Removed unnecessary check for being at state

pcdshub · Jan 15, 2025 · ebb59e5 · ebb59e5
1 parent 50137cd
commit ebb59e5
Showing 1 changed file with 1 addition and 3 deletions.
diff --git a/lcls-twincat-motion/Library/POUs/Motion/PMPS/FB_PositionStatePMPSND_Core.TcPOU b/lcls-twincat-motion/Library/POUs/Motion/PMPS/FB_PositionStatePMPSND_Core.TcPOU
@@ -61,7 +61,6 @@ VAR
 
     bEnable: BOOL;
     nGoalAtClear : UINT;
-    bAtStateAtClear : BOOL;
     rtEnable: R_TRIG;
 END_VAR
 ]]></Declaration>
@@ -99,7 +98,7 @@ fbMotionBPTM(
     bEnable:=bEnable,
     bAtState:=stPlcToEpics.nGetValue = nCurrGoal AND nCurrGoal <> 0,
     sDeviceName:=sDeviceName,
-    bRetry:=rtEnable.Q AND nGoalAtClear = nCurrGoal AND bAtStateAtClear,
+    bRetry:=rtEnable.Q AND nGoalAtClear = nCurrGoal,
     bTransitionAuthorized=>,
     bDone=>,
     bMotorCountError=>,
@@ -111,7 +110,6 @@ fbMotionClearAsserts(
     bExecute:=NOT fbMotionBPTM.bEnable,
 );
 nGoalAtClear := nCurrGoal;
-bAtStateAtClear := fbMotionBPTM.bAtState;
 
 fbStatePMPSEnables(
     astMotionStage:=astMotionStageMax,