Question Regarding HLS/LLS Settings and DIR Values

[Zhibang Shen via Tech-talk <tech-talk at aps.anl.gov>]

Hi,

I am using motor-R7-1.

In the motor submodule developed by myself, I check the status of the hard limit switch and directly set motorStatusHighLimit_ and motorStatusLowLimit_.

// Read the limit status

//

status = pC_->readReg16(axisNo_+1, LIMIT, &read_val, DEFAULT_CONTROLLER_TIMEOUT);

//low limit

limit = (read_val & 0x2);

setIntegerParam(pC_->motorStatusLowLimit_, limit);

//high limit

limit = (read_val & 0x1);

setIntegerParam(pC_->motorStatusHighLimit_, limit);

And I find something interesting that when the motor hits the high limit switch, and the DIR is set to Positive, the HLS will be illuminated. And if I switch the DIR to Neg, without moving the motor, the LLS will become 1 and the HLS will be 0.

Is the logic intentionally designed this way, or is it because my code is not good enough?

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Zhibang Shen

Institute of High Energy Physics, Chinese Academy of Sciences

19B Yuquan Road, Shijingshan District, Beijing, China

100049