Changes made for Pathfinder 5226 controllers.

Some shears can be speed controlled through analog to determine how fast the shear can move. Customers were complaining about their shears not stopping as fast as they did with the old controllers. When looking at diagnostics it looked like the analog signal was dropping to zero right when the limit switch was hit. So it seemed like there was nothing we could do about it and the shear is stopping like it did before. After a couple of months though it was brought up that this problem has been seen on other machines, but they just moved the limit switch to deal with the problem. After more research into what could be the difference there was a bug found in the loop algorithm that the analog is indeed dropping to zero, but the pressure relief output was staying on for a certain amount of time because of a velocity check. Since this is part of what controls movement of the shear it needed to be turned off right away to.

The solution to this is if the axis is time based don't do the same velocity check and turn off the pressure relief right away. It also turns out that the shear limits were setup to be polled which added another add on of time to stopping. Setting these to interrupts seemed to make it stop like old controls. A settling time was also set in place to not have the shear instantly say the move is done when the limit is seen. This at least gives a little bit of buffer before another axis tries to move.