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Elmo improvement

Valentin Valls requested to merge elmo-improvement into 1.11.x

Related to #3911

The elmo controller was providing a wrong MOVING state when the controller was turned on.

It was due to a MR=1 (target reached), probably because axes move a bit at start.

This PR change the set_on command to:

  • wait for the servo to be ready
  • then wait for termination of the actual motion.

This looks to solve the problem.

Plus the same fix from !5935 was applied to the axes state when the servo is disabled.

Tested at BM05 MRTOMO

This have to be backported to BLISS 2.0

Edited by Valentin Valls

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