From ebb59e51a151520fa91ce5e6b49fa493b6f13546 Mon Sep 17 00:00:00 2001
From: KaushikMalapati <kaushikmalapati@gmail.com>
Date: Wed, 15 Jan 2025 02:28:21 -0800
Subject: [PATCH] Removed unnecessary check for being at state

---
 .../POUs/Motion/PMPS/FB_PositionStatePMPSND_Core.TcPOU        | 4 +---
 1 file changed, 1 insertion(+), 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
index 897a56a..4b7ac7e 100644
--- 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,