Changes made for Pathfinder 5226 controllers.

A clamp position adjustment based on the radius adjust position was implemented to keep the machine safe by offsetting the clamp to its physical position for moves. For more information refer to:

SCN 5226; Clamp and Radius Adjust Position Interaction

A bug came from this in which the clamp would start moving down when the move should have been up. The solution to this was to only move the clamp down when the run task wanted to do a move down. Error message Axis Move Direction Mismatch was also created as an extra line of defense for this problem.

Changes made for Pathfinder 5226 controllers.

To move an axis with the 5226 controller the run task first sets up a moves for all axes for what the operation needs at that given time. Once everything is set up axes are allowed to move as long as there is no conflict with any axis at a given time. A problem that can arise from this is that all of the movement of the other axes could affect the position of an axis that hasn't moved yet through drift or jerkiness. In some extreme cases this could have moved an axis to be on the other side of the target and the direction it was supposed to move has changed by the time it is allowed to move.

To solution to this problem was to re-check the direction the axis thinks it is supposed to move based on the target against the direction the axis thought it was going to start moving when the move was set up by the run task. If there is a mis-match the machine will be halted with the error message 360 Axis Move Direction Mismatch. This error will also catch cases where something happened to the axis feedback or if the clamp offset based on radius adjust position feature created a problem.