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Configure auto-reset of error #61

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Configure auto-reset of error #61

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f2f8646
Parse SetAxisAutoResetError
mac-kan Feb 2, 2026
bbf0984
Add setAxisAutoResetError()
mac-kan Feb 2, 2026
b08e0a4
Control autoreset of error when enabled
mac-kan Feb 2, 2026
78507b0
Merge pull request #1 from mac-kan/configure_auto_reset_error
mac-kan Feb 17, 2026
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7 changes: 7 additions & 0 deletions devEcmcSup/com/ecmcCmdParser.c
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Original file line number Diff line number Diff line change
Expand Up @@ -2437,6 +2437,13 @@ static int handleCfgCommand(const char *myarg_1) {
return setAxisModType(iValue, iValue2);
}

/*int Cfg.SetAxisAutoResetError(int axis_no, int autoResetError);*/
nvals = sscanf(myarg_1, "SetAxisAutoResetError(%d,%d)", &iValue, &iValue2);

if (nvals == 2) {
return SetAxisAutoResetError(iValue, iValue2);
}

/*int Cfg.SetAxisDisableAtErrorReset(int axis_no, int disable);*/
nvals = sscanf(myarg_1,
"SetAxisDisableAtErrorReset(%d,%d)",
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8 changes: 7 additions & 1 deletion devEcmcSup/motion/ecmcAxisBase.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -309,6 +309,7 @@ void ecmcAxisBase::initVars() {
enableAutoEnable_ = 0;
enableAutoDisable_ = 0;
positionTargetAsyn_ = 0;
enableAutoResetError_ = 0;
}

void ecmcAxisBase::preExecute(bool masterOK) {
Expand Down Expand Up @@ -627,7 +628,7 @@ int ecmcAxisBase::getErrorID() {

int ecmcAxisBase::setEnableLocal(bool enable) {
if (enable && !data_.status_.statusWord_.enable) {
errorReset();
if(enableAutoResetError_) errorReset();
extEncVeloFilter_->initFilter(0); // init to 0 vel
extTrajVeloFilter_->initFilter(0); // init to 0 vel
if( (!data_.status_.statusWord_.attarget) || (!firstEnableDone_) || (!mon_->getEnableAtTargetMon())) {
Expand Down Expand Up @@ -1404,6 +1405,11 @@ int ecmcAxisBase::getModType() {
return (int)data_.control_.moduloType;
}

int ecmcAxisBase::setAutoResetError(bool enable) {
enableAutoResetError_ = enable;
return 0;
}

int ecmcAxisBase::getCntrlError(double *error) {
*error = data_.status_.cntrlError;
return 0;
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1 change: 1 addition & 0 deletions devEcmcSup/motion/ecmcAxisBase.h
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Expand Up @@ -316,6 +316,7 @@ class ecmcAxisBase : public ecmcError {
bool enableAutoEnable_;
bool enableAutoDisable_;
double positionTargetAsyn_;
bool enableAutoResetError_;
};

#endif /* ECMCAXISBASE_H_ */
14 changes: 14 additions & 0 deletions devEcmcSup/motion/ecmcMotion.cpp
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Expand Up @@ -3572,6 +3572,20 @@ int setAxisModType(int axisIndex,
return axes[axisIndex]->setModType(type);
}

int setAxisAutoResetError(int axisIndex,
int autoResetError) {
LOGINFO4("%s/%s:%d axisIndex=%d, autoResetError=%d \n",
__FILE__,
__FUNCTION__,
__LINE__,
axisIndex,
autoResetError);

CHECK_AXIS_RETURN_IF_ERROR(axisIndex);

return axes[axisIndex]->setAutoResetError(autoResetError);
}

int setAxisDisableAtErrorReset(int axisIndex,
int disable) {
LOGINFO4("%s/%s:%d axisIndex=%d, disable=%d \n",
Expand Down