# HG changeset patch
# User Laurent Bessard
# Date 1365979079 -7200
# Node ID 7b5e83c2c23d3db555b9b2d1f2ff813134568e0b
# Parent  f62eb0b2e57cc1331ac10c6c00639f38ae2e8a3d
Rollback last commit

diff -r f62eb0b2e57c -r 7b5e83c2c23d etherlab/plc_cia402node.c
--- a/etherlab/plc_cia402node.c	Sat Apr 13 12:27:49 2013 +0200
+++ b/etherlab/plc_cia402node.c	Mon Apr 15 00:37:59 2013 +0200
@@ -153,7 +153,12 @@
 	}
 
 	// Default variables publish
-	*(__CIA402Node_%(location)s.TargetPosition) = USER_UNIT_TO_AXIS_UNIT(__CIA402Node_%(location)s.axis->PositionSetPoint);
+	if (__CIA402Node_%(location)s.axis->CSP && *(__CIA402Node_%(location)s.ModesOfOperationDisplay) == 0x08) {
+		*(__CIA402Node_%(location)s.TargetPosition) = USER_UNIT_TO_AXIS_UNIT(__CIA402Node_%(location)s.axis->PositionSetPoint);
+	}
+	else {
+		*(__CIA402Node_%(location)s.TargetPosition) = *(__CIA402Node_%(location)s.ActualPosition);
+	}
 
 	// Extra variables publish
 %(extra_variables_publish)s