Made the delay required and not a conditional

Yaskawa-Global · Feb 23, 2024 · 7574bd2 · 7574bd2
1 parent f0ba3bc
commit 7574bd2
Showing 1 changed file with 2 additions and 5 deletions.
diff --git a/src/MotionControl.c b/src/MotionControl.c
@@ -1363,7 +1363,6 @@ BOOL Ros_MotionControl_StartMotionMode(MOTION_MODE mode)
     MP_START_JOB_SEND_DATA sStartData;
     int checkCount;
     int grpNo;
-    bool ecoModeCheck = false;
 
     Ros_Debug_BroadcastMsg("%s: enter", __func__);
 
@@ -1449,7 +1448,6 @@ BOOL Ros_MotionControl_StartMotionMode(MOTION_MODE mode)
                 Ros_Debug_BroadcastMsg("%s: couldn't disable eco mode");
                 goto updateStatus;
             }
-            ecoModeCheck = true;
         }
 
         // servos are off, eco mode is not active any more (if it was), so
@@ -1542,9 +1540,8 @@ BOOL Ros_MotionControl_StartMotionMode(MOTION_MODE mode)
 
     Ros_Debug_BroadcastMsg("%s: exit", __func__);
 
-    //If recovering from eco mode: Give time for the controller to recognize that the INFORM cursor is sitting on
-    //a WAIT instructions.
-    if (ecoModeCheck) Ros_Sleep(200);
+    //Required to allow motion api to work (Potential race condition)
+    Ros_Sleep(200);
 
     if (Ros_Controller_IsMotionReady())
     {