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Rework to make more like updated Echidna and Wombat programs

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r2495 | dcl | 2008-04-30 11:57:55 +1000 (Wed, 30 Apr 2008) | 2 lines
This commit is contained in:
Douglas Clowes
2008-04-30 11:57:55 +10:00
parent fe682b39ac
commit 0e4be397d5
4 changed files with 1309 additions and 328 deletions
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420
site_ansto/instrument/reflectometer/DMC2280/controller1.txt
View File

@@ -1,21 +1,24 @@
NO TE: PLATYPUS - CONTROLLER 1
NO TE:
NO TE: $Revision: 1.10 $
NO TE: $Date: 2008-02-03 23:41:32 $
NO TE: Author: Dan Bartlett
NO TE: Last revision by: $Author: dcl $
NO TE:
NO TE: A-BEAM SHADE RAISE
NO TE: B-COLLIMATOR TRANSLATE A=7350364, B=6529772, C=6941582
NO TE: C-COLLIMATOR TILT, LEVEL=134660
NO TE: D-BEAM ATTENUATOR, BEAM CENTRE=8375078
NO TE: E-SLIT TOWER S3 RAISE
NO TE: F-SLIT TOWER S4 RAISE
NO TE: G-DETECTOR TRANSLATION Y (ALONG BEAM)
NO TE: H-SPARE
NO ----------------------------------------
' PLATYPUS - CONTROLLER 1
'
' $Revision: 1.11 $
' $Date: 2008-04-30 01:57:55 $
' Author: Dan Bartlett
' Last revision by: $Author: dcl $
'
' A-BEAM SHADE RAISE
' B-COLLIMATOR TRANSLATE A=7350364, B=6529772, C=6941582
' C-COLLIMATOR TILT, LEVEL=134660
' D-BEAM ATTENUATOR, BEAM CENTRE=8375078
' E-SLIT TOWER S3 RAISE
' F-SLIT TOWER S4 RAISE
' G-DETECTOR TRANSLATION Y (ALONG BEAM)
' H-SPARE
'
'
'-----------------------------------------------------------------------
#AUTO
NO TE: THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
' THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
'
MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
MO;' FIRST TIME MOTOR OFF
CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
@@ -33,17 +36,144 @@ SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
SIF=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
SIG=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
SIH=0,25,13,0<-2>2;'SPARE
NO TE: FIRST TIME THROUGH BRAKE CONTROL NOT DONE
' FIRST TIME THROUGH BRAKE CONTROL NOT DONE
REQA=0
RSPA=0
' FIRST TIME THROUGH RESET HALT CONTROL
HLTA=0
HLTB=0
HLTC=0
HLTD=0
HLTE=0
HLTF=0
HLTG=0
HLTH=0
' FIRST TIME THROUGH RESET LIMIT CONTROL
LSAHIT=0
LSBHIT=0
LSCHIT=0
LSDHIT=0
LSEHIT=0
LSFHIT=0
LSGHIT=0
LSHHIT=0
POS=0;' INITIAL BEAM ATTENUATOR FREQUENCY IS 0, PARKED IN THE BEAM
XQ #ATTEN,1
JS #THREAD0
EN
NO ----------------------------------------
'
'
'-----------------------------------------------------------------------
#THREAD0
NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
' MAIN THREAD
' THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
'
JS #CHKSPD
JS #CHKDCEL
JS #AIRPAD
JP #THREAD0
EN
'
'
'-----------------------------------------------------------------------
#CHKDCEL
'ROUTINE TO RESET DECELERATION AFTER AN EMERGENCY STOP
'
IF (_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
IF (LSAHIT=1);'WHEN MOTION STOPS AFTER A LIMIT HIT
DCA=OLDDCA;' RESET DECEL TO OLD VALUE
LSAHIT=0
ENDIF
IF (HLTA=1)
HLTA=0
ENDIF
ENDIF
'
IF (_BGB=0)
IF (LSBHIT=1)
DCB=OLDDCB
LSBHIT=0
ENDIF
IF (HLTB=1)
HLTB=0
ENDIF
ENDIF
'
IF (_BGC=0)
IF (LSCHIT=1)
DCC=OLDDCC
LSCHIT=0
ENDIF
IF (HLTC=1)
HLTC=0
ENDIF
ENDIF
'
IF (_BGD=0)
IF (LSDHIT=1)
DCD=OLDDCD
LSDHIT=0
ENDIF
IF (HLTD=1)
HLTD=0
ENDIF
ENDIF
'
IF (_BGE=0)
IF (LSEHIT=1)
DCE=OLDDCE
LSEHIT=0
ENDIF
IF (HLTE=1)
HLTE=0
ENDIF
ENDIF
'
IF (_BGF=0)
IF (LSFHIT=1)
DCF=OLDDCF
LSFHIT=0
ENDIF
IF (HLTF=1)
HLTF=0
ENDIF
ENDIF
'
IF (_BGG=0)
IF (LSGHIT=1)
DCG=OLDDCG
LSGHIT=0
ENDIF
IF (HLTG=1)
HLTG=0
ENDIF
ENDIF
'
IF (_BGH=0)
IF (LSHHIT=1)
DCH=OLDDCH
LSHHIT=0
ENDIF
IF (HLTH=1)
HLTH=0
ENDIF
ENDIF
'
JS #SETDCEL,((HLTA=1)&(LSAHIT=0))
JS #SETDCEL,((HLTB=1)&(LSBHIT=0))
JS #SETDCEL,((HLTC=1)&(LSCHIT=0))
JS #SETDCEL,((HLTD=1)&(LSDHIT=0))
JS #SETDCEL,((HLTE=1)&(LSEHIT=0))
JS #SETDCEL,((HLTF=1)&(LSFHIT=0))
JS #SETDCEL,((HLTG=1)&(LSGHIT=0))
JS #SETDCEL,((HLTH=1)&(LSHHIT=0))
EN
'
'
'-----------------------------------------------------------------------
#CHKSPD
' ROUTINE TO CHECK IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
'
IF (_SPA>50000)
SPA=50000
ENDIF
@@ -65,110 +195,187 @@ ENDIF
IF (_SPG>50000)
SPG=50000
ENDIF
NO IF (_SPH>50000)
NO SPH=50000
NO ENDIF
NO TE: TO CONTROL THE BRAKE ON BEAM SHADE RAISE AXIS
IF (_MOA=0)&(RSPA=0);'BEAM SHADE RAISE MOTOR IS ON
IF (_SPH>50000)
SPH=50000
ENDIF
EN
'
'
'-----------------------------------------------------------------------
#TCPERR
' EMPTY ROUTINE FOR A TCP ERROR
'
RE
'
'
'-----------------------------------------------------------------------
#CMDERR
'ROUTINE TO HANDLE COMMAND ERRORS
'
ZS0
EN1
'
'
'-----------------------------------------------------------------------
#ININT
' INTERUPT ROUTINE TO STOP ALL AXES
' WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
'
STA,B,C,D,E,F,G,H
HLTA=1
HLTB=1
HLTC=1
HLTD=1
HLTE=1
HLTF=1
HLTG=1
HLTH=1
JS #SETDCEL
RI
'
'
'-----------------------------------------------------------------------
#LIMSWI
'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
'
JS #SETDCEL
RE
'
'-----------------------------------------------------------------------
#SETDCEL
'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS
'
IF (_BGA=1)
IF (((_SCA=2)&(_LFA=0))|((_SCA=3)&(_LRA=0))|(HLTA=1))
STA
IF (LSAHIT=0)
OLDDCA=_DCA
DCA=100000
LSAHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGB=1)
IF (((_SCB=2)&(_LFB=0))|((_SCB=3)&(_LRB=0))|(HLTB=1))
STB
IF (LSBHIT=0)
OLDDCB=_DCB
DCB=100000
LSBHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGC=1)
IF (((_SCC=2)&(_LFC=0))|((_SCC=3)&(_LRC=0))|(HLTC=1))
STC
IF (LSCHIT=0)
OLDDCC=_DCC
DCC=100000
LSCHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGD=1)
IF (((_SCD=2)&(_LFD=0))|((_SCD=3)&(_LRD=0))|(HLTD=1))
STD
IF (LSDHIT=0)
OLDDCD=_DCD
DCD=100000
LSDHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGE=1)
IF (((_SCE=2)&(_LFE=0))|((_SCE=3)&(_LRE=0))|(HLTE=1))
STE
IF (LSEHIT=0)
OLDDCE=_DCE
DCE=150000
LSEHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGF=1)
IF (((_SCF=2)&(_LFF=0))|((_SCF=3)&(_LRF=0))|(HLTF=1))
STF
IF (LSFHIT=0)
OLDDCF=_DCF
DCF=150000
LSFHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGG=1)
IF (((_SCG=2)&(_LFG=0))|((_SCG=3)&(_LRG=0))|(HLTG=1))
STG
IF (LSGHIT=0)
OLDDCG=_DCG
DCG=100000
LSGHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGH=1)
IF (((_SCH=2)&(_LFH=0))|((_SCH=3)&(_LRH=0))|(HLTH=1))
STH
IF (LSHHIT=0)
OLDDCH=_DCH
DCH=100000
LSHHIT=1
ENDIF
ENDIF
ENDIF
'
EN
'
'
'-----------------------------------------------------------------------
#AIRPAD
' ROUTINE TO CONTROL THE BRAKE ON BEAM SHADE RAISE AXIS
IF (_MOA=0)&(RSPA=0);'MOTOR IS ON
REQA=1
ENDIF
IF (_MOA=1)&(RSPA=1);'BEAM SHADE RAISE MOTOR IS ON
IF (_MOA=1)&(RSPA=1);'MOTOR IS OFF
REQA=0
ENDIF
IF (REQA=1)&(RSPA=0);'BEAM SHADE RAISE MOTOR IS REQUIRED
'
IF (REQA=1)&(RSPA=0);'MOTOR IS REQUIRED
SHA
WT 200
WT 200;' WAIT FOR MOTOR TO STABILISE
CB 9;'RELAY ON = BRAKE COIL ENERGISED = BRAKE DISENGAGED
WT 300
RSPA=1
ENDIF
IF (REQA=0)&(RSPA=1);'BEAM SHADE RAISE MOTOR IS NOT REQUIRED
IF (REQA=0)&(RSPA=1);'MOTOR IS NOT REQUIRED
SB 9;'RELAY OFF = BRAKE COIL DE-ENERGISED = BRAKE ENGAGED
WT 400
MOA
WT 100
RSPA=0
ENDIF
JP #THREAD0
EN
NO ----------------------------------------
#TCPERR
NO TE: EMPTY ROUTINE FOR A TCP ERROR
RE
NO ----------------------------------------
#ININT
NO TE: INTERUPT ROUTINE TO STOP ALL AXES
NO TE: WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
STA,B,C,D,E,F,G,H
AM
MO
RI
NO ----------------------------------------
#LIMSWI
NO TE: LIMIT SWITCH ROUTINE WHICH SHORTENS DECEL TIME WHEN A LIMIT IS HIT
OLDDCA=_DCA;' REMEMBERS CURRENT DECEL
OLDDCB=_DCB
OLDDCC=_DCC
OLDDCD=_DCD
OLDDCE=_DCE
OLDDCF=_DCF
OLDDCG=_DCG
NO OLDDCH=_DCH
IF (_LFA = 0) | (_LRA = 0)
DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
STA
ENDIF
IF (_LFB = 0) | (_LRB = 0)
DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE
STB
ENDIF
IF (_LFC = 0) | (_LRC = 0)
DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
STC
ENDIF
IF (_LFD = 0) | (_LRD = 0)
DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
STD
ENDIF
IF (_LFE = 0) | (_LRE = 0)
DCE=150000;' DECEL FOR LIMIT HIT OCCURENCE
STE
ENDIF
IF (_LFF = 0) | (_LRF = 0)
DCF=150000;' DECEL FOR LIMIT HIT OCCURENCE
STF
ENDIF
IF (_LFG = 0) | (_LRG = 0)
DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
STG
ENDIF
NO IF (_LFH = 0) | (_LRH = 0)
NO DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
NO STH
NO ENDIF
AM ABCDEFGH;' AFTER ALL AXES STOPPED
DCA=OLDDCA;' RESET DECEL TO OLD VALUE
DCB=OLDDCB
DCC=OLDDCC
DCD=OLDDCD
DCE=OLDDCE
DCF=OLDDCF
DCG=OLDDCG
NO DCH=OLDDCH
RE
NO ----------------------------------------
'
'
'-----------------------------------------------------------------------
#ATTEN
NO TE: THIS IS A PROGRAM FOR CONTROLING THE BEAM ATTENUATOR
NO TE: ITS STATE IS SET BY THE VARIABLE POS
NO TE: IF POS=-1 THEN ITS OUT OF THE BEAM
NO TE: IF POS=0 THEN ITS IN THE BEAM, LIKE A SHUTTER
NO TE: IF POS=1 THEN ITS OSCILLATING
' THIS IS A PROGRAM FOR CONTROLING THE BEAM ATTENUATOR
' ITS STATE IS SET BY THE VARIABLE POS
' IF POS=-1 THEN ITS OUT OF THE BEAM
' IF POS=0 THEN ITS IN THE BEAM, LIKE A SHUTTER
' IF POS=1 THEN ITS OSCILLATING
DEADBD=20
PARKPOS=8308518; 'PARKING ENCODER POSITION
SHUTPOS=8359718; 'BEAM SHUT ENCODER POSITION
STRTPOS=8395558; 'OSCILLATING START ENCODER POSITION
IF (POS=-1)&(@ABS[_TPD - PARKPOS]>DEADBD)
NO TE: PARK ATTENUATOR OUT OF BEAM - NO ATTENUATION
' PARK ATTENUATOR OUT OF BEAM - NO ATTENUATION
SPD=75000
ACD=50000
DCD=50000
@@ -179,7 +386,7 @@ AMD
MOD
ENDIF
IF (POS=0)&(@ABS[_TPD - SHUTPOS]>DEADBD)
NO TE: PARK ATTENUATOR IN BEAM - LIKE A SHUTTER
' PARK ATTENUATOR IN BEAM - LIKE A SHUTTER
SPD=75000
ACD=50000
DCD=50000
@@ -190,7 +397,7 @@ AMD
MOD
ENDIF
IF (POS=1)
NO TE: OSCILLATE ATTENUATOR
' OSCILLATE ATTENUATOR
SHD
SPD=75000
ACD=50000
@@ -212,3 +419,6 @@ ENDIF
JP #LOOP,(POS=1)
JP #ATTEN
EN
'
'
'-----------------------------------------------------------------------

400
site_ansto/instrument/reflectometer/DMC2280/controller2.txt
View File

@@ -1,21 +1,24 @@
NO TE: PLATYPUS - CONTROLLER 2
NO TE:
NO TE: $Revision: 1.5 $
NO TE: $Date: 2008-04-16 00:57:21 $
NO TE: Author: Dan Bartlett
NO TE: Last revision by: $Author: dcl $
NO TE:
NO TE: A-SAMPLE TILT 1
NO TE: B-SAMPLE TILT 2
NO TE: C-SAMPLE TRANSLATION - LINEAR
NO TE: D-ANALYSER 1
NO TE: E-SAMPLE RAISE
NO TE: F-ANALYSER 2
NO TE: G-DETECTOR RAISE
NO TE: H-SPARE
NO ----------------------------------------
' PLATYPUS - CONTROLLER 2
'
' $Revision: 1.6 $
' $Date: 2008-04-30 01:57:55 $
' Author: Dan Bartlett
' Last revision by: $Author: dcl $
'
' A-SAMPLE TILT 1
' B-SAMPLE TILT 2
' C-SAMPLE TRANSLATION - LINEAR
' D-ANALYSER 1
' E-SAMPLE RAISE
' F-ANALYSER 2
' G-DETECTOR RAISE
' H-SPARE
'
'
'-----------------------------------------------------------------------
#AUTO
NO TE: THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
' THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
'
MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
MO;' FIRST TIME MOTOR OFF
CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
@@ -33,15 +36,142 @@ SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
SIF=0,25,13,0<-2>2;'HEIDENHAIN ROQ425
SIG=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
SIH=0,25,13,0<-2>2;'SPARE
NO TE: FIRST TIME THROUGH BRAKE CONTROL NOT DONE
' FIRST TIME THROUGH BRAKE CONTROL NOT DONE
REQG=0
RSPG=0
' FIRST TIME THROUGH RESET HALT CONTROL
HLTA=0
HLTB=0
HLTC=0
HLTD=0
HLTE=0
HLTF=0
HLTG=0
HLTH=0
' FIRST TIME THROUGH RESET LIMIT CONTROL
LSAHIT=0
LSBHIT=0
LSCHIT=0
LSDHIT=0
LSEHIT=0
LSFHIT=0
LSGHIT=0
LSHHIT=0
JS #THREAD0
EN
NO ----------------------------------------
'
'
'-----------------------------------------------------------------------
#THREAD0
NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
' MAIN THREAD
' THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
'
JS #CHKSPD
JS #CHKDCEL
JS #AIRPAD
JP #THREAD0
EN
'
'
'-----------------------------------------------------------------------
#CHKDCEL
'ROUTINE TO RESET DECELERATION AFTER AN EMERGENCY STOP
'
IF (_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
IF (LSAHIT=1);'WHEN MOTION STOPS AFTER A LIMIT HIT
DCA=OLDDCA;' RESET DECEL TO OLD VALUE
LSAHIT=0
ENDIF
IF (HLTA=1)
HLTA=0
ENDIF
ENDIF
'
IF (_BGB=0)
IF (LSBHIT=1)
DCB=OLDDCB
LSBHIT=0
ENDIF
IF (HLTB=1)
HLTB=0
ENDIF
ENDIF
'
IF (_BGC=0)
IF (LSCHIT=1)
DCC=OLDDCC
LSCHIT=0
ENDIF
IF (HLTC=1)
HLTC=0
ENDIF
ENDIF
'
IF (_BGD=0)
IF (LSDHIT=1)
DCD=OLDDCD
LSDHIT=0
ENDIF
IF (HLTD=1)
HLTD=0
ENDIF
ENDIF
'
IF (_BGE=0)
IF (LSEHIT=1)
DCE=OLDDCE
LSEHIT=0
ENDIF
IF (HLTE=1)
HLTE=0
ENDIF
ENDIF
'
IF (_BGF=0)
IF (LSFHIT=1)
DCF=OLDDCF
LSFHIT=0
ENDIF
IF (HLTF=1)
HLTF=0
ENDIF
ENDIF
'
IF (_BGG=0)
IF (LSGHIT=1)
DCG=OLDDCG
LSGHIT=0
ENDIF
IF (HLTG=1)
HLTG=0
ENDIF
ENDIF
'
IF (_BGH=0)
IF (LSHHIT=1)
DCH=OLDDCH
LSHHIT=0
ENDIF
IF (HLTH=1)
HLTH=0
ENDIF
ENDIF
'
JS #SETDCEL,((HLTA=1)&(LSAHIT=0))
JS #SETDCEL,((HLTB=1)&(LSBHIT=0))
JS #SETDCEL,((HLTC=1)&(LSCHIT=0))
JS #SETDCEL,((HLTD=1)&(LSDHIT=0))
JS #SETDCEL,((HLTE=1)&(LSEHIT=0))
JS #SETDCEL,((HLTF=1)&(LSFHIT=0))
JS #SETDCEL,((HLTG=1)&(LSGHIT=0))
JS #SETDCEL,((HLTH=1)&(LSHHIT=0))
EN
'
'
'-----------------------------------------------------------------------
#CHKSPD
' ROUTINE TO CHECK IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
'
IF (_SPA>50000)
SPA=50000
ENDIF
@@ -63,94 +193,172 @@ ENDIF
IF (_SPG>150000)
SPG=150000
ENDIF
NO IF (_SPH>50000) AXIS NOT USED, COMMENTED OUT
NO SPH=50000
NO ENDIF
NO TE: TO CONTROL THE BRAKE ON DETECTOR RAISE AXIS
IF (_MOG=0)&(RSPG=0);'DETECTOR RAISE MOTOR IS ON
IF (_SPH>50000)
SPH=50000
ENDIF
EN
'
'
'-----------------------------------------------------------------------
#TCPERR
' EMPTY ROUTINE FOR A TCP ERROR
'
RE
'
'
'-----------------------------------------------------------------------
#CMDERR
'ROUTINE TO HANDLE COMMAND ERRORS
'
ZS0
EN1
'
'
'-----------------------------------------------------------------------
#ININT
' INTERUPT ROUTINE TO STOP ALL AXES
' WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
'
STA,B,C,D,E,F,G,H
HLTA=1
HLTB=1
HLTC=1
HLTD=1
HLTE=1
HLTF=1
HLTG=1
HLTH=1
JS #SETDCEL
RI
'
'
'-----------------------------------------------------------------------
#LIMSWI
'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
'
JS #SETDCEL
RE
'
'-----------------------------------------------------------------------
#SETDCEL
'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS
'
IF (_BGA=1)
IF (((_SCA=2)&(_LFA=0))|((_SCA=3)&(_LRA=0))|(HLTA=1))
STA
IF (LSAHIT=0)
OLDDCA=_DCA
DCA=100000
LSAHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGB=1)
IF (((_SCB=2)&(_LFB=0))|((_SCB=3)&(_LRB=0))|(HLTB=1))
STB
IF (LSBHIT=0)
OLDDCB=_DCB
DCB=100000
LSBHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGC=1)
IF (((_SCC=2)&(_LFC=0))|((_SCC=3)&(_LRC=0))|(HLTC=1))
STC
IF (LSCHIT=0)
OLDDCC=_DCC
DCC=100000
LSCHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGD=1)
IF (((_SCD=2)&(_LFD=0))|((_SCD=3)&(_LRD=0))|(HLTD=1))
STD
IF (LSDHIT=0)
OLDDCD=_DCD
DCD=100000
LSDHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGE=1)
IF (((_SCE=2)&(_LFE=0))|((_SCE=3)&(_LRE=0))|(HLTE=1))
STE
IF (LSEHIT=0)
OLDDCE=_DCE
DCE=150000
LSEHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGF=1)
IF (((_SCF=2)&(_LFF=0))|((_SCF=3)&(_LRF=0))|(HLTF=1))
STF
IF (LSFHIT=0)
OLDDCF=_DCF
DCF=150000
LSFHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGG=1)
IF (((_SCG=2)&(_LFG=0))|((_SCG=3)&(_LRG=0))|(HLTG=1))
STG
IF (LSGHIT=0)
OLDDCG=_DCG
DCG=100000
LSGHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGH=1)
IF (((_SCH=2)&(_LFH=0))|((_SCH=3)&(_LRH=0))|(HLTH=1))
STH
IF (LSHHIT=0)
OLDDCH=_DCH
DCH=100000
LSHHIT=1
ENDIF
ENDIF
ENDIF
'
EN
'
'
'-----------------------------------------------------------------------
#AIRPAD
' ROUTINE TO CONTROL THE BRAKE ON DETECTOR RAISE AXIS
IF (_MOG=0)&(RSPG=0);'MOTOR IS ON
REQG=1
ENDIF
IF (_MOG=1)&(RSPG=1);'DETECTOR RAISE MOTOR IS ON
IF (_MOG=1)&(RSPG=1);'MOTOR IS OFF
REQG=0
ENDIF
IF (REQG=1)&(RSPG=0);'DETECTOR RAISE MOTOR IS REQUIRED
'
IF (REQG=1)&(RSPG=0);'MOTOR IS REQUIRED
SHG
WT 200
WT 200;' WAIT FOR MOTOR TO STABILISE
CB 15;'RELAY ON = BRAKE COIL ENERGISED = BRAKE DISENGAGED
WT 300
RSPG=1
ENDIF
IF (REQG=0)&(RSPG=1);'DETECTOR RAISE MOTOR IS NOT REQUIRED
IF (REQG=0)&(RSPG=1);'MOTOR IS NOT REQUIRED
SB 15;'RELAY OFF = BRAKE COIL DE-ENERGISED = BRAKE ENGAGED
WT 400
MOG
WT 100
RSPG=0
ENDIF
JP #THREAD0
EN
NO ----------------------------------------
#TCPERR
NO TE: EMPTY ROUTINE FOR A TCP ERROR
RE
NO ----------------------------------------
#ININT
NO TE: INTERUPT ROUTINE TO STOP ALL AXES
NO TE: WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
STA,B,C,D,E,F,G,H
AM
MO
RI
NO ----------------------------------------
#LIMSWI
NO TE: LIMIT SWITCH ROUTINE WHICH SHORTENS DECEL TIME WHEN A LIMIT IS HIT
OLDDCA=_DCA;' REMEMBERS CURRENT DECEL
OLDDCB=_DCB
OLDDCC=_DCC
OLDDCD=_DCD
OLDDCE=_DCE
OLDDCF=_DCF
OLDDCG=_DCG
NO OLDDCH=_DCH AXIS NOT USED
IF (_LFA = 0) | (_LRA = 0)
DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
STA
ENDIF
IF (_LFB = 0) | (_LRB = 0)
DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE
STB
ENDIF
IF (_LFC = 0) | (_LRC = 0)
DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
STC
ENDIF
IF (_LFD = 0) | (_LRD = 0)
DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
STD
ENDIF
IF (_LFE = 0) | (_LRE = 0)
DCE=150000;' DECEL FOR LIMIT HIT OCCURENCE
STE
ENDIF
IF (_LFF = 0) | (_LRF = 0)
DCF=150000;' DECEL FOR LIMIT HIT OCCURENCE
STF
ENDIF
IF (_LFG = 0) | (_LRG = 0)
DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
STG
ENDIF
NO IF (_LFH = 0) | (_LRH = 0) AXIS NOT USED, COMMENTED OUT
NO DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
NO STH
NO ENDIF
AM ABCDEFGH;' AFTER ALL AXES STOPPED
DCA=OLDDCA;' RESET DECEL TO OLD VALUE
DCB=OLDDCB
DCC=OLDDCC
DCD=OLDDCD
DCE=OLDDCE
DCF=OLDDCF
DCG=OLDDCG
NO DCH=OLDDCH AXIS NOT USED
RE
'
'
'-----------------------------------------------------------------------

412
site_ansto/instrument/reflectometer/DMC2280/controller3.txt
View File

@@ -1,21 +1,24 @@
NO TE: PLAYTPUS - CONTROLLER 3
NO TE:
NO TE: $Revision: 1.5 $
NO TE: $Date: 2007-02-01 23:54:38 $
NO TE: Author: Dan Bartlett
NO TE: Last revision by: $Author: dbx $
NO TE:
NO TE: A-SLIT S1 WEST BLADE
NO TE: B-SLIT S1 EAST BLADE
NO TE: C-SLIT S1 TOP BLADE
NO TE: D-SLIT S1 BOTTOM BLADE
NO TE: E-SLIT S2 WEST BLADE
NO TE: F-SLIT S2 EAST BLADE
NO TE: G-SLIT S2 TOP BLADE
NO TE: H-SLIT S2 BOTTOM BLADE
NO ----------------------------------------
' PLATYPUS - CONTROLLER 3
'
' $Revision: 1.6 $
' $Date: 2008-04-30 01:57:55 $
' Author: Dan Bartlett
' Last revision by: $Author: dcl $
'
' A-SLIT S1 WEST BLADE
' B-SLIT S1 EAST BLADE
' C-SLIT S1 TOP BLADE
' D-SLIT S1 BOTTOM BLADE
' E-SLIT S2 WEST BLADE
' F-SLIT S2 EAST BLADE
' G-SLIT S2 TOP BLADE
' H-SLIT S2 BOTTOM BLADE
'
'
'-----------------------------------------------------------------------
#AUTO
NO TE: THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
' THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
'
MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
MO;' FIRST TIME MOTOR OFF
CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
@@ -25,12 +28,138 @@ AC 60000,60000,60000,60000,60000,60000,60000,60000;' SET ACELERATION
DC 60000,60000,60000,60000,60000,60000,60000,60000;' SET DECELERATION
SP 30000,30000,30000,30000,30000,30000,30000,30000;' SET SPEED
HOMERUN=0;' HOMING PROCEDURE HAS NOT BEEN RUN
' FIRST TIME THROUGH RESET HALT CONTROL
HLTA=0
HLTB=0
HLTC=0
HLTD=0
HLTE=0
HLTF=0
HLTG=0
HLTH=0
' FIRST TIME THROUGH RESET LIMIT CONTROL
LSAHIT=0
LSBHIT=0
LSCHIT=0
LSDHIT=0
LSEHIT=0
LSFHIT=0
LSGHIT=0
LSHHIT=0
JS #THREAD0
EN
NO ----------------------------------------
'
'
'-----------------------------------------------------------------------
#THREAD0
NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
' MAIN THREAD
' THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
'
JS #CHKSPD
JS #CHKDCEL
JP #THREAD0
EN
'
'
'-----------------------------------------------------------------------
#CHKDCEL
'ROUTINE TO RESET DECELERATION AFTER AN EMERGENCY STOP
'
IF (_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
IF (LSAHIT=1);'WHEN MOTION STOPS AFTER A LIMIT HIT
DCA=OLDDCA;' RESET DECEL TO OLD VALUE
LSAHIT=0
ENDIF
IF (HLTA=1)
HLTA=0
ENDIF
ENDIF
'
IF (_BGB=0)
IF (LSBHIT=1)
DCB=OLDDCB
LSBHIT=0
ENDIF
IF (HLTB=1)
HLTB=0
ENDIF
ENDIF
'
IF (_BGC=0)
IF (LSCHIT=1)
DCC=OLDDCC
LSCHIT=0
ENDIF
IF (HLTC=1)
HLTC=0
ENDIF
ENDIF
'
IF (_BGD=0)
IF (LSDHIT=1)
DCD=OLDDCD
LSDHIT=0
ENDIF
IF (HLTD=1)
HLTD=0
ENDIF
ENDIF
'
IF (_BGE=0)
IF (LSEHIT=1)
DCE=OLDDCE
LSEHIT=0
ENDIF
IF (HLTE=1)
HLTE=0
ENDIF
ENDIF
'
IF (_BGF=0)
IF (LSFHIT=1)
DCF=OLDDCF
LSFHIT=0
ENDIF
IF (HLTF=1)
HLTF=0
ENDIF
ENDIF
'
IF (_BGG=0)
IF (LSGHIT=1)
DCG=OLDDCG
LSGHIT=0
ENDIF
IF (HLTG=1)
HLTG=0
ENDIF
ENDIF
'
IF (_BGH=0)
IF (LSHHIT=1)
DCH=OLDDCH
LSHHIT=0
ENDIF
IF (HLTH=1)
HLTH=0
ENDIF
ENDIF
'
JS #SETDCEL,((HLTA=1)&(LSAHIT=0))
JS #SETDCEL,((HLTB=1)&(LSBHIT=0))
JS #SETDCEL,((HLTC=1)&(LSCHIT=0))
JS #SETDCEL,((HLTD=1)&(LSDHIT=0))
JS #SETDCEL,((HLTE=1)&(LSEHIT=0))
JS #SETDCEL,((HLTF=1)&(LSFHIT=0))
JS #SETDCEL,((HLTG=1)&(LSGHIT=0))
JS #SETDCEL,((HLTH=1)&(LSHHIT=0))
EN
'
'
'-----------------------------------------------------------------------
#CHKSPD
' ROUTINE TO CHECK IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
'
IF (_SPA>30000)
SPA=30000
ENDIF
@@ -55,79 +184,234 @@ ENDIF
IF (_SPH>30000)
SPH=30000
ENDIF
JP#THREAD0
EN
NO ----------------------------------------
'
'
'-----------------------------------------------------------------------
#TCPERR
NO TE: EMPTY ROUTINE FOR A TCP ERROR
' EMPTY ROUTINE FOR A TCP ERROR
'
RE
NO ----------------------------------------
'
'
'-----------------------------------------------------------------------
#CMDERR
'ROUTINE TO HANDLE COMMAND ERRORS
'
ZS0
EN1
'
'
'-----------------------------------------------------------------------
#ININT
NO TE: INTERUPT ROUTINE TO STOP ALL AXES
NO TE: WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
' INTERUPT ROUTINE TO STOP ALL AXES
' WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
'
STA,B,C,D,E,F,G,H
AM
MO
HLTA=1
HLTB=1
HLTC=1
HLTD=1
HLTE=1
HLTF=1
HLTG=1
HLTH=1
JS #SETDCEL
RI
NO ----------------------------------------
'
'
'-----------------------------------------------------------------------
#LIMSWI
'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
'
JS #SETDCEL
RE
'
'-----------------------------------------------------------------------
#SETDCEL
'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS
'
IF (_BGA=1)
IF (((_SCA=2)&(_LFA=0))|((_SCA=3)&(_LRA=0))|(HLTA=1))
STA
IF (LSAHIT=0)
OLDDCA=_DCA
DCA=100000
LSAHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGB=1)
IF (((_SCB=2)&(_LFB=0))|((_SCB=3)&(_LRB=0))|(HLTB=1))
STB
IF (LSBHIT=0)
OLDDCB=_DCB
DCB=100000
LSBHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGC=1)
IF (((_SCC=2)&(_LFC=0))|((_SCC=3)&(_LRC=0))|(HLTC=1))
STC
IF (LSCHIT=0)
OLDDCC=_DCC
DCC=100000
LSCHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGD=1)
IF (((_SCD=2)&(_LFD=0))|((_SCD=3)&(_LRD=0))|(HLTD=1))
STD
IF (LSDHIT=0)
OLDDCD=_DCD
DCD=100000
LSDHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGE=1)
IF (((_SCE=2)&(_LFE=0))|((_SCE=3)&(_LRE=0))|(HLTE=1))
STE
IF (LSEHIT=0)
OLDDCE=_DCE
DCE=100000
LSEHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGF=1)
IF (((_SCF=2)&(_LFF=0))|((_SCF=3)&(_LRF=0))|(HLTF=1))
STF
IF (LSFHIT=0)
OLDDCF=_DCF
DCF=100000
LSFHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGG=1)
IF (((_SCG=2)&(_LFG=0))|((_SCG=3)&(_LRG=0))|(HLTG=1))
STG
IF (LSGHIT=0)
OLDDCG=_DCG
DCG=100000
LSGHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGH=1)
IF (((_SCH=2)&(_LFH=0))|((_SCH=3)&(_LRH=0))|(HLTH=1))
STH
IF (LSHHIT=0)
OLDDCH=_DCH
DCH=100000
LSHHIT=1
ENDIF
ENDIF
ENDIF
'
EN
'
'
'-----------------------------------------------------------------------
#HOME
NO TE: THIS ROUTINE HOMES THE SLITS.
NO TE: IT USES THE HIGH REPEATABILITY HOME LIMIT SWITCHES ON SLIT 2
NO TE: SLIT 1 DOES NOT HAVE HOME LIMITS. ITS HOMED IN THE CONVENTIONAL WAY
NO TE: IT WILL NOT WORK WITH OTHER SLIT PACKAGES WITHOUT THE HOME LIMITS
' THIS ROUTINE HOMES THE SLITS.
' IT USES THE HIGH REPEATABILITY HOME LIMIT SWITCHES
' SLIT 1 DOES NOT HAVE HOME LIMITS. IT IS HOMED IN THE CONVENTIONAL WAY
' IT WILL NOT WORK WITH OTHER SLIT PACKAGES WITHOUT THE HOME LIMITS
IF (HOMERUN = 1)
JP #ENDHOME
ENDIF
SH
IF (_LRA=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
PRA=201250
SH ABCDEFGH
ST ABCDEFGH
MC ABCDEFGH
SP 30000,30000,30000,30000,30000,30000,30000,30000
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF (_LRA = 0)
PRA=200000
BGA
ENDIF
IF (_LRB=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
PRB=201250
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF (_LRB = 0)
PRB=200000
BGB
ENDIF
IF (_LRC=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
PRC=201250
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF (_LRC = 0)
PRC=200000
BGC
ENDIF
IF (_LRD=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
PRD=201250
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF (_LRD = 0)
PRD=200000
BGD
ENDIF
IF (_LRE=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
PRE=201250
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF (_LRE = 0)
PRE=200000
BGE
ENDIF
IF (_LRF=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
PRF=201250
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF (_LRF = 0)
PRF=200000
BGF
ENDIF
IF (_LRG=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
PRG=201250
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF (_LRG = 0)
PRG=200000
BGG
ENDIF
IF (_LRH=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
PRH=201250
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF (_LRH = 0)
PRH=200000
BGH
ENDIF
AM ABCDEFGH
MC ABCDEFGH
WT 100
' DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH
JG -30000,-30000,-30000,-30000,-30000,-30000,-30000,-30000
BG;' OPEN ALL SLITS TO LIMITS
AM ABCDEFGH
FE EFGH;' DRIVE SLIT 2 TO THE HOME LIMIT AT FULL SPEED
BG ABCDEFGH
MC ABCDEFGH
WT 100
' DRIVE SLIT 2 TO THE HOME LIMIT AT FULL SPEED
FE EFGH
BG EFGH
AM EFGH
MC EFGH
WT 100
' MOVE AWAY FROM SWITCHES
PR 100625,100625,100625,100625,-100625,-100625,-100625,-100625;
BG;' MOVE AWAY 5MM
AM ABCDEFGH
SP ,,,,7500,7500,7500,7500;' REDUCE SPEED
FE EFGH;' DRIVE TO LIMIT AT LOW SPEED
JG -7500,-7500,-7500,-7500
BG
AM ABCDEFGH
DP 0,0,0,0,0,0,0,0;' DEFINE EACH AXIS POSTION AS ZERO
SP 30000,30000,30000,30000,30000,30000,30000,30000;' SPEED BACK TO NORMAL
BG ABCDEFGH
MC ABCDEFGH
WT 100
' DRIVE BACK SLOWLY
SP 5000,5000,5000,5000,5000,5000,5000,5000
JG -5000,-5000,-5000,-5000
FE EFGH
BG ABCDEFGH
MC ABCDEFGH
WT 100
' MOVE FORWARD FROM LIMIT SWITCH
PR 30000,30000,30000,30000
BG ABCD
MC ABCD
WT 100
'
' STOP MOTORS AND SET ZERO
MO ABCDEFGH
DP 0,0,0,0,0,0,0,0
SP 30000,30000,30000,30000,30000,30000,30000,30000
HOMERUN=1;'HOMING PROCEDURE HAS BEEN RUN
#ENDHOME
EN
'
'
'-----------------------------------------------------------------------

405
site_ansto/instrument/reflectometer/DMC2280/controller4.txt
View File

@@ -1,21 +1,24 @@
NO TE: PLAYTPUS - CONTROLLER 4
NO TE:
NO TE: $Revision: 1.5 $
NO TE: $Date: 2008-04-16 00:57:40 $
NO TE: Author: Dan Bartlett
NO TE: Last revision by: $Author: dcl $
NO TE:
NO TE: A-SLIT S3 BOTTOM BLADE
NO TE: B-SLIT S3 TOP BLADE
NO TE: C-SLIT S3 WEST BLADE
NO TE: D-SLIT S3 EAST BLADE
NO TE: E-SLIT S4 BOTTOM BLADE
NO TE: F-SLIT S4 TOP BLADE
NO TE: G-SLIT S4 WEST BLADE
NO TE: H-SLIT S4 EAST BLADE
NO ----------------------------------------
' PLATYPUS - CONTROLLER 4
'
' $Revision: 1.6 $
' $Date: 2008-04-30 01:57:55 $
' Author: Dan Bartlett
' Last revision by: $Author: dcl $
'
' A-SLIT S3 BOTTOM BLADE
' B-SLIT S3 TOP BLADE
' C-SLIT S3 WEST BLADE
' D-SLIT S3 EAST BLADE
' E-SLIT S4 BOTTOM BLADE
' F-SLIT S4 TOP BLADE
' G-SLIT S4 WEST BLADE
' H-SLIT S4 EAST BLADE
'
'
'-----------------------------------------------------------------------
#AUTO
NO TE: THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
' THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
'
MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
MO;' FIRST TIME MOTOR OFF
CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
@@ -25,12 +28,138 @@ AC 60000,60000,60000,60000,60000,60000,60000,60000;' SET ACELERATION
DC 60000,60000,60000,60000,60000,60000,60000,60000;' SET DECELERATION
SP 30000,30000,30000,30000,30000,30000,30000,30000;' SET SPEED
HOMERUN=0;' HOMING PROCEDURE HAS NOT BEEN RUN
' FIRST TIME THROUGH RESET HALT CONTROL
HLTA=0
HLTB=0
HLTC=0
HLTD=0
HLTE=0
HLTF=0
HLTG=0
HLTH=0
' FIRST TIME THROUGH RESET LIMIT CONTROL
LSAHIT=0
LSBHIT=0
LSCHIT=0
LSDHIT=0
LSEHIT=0
LSFHIT=0
LSGHIT=0
LSHHIT=0
JS #THREAD0
EN
NO ----------------------------------------
'
'
'-----------------------------------------------------------------------
#THREAD0
NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
' MAIN THREAD
' THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
'
JS #CHKSPD
JS #CHKDCEL
JP #THREAD0
EN
'
'
'-----------------------------------------------------------------------
#CHKDCEL
'ROUTINE TO RESET DECELERATION AFTER AN EMERGENCY STOP
'
IF (_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
IF (LSAHIT=1);'WHEN MOTION STOPS AFTER A LIMIT HIT
DCA=OLDDCA;' RESET DECEL TO OLD VALUE
LSAHIT=0
ENDIF
IF (HLTA=1)
HLTA=0
ENDIF
ENDIF
'
IF (_BGB=0)
IF (LSBHIT=1)
DCB=OLDDCB
LSBHIT=0
ENDIF
IF (HLTB=1)
HLTB=0
ENDIF
ENDIF
'
IF (_BGC=0)
IF (LSCHIT=1)
DCC=OLDDCC
LSCHIT=0
ENDIF
IF (HLTC=1)
HLTC=0
ENDIF
ENDIF
'
IF (_BGD=0)
IF (LSDHIT=1)
DCD=OLDDCD
LSDHIT=0
ENDIF
IF (HLTD=1)
HLTD=0
ENDIF
ENDIF
'
IF (_BGE=0)
IF (LSEHIT=1)
DCE=OLDDCE
LSEHIT=0
ENDIF
IF (HLTE=1)
HLTE=0
ENDIF
ENDIF
'
IF (_BGF=0)
IF (LSFHIT=1)
DCF=OLDDCF
LSFHIT=0
ENDIF
IF (HLTF=1)
HLTF=0
ENDIF
ENDIF
'
IF (_BGG=0)
IF (LSGHIT=1)
DCG=OLDDCG
LSGHIT=0
ENDIF
IF (HLTG=1)
HLTG=0
ENDIF
ENDIF
'
IF (_BGH=0)
IF (LSHHIT=1)
DCH=OLDDCH
LSHHIT=0
ENDIF
IF (HLTH=1)
HLTH=0
ENDIF
ENDIF
'
JS #SETDCEL,((HLTA=1)&(LSAHIT=0))
JS #SETDCEL,((HLTB=1)&(LSBHIT=0))
JS #SETDCEL,((HLTC=1)&(LSCHIT=0))
JS #SETDCEL,((HLTD=1)&(LSDHIT=0))
JS #SETDCEL,((HLTE=1)&(LSEHIT=0))
JS #SETDCEL,((HLTF=1)&(LSFHIT=0))
JS #SETDCEL,((HLTG=1)&(LSGHIT=0))
JS #SETDCEL,((HLTH=1)&(LSHHIT=0))
EN
'
'
'-----------------------------------------------------------------------
#CHKSPD
' ROUTINE TO CHECK IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
'
IF (_SPA>30000)
SPA=30000
ENDIF
@@ -55,77 +184,227 @@ ENDIF
IF (_SPH>30000)
SPH=30000
ENDIF
JP#THREAD0
EN
NO ----------------------------------------
'
'
'-----------------------------------------------------------------------
#TCPERR
NO TE: EMPTY ROUTINE FOR A TCP ERROR
' EMPTY ROUTINE FOR A TCP ERROR
'
RE
NO ----------------------------------------
'
'
'-----------------------------------------------------------------------
#CMDERR
'ROUTINE TO HANDLE COMMAND ERRORS
'
ZS0
EN1
'
'
'-----------------------------------------------------------------------
#ININT
NO TE: INTERUPT ROUTINE TO STOP ALL AXES
NO TE: WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
' INTERUPT ROUTINE TO STOP ALL AXES
' WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
'
STA,B,C,D,E,F,G,H
AM
MO
HLTA=1
HLTB=1
HLTC=1
HLTD=1
HLTE=1
HLTF=1
HLTG=1
HLTH=1
JS #SETDCEL
RI
NO ----------------------------------------
'
'
'-----------------------------------------------------------------------
#LIMSWI
'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
'
JS #SETDCEL
RE
'
'-----------------------------------------------------------------------
#SETDCEL
'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS
'
IF (_BGA=1)
IF (((_SCA=2)&(_LFA=0))|((_SCA=3)&(_LRA=0))|(HLTA=1))
STA
IF (LSAHIT=0)
OLDDCA=_DCA
DCA=100000
LSAHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGB=1)
IF (((_SCB=2)&(_LFB=0))|((_SCB=3)&(_LRB=0))|(HLTB=1))
STB
IF (LSBHIT=0)
OLDDCB=_DCB
DCB=100000
LSBHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGC=1)
IF (((_SCC=2)&(_LFC=0))|((_SCC=3)&(_LRC=0))|(HLTC=1))
STC
IF (LSCHIT=0)
OLDDCC=_DCC
DCC=100000
LSCHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGD=1)
IF (((_SCD=2)&(_LFD=0))|((_SCD=3)&(_LRD=0))|(HLTD=1))
STD
IF (LSDHIT=0)
OLDDCD=_DCD
DCD=100000
LSDHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGE=1)
IF (((_SCE=2)&(_LFE=0))|((_SCE=3)&(_LRE=0))|(HLTE=1))
STE
IF (LSEHIT=0)
OLDDCE=_DCE
DCE=100000
LSEHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGF=1)
IF (((_SCF=2)&(_LFF=0))|((_SCF=3)&(_LRF=0))|(HLTF=1))
STF
IF (LSFHIT=0)
OLDDCF=_DCF
DCF=100000
LSFHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGG=1)
IF (((_SCG=2)&(_LFG=0))|((_SCG=3)&(_LRG=0))|(HLTG=1))
STG
IF (LSGHIT=0)
OLDDCG=_DCG
DCG=100000
LSGHIT=1
ENDIF
ENDIF
ENDIF
'
IF (_BGH=1)
IF (((_SCH=2)&(_LFH=0))|((_SCH=3)&(_LRH=0))|(HLTH=1))
STH
IF (LSHHIT=0)
OLDDCH=_DCH
DCH=100000
LSHHIT=1
ENDIF
ENDIF
ENDIF
'
EN
'
'
'-----------------------------------------------------------------------
#HOME
NO TE: THIS ROUTINE HOMES THE SLITS.
NO TE: IT USES THE HIGH REPEATABILITY HOME LIMIT SWITCHES
NO TE: IT WILL NOT WORK WITH OTHER SLIT PACKAGES WITHOUT THE HOME LIMITS
' THIS ROUTINE HOMES THE SLITS.
' IT USES THE HIGH REPEATABILITY HOME LIMIT SWITCHES
' IT WILL NOT WORK WITH OTHER SLIT PACKAGES WITHOUT THE HOME LIMITS
IF (HOMERUN = 1)
JP #ENDHOME
ENDIF
SH
IF (_LRA=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
PRA=201250
SH ABCDEFGH
ST ABCDEFGH
MC ABCDEFGH
SP 30000,30000,30000,30000,30000,30000,30000,30000
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF (_LRA = 0)
PRA=200000
BGA
ENDIF
IF (_LRB=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
PRB=201250
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF (_LRB = 0)
PRB=200000
BGB
ENDIF
IF (_LRC=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
PRC=201250
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF (_LRC = 0)
PRC=200000
BGC
ENDIF
IF (_LRD=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
PRD=201250
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF (_LRD = 0)
PRD=200000
BGD
ENDIF
IF (_LRE=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
PRE=201250
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF (_LRE = 0)
PRE=200000
BGE
ENDIF
IF (_LRF=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
PRF=201250
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF (_LRF = 0)
PRF=200000
BGF
ENDIF
IF (_LRG=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
PRG=201250
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF (_LRG = 0)
PRG=200000
BGG
ENDIF
IF (_LRH=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
PRH=201250
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF (_LRH = 0)
PRH=200000
BGH
ENDIF
AM ABCDEFGH
MC ABCDEFGH
WT 100
' DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH
JG -30000,-30000,-30000,-30000,-30000,-30000,-30000,-30000
BG;' OPEN ALL SLITS TO LIMITS
AM ABCDEFGH
FE;' DRIVE TO THE HOME LIMIT AT FULL SPEED
BG
AM ABCDEFGH
BG ABCDEFGH
MC ABCDEFGH
WT 100
' DRIVE SLITS TO THE HOME LIMIT AT FULL SPEED
FE ABCDEFGH
BG ABCDEFGH
MC ABCDEFGH
WT 100
' MOVE AWAY FROM SWITCHES
PR -100625,-100625,-100625,-100625,-100625,-100625,-100625,-100625;
BG;' MOVE AWAY 5MM
AM ABCDEFGH
SP 7500,7500,7500,7500,7500,7500,7500,7500;' REDUCE SPEED
FE;' DRIVE TO HOME LIMIT AT LOW SPEED
BG
AM ABCDEFGH
DP 0,0,0,0,0,0,0,0;' DEFINE EACH AXIS POSTION AS ZERO
SP 30000,30000,30000,30000,30000,30000,30000,30000;' SPEED BACK TO NORMAL
BG ABCDEFGH
MC ABCDEFGH
WT 100
' DRIVE BACK SLOWLY
SP 5000,5000,5000,5000,5000,5000,5000,5000
FE ABCDEFGH
BG ABCDEFGH
MC ABCDEFGH
WT 100
'
' STOP MOTORS AND SET ZERO
MO ABCDEFGH
DP 0,0,0,0,0,0,0,0
SP 30000,30000,30000,30000,30000,30000,30000,30000
HOMERUN=1;'HOMING PROCEDURE HAS BEEN RUN
#ENDHOME
EN
'
'
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