DS402: Minimize side-effects of operation mode switching (ref #244) #251
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As the comment already stated, clearing the target values should possibly happen before switching to the OPERATION ENABLED state, to avoid unexpected movements. So doing that when actually leaving that state is mostly useless. Some legitimate use cases even require switching the operation mode while in OPERATION ENABLED, e.g. switching between Profile Position and Profile Velocity. This change does not allow that, but at the very least will avoid the need to reset target values again.
Some legitimate use cases require switching the operation mode while in OPERATION ENABLED, e.g. switching between Profile Position and Profile Velocity. If an application or specific controller needs the transition from OPERATION ENABLED to SWITCHED ON during operation mode changes, that should be handled outside this library, and is easy enough to do. On the other hand, having it inside the op_mode setter prevents the above mentioned use-case.
Do not generate a log message about the changed operation mode when it actually failed. Use a consistent style for the TypeError message formatting.
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The
BaseNode402.op_modesetter carries out some precautionary steps as a side-effect. Some of these were already questioned in the code comments.These changes push the responsibility for these measures toward the application, where they are just as easy to implement, but it's hard to avoid them when not needed or harmful to the application logic. The greatest possible benefit is less SDO bus traffic and delays when using the library functions, which sums up quickly with multiple drive controllers involved.