelocity.txt b/src/OpenSML_SyncVelocity.txt
@@ -63,9 +63,9 @@ CASE iState OF
 		END_IF
 	10://Set Mode
 		Axis.Modes_of_operation:=8;//Cyclic Synchronous Position Mode
-		Axis.ControlWord.3:=Axis.Modes_of_operation_display=9;//Success change mode, enable operation
+		Axis.ControlWord.3:=Axis.Modes_of_operation_display=8;//Success change mode, enable operation
 		otg.CurrentPosition:=DINT_TO_LREAL(Axis.Position_Actual_Value) / lrScale;//Write actual position to otg
-		IF Axis.StatusWord.2 THEN//Operation Enabled
+		IF Axis.StatusWord.2 AND Axis.Modes_of_operation_display = 8 THEN//Operation Enabled, Mode Changed success
 			iState:=20;
 		END_IF
 	20://Movement