RoCoN: do not run stepper motor current controller if axis not powered.

Signed-off-by: Pavel Pisa <ppisa@pikron.com>

diff --git a/sw/app/rocon/appl_pxmc.c b/sw/app/rocon/appl_pxmc.c
index 36e0e567a1a0c92a196355940f3aa62a48d5a6ab..95cab6e9b779d117cf44f3f924a38ace4796b623 100644 (file)
--- a/sw/app/rocon/appl_pxmc.c
+++ b/sw/app/rocon/appl_pxmc.c
@@ -982,7 +982,8 @@ pxmc_pxmcc_nofb2ph_out(pxmc_state_t *mcs)
 
   pxmcc_axis_get_cur_dq_filt_raw(mcs, &cur_d_raw, &cur_q_raw);
 
-  if (mcs->pxms_flg & PXMS_ERR_m) {
+  if ((mcs->pxms_flg & PXMS_ERR_m) ||
+      !(mcs->pxms_flg & (PXMS_ENO_m | PXMS_ENR_m))) {
     pxmc_rocon_pwm2ph_wr(mcs, 0, 0);
     pxmcc_axis_pwm_dq_out(mcs, 0, 0);
     mcc_axis->steps_inc = 0;