Cache attr_RobotSpeed_read

SampleChangerDS/TomoSampleChanger.py

@@ -260,7 +260,7 @@ class TomoSampleChanger(Device):
 
                     self.robot_status_time = now
                     self.info_stream ("robot_status() at %d" % int(now))
-                self.status_lock = False
+            self.status_lock = False
 
         # catch all exceptions, convert to Tango exception and rethrow
         except:
@@ -402,7 +402,7 @@ class TomoSampleChanger(Device):
         self.attr_RemoteMode_read       = False
         self.attr_ParkingPosition_read  = False
         self.attr_SafetyChainOK_read    = False
-
+        self.attr_RobotSpeed_read    = "None"
         # init flags for state and status
         self.init_done      = False
         self.init_error     = None
@@ -567,8 +567,9 @@ class TomoSampleChanger(Device):
 
     def get_speed(self):
         # PROTECTED REGION ID(TomoSampleChanger.get_speed) ENABLED START #
-        speed = self.robot.accelForLargeMovesMultiplicator
-        return speed
+        if self.is_moving == False:
+            self.attr_RobotSpeed_read = self.robot.accelForLargeMovesMultiplicator
+        return self.attr_RobotSpeed_read
         # PROTECTED REGION END #    //  TomoSampleChanger.get_speed
 
     def set_speed(self, speed):
@@ -793,6 +794,9 @@ class TomoSampleChanger(Device):
         self.robot.emmergencyStopBlockingPrograms()
         self.robot.powerOFF()
 
+        self.is_moving = False
+        self.is_error = True
+
         # PROTECTED REGION END #    //  TomoSampleChanger.Abort
 
     @command(