diff --git a/site_ansto/instrument/hipd/DMC2280/controller1.txt b/site_ansto/instrument/hipd/DMC2280/controller1.txt
index 742aa4b9..55e36345 100644
--- a/site_ansto/instrument/hipd/DMC2280/controller1.txt
+++ b/site_ansto/instrument/hipd/DMC2280/controller1.txt
@@ -1,11 +1,11 @@
 ' WOMBAT - CONTROLLER 1
-' 
-' $Revision: 1.8 $
-' $Date: 2008-03-05 04:25:02 $
+'
+' $Revision: 1.9 $
+' $Date: 2008-03-07 05:12:47 $
 ' Author: Dan Bartlett
 ' Airpad control added by Doug Clowes
 ' Last revision by: $Author: dcl $
-' 
+'
 ' A-MONOCHROMATOR UPPER TILT
 ' B-MONOCHROMATOR LOWER TILT
 ' C-MONOCHROMATOR UPPER TRANSLATION
@@ -47,8 +47,8 @@ HLTC=0
 HLTD=0
 HLTE=0
 HLTF=0
-' HLTG=0
-' HLTH=0
+HLTG=0
+HLTH=0
 ' FIRST TIME THROUGH RESET LIMIT CONTROL
 LSAHIT=0
 LSBHIT=0
@@ -56,8 +56,8 @@ LSCHIT=0
 LSDHIT=0
 LSEHIT=0
 LSFHIT=0
-' LSGHIT=0
-' LSHHIT=0
+LSGHIT=0
+LSHHIT=0
 JS #THREAD0
 EN
 '
@@ -67,134 +67,105 @@ EN
 ' MAIN THREAD
 ' THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
 '
+JS #CHKSPD
 JS #CHKDCEL
 JS #AIRPAD
-JS #CHKSPD
 JP #THREAD0
 EN
 '
 '
 '-----------------------------------------------------------------------
 #CHKDCEL
-'ROUTINE TO CHECK DECELERATION AFTER A LIMIT HIT
+'ROUTINE TO RESET DECELERATION AFTER AN EMERGENCY STOP
 '
-IF (LSAHIT=1)&(_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
+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
-IF (HLTA=1)
-MOA
-HLTA=0
-ENDIF
 LSAHIT=0
 ENDIF
-IF (LSBHIT=1)&(_BGB=0)
-DCB=OLDDCB
-IF (HLTB=1)
-MOB
-HLTB=0
+IF (HLTA=1)
+HLTA=0
 ENDIF
+ENDIF
+'
+IF (_BGB=0)
+IF (LSBHIT=1)
+DCB=OLDDCB
 LSBHIT=0
 ENDIF
-IF (LSCHIT=1)&(_BGC=0)
-DCC=OLDDCC
-IF (HLTC=1)
-MOC
-HLTC=0
+IF (HLTB=1)
+HLTB=0
 ENDIF
+ENDIF
+'
+IF (_BGC=0)
+IF (LSCHIT=1)
+DCC=OLDDCC
 LSCHIT=0
 ENDIF
-IF (LSDHIT=1)&(_BGD=0)
-DCD=OLDDCD
-IF (HLTD=1)
-MOD
-HLTD=0
+IF (HLTC=1)
+HLTC=0
 ENDIF
+ENDIF
+'
+IF (_BGD=0)
+IF (LSDHIT=1)
+DCD=OLDDCD
 LSDHIT=0
 ENDIF
-IF (LSEHIT=1)&(_BGE=0)
-DCE=OLDDCE
-IF (HLTE=1)
-MOE
-HLTE=0
+IF (HLTD=1)
+HLTD=0
 ENDIF
+ENDIF
+'
+IF (_BGE=0)
+IF (LSEHIT=1)
+DCE=OLDDCE
 LSEHIT=0
 ENDIF
-IF (LSFHIT=1)&(_BGF=0)
+IF (HLTE=1)
+HLTE=0
+ENDIF
+ENDIF
+'
+IF (_BGF=0)
+IF (LSFHIT=1)
 DCF=OLDDCF
-IF (HLTF=1)
-MOF
-HLTF=0
-ENDIF;'
 LSFHIT=0
 ENDIF
-' IF (LSGHIT=1)&(_BGG=0)
-' DCG=OLDDCG
-' IF (HLTG=1)
-' MOG
-' HLTG=0
-' ENDIF
-' LSGHIT=0
-' ENDIF
-' IF (LSHHIT=1)&(_BGH=0)
-' DCH=OLDDCH
-' IF (HLTH=1)
-' MOH
-' HLTH=0
-' ENDIF
-' LSHHIT=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
-'
-'
-'-----------------------------------------------------------------------
-#AIRPAD
-' ROUTINE TO CONTROL THE AIRPADS
-' SET REQF=1 TO MAKE FLIGHT TUBE AVAILABLE FOR MOVE
-' THE RSPF BIT IS USED SO THAT THE CODE ONLY RUNS WHEN THE
-' STATE OF FTUBE CHANGES - THE DELAYS ARENT RUNNING EVERY CYCLE
-' IN THE 2ND IF, THE OFF-SOLENOIDS ARENT HELD ENERGISED IN CASE THE
-' VALVE MANUAL OVER RIDE IS NEEDED.
-'
-' FOLLOW SHF/MOF COMMANDS ENTERED MANUALLY
-IF (_MOF=0)&(RSPF=0);'FLIGHT TUBE MOTOR IS ON BUT AIR IS OFF
-REQF=1
-ENDIF
-IF (_MOF=1)&(RSPF=1);'FLIGHT TUBE MOTOR IS OFF BUT AIR IS ON
-SHF;' FOLLOWING STEPS MUST BE RUN BEFORE MOTOR CAN BE TURNED OFF
-REQF=0
-ENDIF
-'
-IF (REQF=1)&(RSPF=0);'REQUESTING FLIGHT TUBE BE MOVABLE
-SHF;' TURN MOTOR ON
-WT500;' WAIT FOR MOTOR TO STABILISE
-SB 12;' DRIVE WHEEL UP-SOLENOID OFF
-CB 11;' DRIVE WHEEL DOWN-SOLENOID ON
-WT1000;' WAIT FOR DRIVE WHEEL TO LOWER
-SB 10;' SAMPLE STAGE AIR PAD OFF-SOLENOID OFF
-CB 9;' SAMPLE STAGE AIR PAD ON-SOLENOID ON
-WT1000;
-RSPF=1
-ENDIF
-IF (REQF=0)&(RSPF=1);'FLIGHT TUBE MOTION FINISHED
-WT1000;' WAIT FOR FLIGHT TUBE TO SETTLE
-SB 9;' SAMPLE STAGE AIR PAD ON-SOLENOID OFF
-CB 10;' SAMPLE STAGE AIR PAD OFF-SOLENOID ON
-WT500;
-SB 10;' SAMPLE STAGE AIR PAD OFF-SOLENOID OFF
-SB 11;' DRIVE WHEEL DOWN-SOLENOID OFF
-CB 12;' DRIVE WHEEL UP-SOLENOID ON
-WT500;' WAIT 1/2 SEC
-SB 12;' DRIVE WHEEL UP-SOLENOID OFF
-MOF;' TURN MOTOR OFF
-RSPF=0
-ENDIF
+JS #SETDCEL,((HLTG=1)&(LSGHIT=0))
+JS #SETDCEL,((HLTH=1)&(LSHHIT=0))
 EN
 '
 '
@@ -220,12 +191,12 @@ ENDIF
 IF (_SPF>75000)
 SPF=75000
 ENDIF
-' IF (_SPG>50000)
-' SPG=50000
-' ENDIF
-' IF (_SPH>50000)
-' SPH=50000
-' ENDIF
+IF (_SPG>50000)
+SPG=50000
+ENDIF
+IF (_SPH>50000)
+SPH=50000
+ENDIF
 EN
 '
 '
@@ -256,8 +227,8 @@ HLTC=1
 HLTD=1
 HLTE=1
 HLTF=1
-' HLTG=1
-' HLTH=1
+HLTG=1
+HLTH=1
 JS #SETDCEL
 RI
 '
@@ -271,74 +242,142 @@ RE
 '
 '-----------------------------------------------------------------------
 #SETDCEL
-'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
+'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS
 '
-IF (_LFA=0)|(_LRA=0)|(HLTA=1);'LIMIT HIT
-IF (LSAHIT=0)&(_BGA=1);'STILL MOVING, FIRST TIME
-OLDDCA=_DCA;'REMEMBER OLD DECEL VALUE
+IF (_BGA=1)
+IF (((_SCA=2)&(_LFA=0))|((_SCA=3)&(_LRA=0))|(HLTA=1))
 STA
-DCA=100000;'INCREASE DECEL VALUE FOR RAPID STOP
+IF (LSAHIT=0)
+OLDDCA=_DCA
+DCA=100000
 LSAHIT=1
 ENDIF
 ENDIF
-IF (_LFB=0)|(_LRB=0)|(HLTB=1)
-IF (LSBHIT=0)&(_BGB=1)
-OLDDCB=_DCB
+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
-IF (_LFC=0)|(_LRC=0)|(HLTC=1)
-IF (LSCHIT=0)&(_BGC=1)
-OLDDCC=_DCC
+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
-IF (_LFD=0)|(_LRD=0)|(HLTD=1)
-IF (LSDHIT=0)&(_BGD=1)
-OLDDCD=_DCD
+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
-IF (_LFE=0)|(_LRE=0)|(HLTE=1)
-IF (LSEHIT=0)&(_BGE=1)
-OLDDCE=_DCE
+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
-IF (_LFF=0)|(_LRF=0)|(HLTF=1)
-IF (LSFHIT=0)&(_BGF=1)
-OLDDCF=_DCF
+ENDIF
+'
+IF (_BGF=1)
+IF (((_SCF=2)&(_LFF=0))|((_SCF=3)&(_LRF=0))|(HLTF=1))
 STF
+IF (LSFHIT=0)
+OLDDCF=_DCF
 DCF=50000
 LSFHIT=1
 ENDIF
 ENDIF
-' IF (_LFG=0)|(_LRG=0)|(HLTG=1)
-' IF (LSGHIT=0)&(_BGG=1)
-' OLDDCG=_DCG
-' STG
-' DCG=100000
-' LSGHIT=1
-' ENDIF
-' ENDIF
-' IF (_LFH=0)|(_LRH=0)|(HLTH=1)
-' IF (LSHHIT=0)&(_BGH=1)
-' OLDDCH=_DCH
-' STH
-' DCH=100000
-' LSHHIT=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 AIRPADS
+' SET REQF=1 TO MAKE FLIGHT TUBE AVAILABLE FOR MOVE
+' THE RSPF BIT IS USED SO THAT THE CODE ONLY RUNS WHEN THE
+' STATE OF FTUBE CHANGES - THE DELAYS ARENT RUNNING EVERY CYCLE
+' IN THE 2ND IF, THE OFF-SOLENOIDS ARENT HELD ENERGISED IN CASE THE
+' VALVE MANUAL OVER RIDE IS NEEDED.
+'
+' FOLLOW SHF/MOF COMMANDS ENTERED MANUALLY
+IF (_MOF=0)&(RSPF=0);'FLIGHT TUBE MOTOR IS ON BUT AIR IS OFF
+REQF=1
+ENDIF
+IF (_MOF=1)&(RSPF=1);'FLIGHT TUBE MOTOR IS OFF BUT AIR IS ON
+SHF;' FOLLOWING STEPS MUST BE RUN BEFORE MOTOR CAN BE TURNED OFF
+REQF=0
+ENDIF
+'
+IF (REQF=1)&(RSPF=0);'REQUESTING FLIGHT TUBE BE MOVABLE
+SHF;' TURN MOTOR ON
+WT500;' WAIT FOR MOTOR TO STABILISE
+SB 12;' DRIVE WHEEL UP-SOLENOID OFF
+CB 11;' DRIVE WHEEL DOWN-SOLENOID ON
+WT1000;' WAIT FOR DRIVE WHEEL TO LOWER
+SB 10;' AIR PAD OFF-SOLENOID OFF
+CB 9;' AIR PAD ON-SOLENOID ON
+WT1000;
+RSPF=1
+ENDIF
+IF (REQF=0)&(RSPF=1);'FLIGHT TUBE MOTION FINISHED
+WT1000;' WAIT FOR FLIGHT TUBE TO SETTLE
+SB 9;' AIR PAD ON-SOLENOID OFF
+CB 10;' AIR PAD OFF-SOLENOID ON
+WT500;
+SB 10;' AIR PAD OFF-SOLENOID OFF
+SB 11;' DRIVE WHEEL DOWN-SOLENOID OFF
+CB 12;' DRIVE WHEEL UP-SOLENOID ON
+WT500;' WAIT 1/2 SEC
+SB 12;' DRIVE WHEEL UP-SOLENOID OFF
+MOF;' TURN MOTOR OFF
+RSPF=0
+ENDIF
 EN
 '
 '
 '-----------------------------------------------------------------------
-
diff --git a/site_ansto/instrument/hipd/DMC2280/controller2.txt b/site_ansto/instrument/hipd/DMC2280/controller2.txt
index 1ea9fd54..deec8ec1 100644
--- a/site_ansto/instrument/hipd/DMC2280/controller2.txt
+++ b/site_ansto/instrument/hipd/DMC2280/controller2.txt
@@ -1,11 +1,11 @@
 ' WOMBAT - CONTROLLER 2
-' 
-' $Revision: 1.5 $
-' $Date: 2008-03-05 04:25:32 $
+'
+' $Revision: 1.6 $
+' $Date: 2008-03-07 05:12:47 $
 ' Author: Dan Bartlett
 ' Airpad control added by Doug Clowes
 ' Last revision by: $Author: dcl $
-' 
+'
 ' A-SAMPLE UPPER TILT
 ' B-SAMPLE LOWER TILT
 ' C-SAMPLE UPPER LINEAR
@@ -48,7 +48,7 @@ HLTD=0
 HLTE=0
 HLTF=0
 HLTG=0
-' HLTH=0
+HLTH=0
 ' FIRST TIME THROUGH RESET LIMIT CONTROL
 LSAHIT=0
 LSBHIT=0
@@ -57,7 +57,7 @@ LSDHIT=0
 LSEHIT=0
 LSFHIT=0
 LSGHIT=0
-' LSHHIT=0
+LSHHIT=0
 JS #THREAD0
 EN
 '
@@ -67,81 +67,97 @@ EN
 ' MAIN THREAD
 ' THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
 '
+JS #CHKSPD
 JS #CHKDCEL
 JS #AIRPAD
-JS #CHKSPD
 JP #THREAD0
 EN
 '
 '
 '-----------------------------------------------------------------------
 #CHKDCEL
-'ROUTINE TO CHECK DECELERATION AFTER A LIMIT HIT
+'ROUTINE TO RESET DECELERATION AFTER AN EMERGENCY STOP
 '
-IF (LSAHIT=1)&(_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
+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
-IF (HLTA=1)
-MOA
-HLTA=0
-ENDIF
 LSAHIT=0
 ENDIF
-IF (LSBHIT=1)&(_BGB=0)
-DCB=OLDDCB
-IF (HLTB=1)
-MOB
-HLTB=0
+IF (HLTA=1)
+HLTA=0
 ENDIF
+ENDIF
+'
+IF (_BGB=0)
+IF (LSBHIT=1)
+DCB=OLDDCB
 LSBHIT=0
 ENDIF
-IF (LSCHIT=1)&(_BGC=0)
-DCC=OLDDCC
-IF (HLTC=1)
-MOC
-HLTC=0
+IF (HLTB=1)
+HLTB=0
 ENDIF
+ENDIF
+'
+IF (_BGC=0)
+IF (LSCHIT=1)
+DCC=OLDDCC
 LSCHIT=0
 ENDIF
-IF (LSDHIT=1)&(_BGD=0)
-DCD=OLDDCD
-IF (HLTD=1)
-MOD
-HLTD=0
+IF (HLTC=1)
+HLTC=0
 ENDIF
+ENDIF
+'
+IF (_BGD=0)
+IF (LSDHIT=1)
+DCD=OLDDCD
 LSDHIT=0
 ENDIF
-IF (LSEHIT=1)&(_BGE=0)
-DCE=OLDDCE
-IF (HLTE=1)
-MOE
-HLTE=0
+IF (HLTD=1)
+HLTD=0
 ENDIF
+ENDIF
+'
+IF (_BGE=0)
+IF (LSEHIT=1)
+DCE=OLDDCE
 LSEHIT=0
 ENDIF
-IF (LSFHIT=1)&(_BGF=0)
+IF (HLTE=1)
+HLTE=0
+ENDIF
+ENDIF
+'
+IF (_BGF=0)
+IF (LSFHIT=1)
 DCF=OLDDCF
-IF (HLTF=1)
-MOF
-HLTF=0
-ENDIF;'
 LSFHIT=0
 ENDIF
-IF (LSGHIT=1)&(_BGG=0)
-DCG=OLDDCG
-IF (HLTG=1)
-MOG
-HLTG=0
+IF (HLTF=1)
+HLTF=0
 ENDIF
+ENDIF
+'
+IF (_BGG=0)
+IF (LSGHIT=1)
+DCG=OLDDCG
 LSGHIT=0
 ENDIF
-' IF (LSHHIT=1)&(_BGH=0)
-' DCH=OLDDCH
-' IF (HLTH=1)
-' MOH
-' HLTH=0
-' ENDIF
-' LSHHIT=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))
@@ -149,45 +165,7 @@ 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
-'
-'
-'-----------------------------------------------------------------------
-#AIRPAD
-' ROUTINE TO CONTROL THE AIRPADS
-' SET REQF=1 TO MAKE FLIGHT TUBE AVAILABLE FOR MOVE
-' THE RSPF BIT IS USED SO THAT THE CODE ONLY RUNS WHEN THE
-' STATE OF FTUBE CHANGES - THE DELAYS ARENT RUNNING EVERY CYCLE
-' IN THE 2ND IF, THE OFF-SOLENOIDS ARENT HELD ENERGISED IN CASE THE
-' VALVE MANUAL OVER RIDE IS NEEDED.
-'
-' FOLLOW SHF/MOF COMMANDS ENTERED MANUALLY
-IF (_MOF=0)&(RSPF=0);'FLIGHT TUBE MOTOR IS ON BUT AIR IS OFF
-REQF=1
-ENDIF
-IF (_MOF=1)&(RSPF=1);'FLIGHT TUBE MOTOR IS OFF BUT AIR IS ON
-SHF;' FOLLOWING STEPS MUST BE RUN BEFORE MOTOR CAN BE TURNED OFF
-REQF=0
-ENDIF
-'
-IF (REQF=1)&(RSPF=0);'REQUESTING FLIGHT TUBE BE MOVABLE
-SHF;' TURN MOTOR ON
-WT500;' WAIT FOR MOTOR TO STABILISE
-SB 10;' DETECTOR AIR PAD OFF-SOLENOID OFF
-CB 9;' DETECTOR AIR PAD ON-SOLENOID ON
-WT1000;
-RSPF=1
-ENDIF
-IF (REQF=0)&(RSPF=1);'FLIGHT TUBE MOTION FINISHED
-WT1000;' WAIT FOR FLIGHT TUBE TO SETTLE
-SB 9;' DETECTOR AIR PAD ON-SOLENOID OFF
-CB 10;' DETECTOR AIR PAD OFF-SOLENOID ON
-WT500;
-SB 10;' DETECTOR AIR PAD OFF-SOLENOID OFF
-MOF;' TURN MOTOR OFF
-RSPF=0
-ENDIF
+JS #SETDCEL,((HLTH=1)&(LSHHIT=0))
 EN
 '
 '
@@ -216,9 +194,9 @@ ENDIF
 IF (_SPG>500000)
 SPG=500000
 ENDIF
-' IF (_SPH>50000)
-' SPH=50000
-' ENDIF
+IF (_SPH>50000)
+SPH=50000
+ENDIF
 EN
 '
 '
@@ -250,7 +228,7 @@ HLTD=1
 HLTE=1
 HLTF=1
 HLTG=1
-' HLTH=1
+HLTH=1
 JS #SETDCEL
 RI
 '
@@ -264,72 +242,134 @@ RE
 '
 '-----------------------------------------------------------------------
 #SETDCEL
-'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
+'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS
 '
-IF (_LFA=0)|(_LRA=0)|(HLTA=1);'LIMIT HIT
-IF (LSAHIT=0)&(_BGA=1);'STILL MOVING, FIRST TIME
-OLDDCA=_DCA;'REMEMBER OLD DECEL VALUE
+IF (_BGA=1)
+IF (((_SCA=2)&(_LFA=0))|((_SCA=3)&(_LRA=0))|(HLTA=1))
 STA
-DCA=100000;'INCREASE DECEL VALUE FOR RAPID STOP
+IF (LSAHIT=0)
+OLDDCA=_DCA
+DCA=100000
 LSAHIT=1
 ENDIF
 ENDIF
-IF (_LFB=0)|(_LRB=0)|(HLTB=1)
-IF (LSBHIT=0)&(_BGB=1)
-OLDDCB=_DCB
+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
-IF (_LFC=0)|(_LRC=0)|(HLTC=1)
-IF (LSCHIT=0)&(_BGC=1)
-OLDDCC=_DCC
+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
-IF (_LFD=0)|(_LRD=0)|(HLTD=1)
-IF (LSDHIT=0)&(_BGD=1)
-OLDDCD=_DCD
+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
-IF (_LFE=0)|(_LRE=0)|(HLTE=1)
-IF (LSEHIT=0)&(_BGE=1)
-OLDDCE=_DCE
+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
-IF (_LFF=0)|(_LRF=0)|(HLTF=1)
-IF (LSFHIT=0)&(_BGF=1)
-OLDDCF=_DCF
+ENDIF
+'
+IF (_BGF=1)
+IF (((_SCF=2)&(_LFF=0))|((_SCF=3)&(_LRF=0))|(HLTF=1))
 STF
+IF (LSFHIT=0)
+OLDDCF=_DCF
 DCF=50000
 LSFHIT=1
 ENDIF
 ENDIF
-IF (_LFG=0)|(_LRG=0)|(HLTG=1)
-IF (LSGHIT=0)&(_BGG=1)
-OLDDCG=_DCG
+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
-' IF (_LFH=0)|(_LRH=0)|(HLTH=1)
-' IF (LSHHIT=0)&(_BGH=1)
-' OLDDCH=_DCH
-' STH
-' DCH=100000
-' LSHHIT=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 AIRPADS
+' SET REQF=1 TO MAKE FLIGHT TUBE AVAILABLE FOR MOVE
+' THE RSPF BIT IS USED SO THAT THE CODE ONLY RUNS WHEN THE
+' STATE OF FTUBE CHANGES - THE DELAYS ARENT RUNNING EVERY CYCLE
+' IN THE 2ND IF, THE OFF-SOLENOIDS ARENT HELD ENERGISED IN CASE THE
+' VALVE MANUAL OVER RIDE IS NEEDED.
+'
+' FOLLOW SHF/MOF COMMANDS ENTERED MANUALLY
+IF (_MOF=0)&(RSPF=0);'FLIGHT TUBE MOTOR IS ON BUT AIR IS OFF
+REQF=1
+ENDIF
+IF (_MOF=1)&(RSPF=1);'FLIGHT TUBE MOTOR IS OFF BUT AIR IS ON
+SHF;' FOLLOWING STEPS MUST BE RUN BEFORE MOTOR CAN BE TURNED OFF
+REQF=0
+ENDIF
+'
+IF (REQF=1)&(RSPF=0);'REQUESTING FLIGHT TUBE BE MOVABLE
+SHF;' TURN MOTOR ON
+WT500;' WAIT FOR MOTOR TO STABILISE
+SB 10;' AIR PAD OFF-SOLENOID OFF
+CB 9;' AIR PAD ON-SOLENOID ON
+WT1000;
+RSPF=1
+ENDIF
+IF (REQF=0)&(RSPF=1)&(_BGF=0);'FLIGHT TUBE MOTION FINISHED
+WT1000;' WAIT FOR FLIGHT TUBE TO SETTLE
+SB 9;' AIR PAD ON-SOLENOID OFF
+CB 10;' AIR PAD OFF-SOLENOID ON
+WT500;
+SB 10;' AIR PAD OFF-SOLENOID OFF
+MOF;' TURN MOTOR OFF
+RSPF=0
+ENDIF
 EN
 '
 '
@@ -354,7 +394,7 @@ SPG=500000
 ACG=750000
 DCG=750000
 #LOOP
-PRG=225000;' MOVE FORWARD DISTANCE AS PER ANGLE VALUE 
+PRG=225000;' MOVE FORWARD DISTANCE AS PER ANGLE VALUE
 BGG
 AMG
 PRG=-225000;' MOVE BACK DISTANCE AS PER ANGLE VALUE
@@ -375,3 +415,6 @@ ENDIF
 JP #ACCVETO,(_XQ1<>-1)
 ' JUMP BACK TO START UNLESS #OSC IS NOT RUNNING
 EN
+'
+'
+'-----------------------------------------------------------------------
diff --git a/site_ansto/instrument/hipd/DMC2280/controller3.txt b/site_ansto/instrument/hipd/DMC2280/controller3.txt
index ae64154e..b9feaba2 100644
--- a/site_ansto/instrument/hipd/DMC2280/controller3.txt
+++ b/site_ansto/instrument/hipd/DMC2280/controller3.txt
@@ -1,22 +1,25 @@
-NO TE: WOMBAT - CONTROLLER 3
-NO TE:
-NO TE: $Revision: 1.3 $
-NO TE: $Date: 2007-02-22 07:36:59 $
-NO TE: Author: Dan Bartlett
-NO TE: Limit switch HOME routine added by Ferdi Franceschini
-NO TE: Last revision by: $Author: dbx $
-NO TE:
-NO TE: A-MONOCHROMATOR FOCUS
-NO TE: B-MONOCHROMATOR FOCUS
-NO TE: C-SPARE
-NO TE: D-SPARE
-NO TE: E-SLIT 1 LEFT BLADE
-NO TE: F-SLIT 1 RIGHT BLADE
-NO TE: G-SLIT 1 TOP BLADE
-NO TE: H-SLIT 1 BOTTOM BLADE
-NO ----------------------------------------
+' WOMBAT - CONTROLLER 3
+'
+' $Revision: 1.4 $
+' $Date: 2008-03-07 05:12:47 $
+' Author: Dan Bartlett
+' Limit switch HOME routine added by Ferdi Franceschini
+' Last revision by: $Author: dcl $
+'
+' A-MONOCHROMATOR FOCUS
+' B-MONOCHROMATOR FOCUS
+' C-SPARE
+' D-SPARE
+' E-SLIT 1 LEFT BLADE
+' F-SLIT 1 RIGHT BLADE
+' G-SLIT 1 TOP BLADE
+' H-SLIT 1 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
@@ -27,24 +30,151 @@ AC 1250,,,,60000,60000,60000,60000;' SET ACELERATION
 DC 1250,,,,60000,60000,60000,60000;' SET DECELERATION
 SP 2500,,,,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
+JS #RESLVR
+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
 IF (_SPB>50000)
 SPB=50000
 ENDIF
-NO IF (_SPC>50000) AXES NOT USED, COMMENTED OUT
-NO SPC=50000
-NO ENDIF
-NO IF (_SPD>50000)
-NO SPD=50000
-NO ENDIF
+IF (_SPC>50000)
+SPC=50000
+ENDIF
+IF (_SPD>50000)
+SPD=50000
+ENDIF
 IF (_SPE>30000)
 SPE=30000
 ENDIF
@@ -57,79 +187,217 @@ ENDIF
 IF (_SPH>30000)
 SPH=30000
 ENDIF
-NO TE: THIS FOLLOWING CODE UPDATES THE RESOLVER DATA
-NO TE: AND LOADS IT INTO TPA WITH THE DEA= COMMAND
+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=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
+IF (HOMERUN = 1)
+JP #ENDHOME
+ENDIF
+SH EFGH
+ST EFGH
+MC EFGH
+SP ,,,,30000,30000,30000,30000
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRE = 0)
+PRE=200000
+BGE
+ENDIF
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRF = 0)
+PRF=200000
+BGF
+ENDIF
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRG = 0)
+PRG=200000
+BGG
+ENDIF
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRH = 0)
+PRH=200000
+BGH
+ENDIF
+MC EFGH
+WT 100
+' DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH
+JG ,,,,-25000,-25000,-25000,-25000
+BG EFGH
+MC EFGH
+WT 100
+' MOVE AWAY FROM SWITCHES BY 2MM AND DRIVE BACK SLOWLY
+PR ,,,,40000,40000,40000,40000
+BG EFGH
+MC EFGH
+WT 100
+JG ,,,,-5000,-5000,-5000,-5000
+BG EFGH
+MC EFGH
+WT 100
+' MOVE FORWARD FROM SWITCH BY 2MM AND SET ZERO
+PR ,,,,40000,40000,40000,40000
+BG EFGH
+MC EFGH
+WT 100
+MO EFGH
+DP ,,,,0,0,0,0
+SP ,,,,30000,30000,30000,30000
+HOMERUN=1;'HOMING PROCEDURE HAS BEEN RUN
+#ENDHOME
+EN
+'
+'
+'-----------------------------------------------------------------------
+#RESLVR
+' THIS FOLLOWING CODE UPDATES THE RESOLVER DATA
+' AND LOADS IT INTO TPA WITH THE DEA= COMMAND
 SB1;' DRIVE INHIBIT BIT HIGH
 CB1;' DRIVE INHIBIT BIT LOW TO LOCK DATA
-AI31;' WAIT FOR XBUSY BIT 
+AI31;' WAIT FOR XBUSY BIT
+'
 IOBYTE1=_TI2;' LOAD FIRST BYTE OF DATA
 IOBYTE2=_TI3;' LOAD SECOND BYTE OF DATA
 IOBYTE2=(IOBYTE2&63);' MASK OUT XBUSY AND UNUSED BITS
 IOBYTE2=(IOBYTE2*256);' SHIFT REMAINING BITS 8 BITS
 DEA=(IOBYTE1+IOBYTE2);' ADD BYTES TOGETHER AND LOAD INTO DEA
 SB1;' DRIVE INHIBIT HIGH
-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 ----------------------------------------
-#HOME
-IF (HOMERUN = 1)
-JP #ENDHOME
-ENDIF
-NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
-IF ((_TSE & 4) = 0)
-SHE
-PRE=200000
-BGE
-ENDIF
-NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
-IF ((_TSF & 4) = 0)
-SHF
-PRF=200000
-BGF
-ENDIF
-NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
-IF ((_TSG & 4) = 0)
-SHG
-PRG=200000
-BGG
-ENDIF
-NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
-IF ((_TSH & 4) = 0)
-SHH
-PRH=200000
-BGH
-ENDIF
-AMEFGH
-NO TE: DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH
-SHEFGH
-JG ,,,,-25000,-25000,-25000,-25000
-BGEFGH
-AMEFGH
-NO TE: MOVE AWAY FROM SWITCHES BY 2MM AND DRIVE BACK SLOWLY
-PR ,,,,80000,80000,80000,80000
-BGEFGH
-AMEFGH
-JG,,,,-5000,-5000,-5000,-5000
-BGEFGH
-AMEFGH
-NO TE: MOVE FORWARD FROM SWITCH BY 2MM AND SET ZERO
-PR ,,,,40000,40000,40000,40000
-BGEFGH
-AMEFGH
-DP ,,,,0,0,0,0
-SP ,,,,30000,30000,30000,30000
-HOMERUN=1;'HOMING PROCEDURE HAS BEEN RUN
-#ENDHOME
 EN
+'
+'
+'-----------------------------------------------------------------------
diff --git a/site_ansto/instrument/hipd/DMC2280/controller4.txt b/site_ansto/instrument/hipd/DMC2280/controller4.txt
index d1e2c2fa..5d648451 100644
--- a/site_ansto/instrument/hipd/DMC2280/controller4.txt
+++ b/site_ansto/instrument/hipd/DMC2280/controller4.txt
@@ -1,22 +1,25 @@
-NO TE: WOMBAT - CONTROLLER 4
-NO TE:
-NO TE: $Revision: 1.2 $
-NO TE: $Date: 2007-01-31 03:39:19 $
-NO TE: Author: Dan Bartlett
-NO TE: Limit switch HOME routine added by Ferdi Franceschini
-NO TE: Last revision by: $Author: dbx $
-NO TE:
-NO TE: A-SPARE
-NO TE: B-SPARE
-NO TE: C-SPARE
-NO TE: D-SPARE
-NO TE: E-SLIT 1 LEFT BLADE
-NO TE: F-SLIT 1 RIGHT BLADE
-NO TE: G-SLIT 1 TOP BLADE
-NO TE: H-SLIT 1 BOTTOM BLADE
-NO ----------------------------------------
+' WOMBAT - CONTROLLER 4
+'
+' $Revision: 1.3 $
+' $Date: 2008-03-07 05:12:47 $
+' Author: Dan Bartlett
+' Limit switch HOME routine added by Ferdi Franceschini
+' Last revision by: $Author: dcl $
+'
+' A-SPARE
+' B-SPARE
+' C-SPARE
+' D-SPARE
+' E-SLIT 1 LEFT BLADE
+' F-SLIT 1 RIGHT BLADE
+' G-SLIT 1 TOP BLADE
+' H-SLIT 1 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
@@ -26,24 +29,150 @@ AC ,,,,60000,60000,60000,60000;' SET ACELERATION
 DC ,,,,60000,60000,60000,60000;' SET DECELERATION
 SP ,,,,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
-NO IF (_SPA>50000) AXES NOT USED, COMMENTED OUT
-NO SPA=50000
-NO ENDIF
-NO IF (_SPB>50000)
-NO SPB=50000
-NO ENDIF
-NO IF (_SPC>50000)
-NO SPC=50000
-NO ENDIF
-NO IF (_SPD>50000)
-NO SPD=50000
-NO ENDIF
+' 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>50000)
+SPA=50000
+ENDIF
+IF (_SPB>50000)
+SPB=50000
+ENDIF
+IF (_SPC>50000)
+SPC=50000
+ENDIF
+IF (_SPD>50000)
+SPD=50000
+ENDIF
 IF (_SPE>30000)
 SPE=30000
 ENDIF
@@ -56,68 +185,200 @@ 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
 IF (HOMERUN = 1)
 JP #ENDHOME
 ENDIF
-NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
-IF ((_TSE & 4) = 0)
-SHE
+SH EFGH
+ST EFGH
+MC EFGH
+SP ,,,,30000,30000,30000,30000
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRE = 0)
 PRE=200000
 BGE
 ENDIF
-NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
-IF ((_TSF & 4) = 0)
-SHF
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRF = 0)
 PRF=200000
 BGF
 ENDIF
-NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
-IF ((_TSG & 4) = 0)
-SHG
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRG = 0)
 PRG=200000
 BGG
 ENDIF
-NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
-IF ((_TSH & 4) = 0)
-SHH
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRH = 0)
 PRH=200000
 BGH
 ENDIF
-AMEFGH
-NO TE: DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH
-SHEFGH
+MC EFGH
+WT 100
+' DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH
 JG ,,,,-25000,-25000,-25000,-25000
-BGEFGH
-AMEFGH
-NO TE: MOVE AWAY FROM SWITCHES BY 2MM AND DRIVE BACK SLOWLY
-PR ,,,,80000,80000,80000,80000
-BGEFGH
-AMEFGH
-JG,,,,-5000,-5000,-5000,-5000
-BGEFGH
-AMEFGH
-NO TE: MOVE FORWARD FROM SWITCH BY 2MM AND SET ZERO
+BG EFGH
+MC EFGH
+WT 100
+' MOVE AWAY FROM SWITCHES BY 2MM AND DRIVE BACK SLOWLY
 PR ,,,,40000,40000,40000,40000
-BGEFGH
-AMEFGH
+BG EFGH
+MC EFGH
+WT 100
+JG ,,,,-5000,-5000,-5000,-5000
+BG EFGH
+MC EFGH
+WT 100
+' MOVE FORWARD FROM SWITCH BY 2MM AND SET ZERO
+PR ,,,,40000,40000,40000,40000
+BG EFGH
+MC EFGH
+WT 100
+MO EFGH
 DP ,,,,0,0,0,0
 SP ,,,,30000,30000,30000,30000
 HOMERUN=1;'HOMING PROCEDURE HAS BEEN RUN
 #ENDHOME
-EN
\ No newline at end of file
+EN
+'
+'
+'-----------------------------------------------------------------------
diff --git a/site_ansto/instrument/hrpd/DMC2280/controller1.txt b/site_ansto/instrument/hrpd/DMC2280/controller1.txt
index 97df60c7..be571f9a 100644
--- a/site_ansto/instrument/hrpd/DMC2280/controller1.txt
+++ b/site_ansto/instrument/hrpd/DMC2280/controller1.txt
@@ -1,21 +1,25 @@
-NO TE: ECHIDNA - CONTROLLER 1
-NO TE: 
-NO TE: $Revision: 1.6 $
-NO TE: $Date: 2007-01-31 03:38:33 $
-NO TE: Author: Dan Bartlett
-NO TE: Last revision by: $Author: dbx $
-NO TE:
-NO TE: A-MONOCHROMATOR UPPER TILT (mphi) - TILT 1
-NO TE: B-MONOCHROMATOR LOWER TILT (mchi) - TILT 2
-NO TE: C-MONOCHROMATOR UPPER TRANSLATION (mz:nexus, mx:KDL) - LINEAR 1
-NO TE: D-MONOCHROMATOR LOWER TRANSLATION (mx:nexus, my:KDL) - LINEAR 2
-NO TE: E-MONOCHROMATOR ROTATION (mom)
-NO TE: F-FLIGHT TUBE ROTATION
-NO TE: G-PRIMARY COLLIMATOR 1
-NO TE: H-PRIMARY COLLIMATOR 2
-NO ----------------------------------------
+' ECHIDNA - CONTROLLER 1
+'
+' $Revision: 1.7 $
+' $Date: 2008-03-07 05:12:47 $
+' Author: Dan Bartlett
+' Airpad control added by Doug Clowes
+' Last revision by: $Author: dcl $
+'
+' A-MONOCHROMATOR UPPER TILT (mphi) - TILT 1
+' B-MONOCHROMATOR LOWER TILT (mchi) - TILT 2
+' C-MONOCHROMATOR UPPER TRANSLATION (mz:nexus, mx:KDL) - LINEAR 1
+' D-MONOCHROMATOR LOWER TRANSLATION (mx:nexus, my:KDL) - LINEAR 2
+' E-MONOCHROMATOR ROTATION (mom)
+' F-FLIGHT TUBE ROTATION
+' G-PRIMARY COLLIMATOR 1
+' H-PRIMARY COLLIMATOR 2
+'
+'
+'-----------------------------------------------------------------------
 #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
@@ -33,13 +37,142 @@ SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
 SIF=1,25,25,0<-2>2;'HEIDENHAIN RCN226
 SIG=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
 SIH=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
-APDONE=0;' FIRST TIME THROUGH AIRPAD CONTROL NOT DONE
+' FIRST TIME THROUGH RESET AIRPAD CONTROL
+REQF=0
+RSPF=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
@@ -64,88 +197,187 @@ ENDIF
 IF (_SPH>50000)
 SPH=50000
 ENDIF
-NO TE: CONTROLS THE AIRPAD SOLENOID VALVES
-IF (_MOF=0);'FLIGHT TUBE MOTOR IS ON
-SB 10;'SAMPLE STAGE AIR PAD OFF-SOLENOID OFF
-SB 12;'DRIVE WHEEL UP-SOLENOID OFF
-CB 9;'SAMPLE STAGE AIR PAD ON-SOLENOID ON
-CB 11;'DRIVE WHEEL DOWN-SOLENOID ON
-APDONE=0
-ENDIF
-IF (_MOF=1)&(APDONE=0);'FLIGHT TUBE MOTOR IS OFF
-SB 9;'SAMPLE STAGE AIR PAD ON-SOLENOID OFF
-SB 11;'DRIVE WHEEL DOWN-SOLENOID OFF
-CB 10;'SAMPLE STAGE AIR PAD OFF-SOLENOID ON
-CB 12;'DRIVE WHEEL UP-SOLENOID ON
-WT500;'WAIT 1/2 SEC
-SB 10;'SAMPLE STAGE AIR PAD OFF-SOLENOID OFF
-SB 12;'DRIVE WHEEL UP-SOLENOID OFF
-APDONE=1
-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
-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
-OLDDCH=_DCH
-IF (_LFA = 0) | (_LRA = 0)
-DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
+'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
-IF (_LFB = 0) | (_LRB = 0)
-DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE
+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
-IF (_LFC = 0) | (_LRC = 0)
-DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
+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
-IF (_LFD = 0) | (_LRD = 0)
-DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
+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
-IF (_LFE = 0) | (_LRE = 0)
-DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE
+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
-IF (_LFF = 0) | (_LRF = 0)
-DCF=50000;' DECEL FOR LIMIT HIT OCCURENCE
+ENDIF
+ENDIF
+'
+IF (_BGF=1)
+IF (((_SCF=2)&(_LFF=0))|((_SCF=3)&(_LRF=0))|(HLTF=1))
 STF
+IF (LSFHIT=0)
+OLDDCF=_DCF
+DCF=50000
+LSFHIT=1
 ENDIF
-IF (_LFG = 0) | (_LRG = 0)
-DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
+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
-IF (_LFH = 0) | (_LRH = 0)
-DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
+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
-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
-DCH=OLDDCH
-RE
\ No newline at end of file
+ENDIF
+ENDIF
+'
+EN
+'
+'
+'-----------------------------------------------------------------------
+#AIRPAD
+' ROUTINE TO CONTROL THE AIRPADS
+' SET REQF=1 TO MAKE FLIGHT TUBE AVAILABLE FOR MOVE
+' THE RSPF BIT IS USED SO THAT THE CODE ONLY RUNS WHEN THE
+' STATE OF FTUBE CHANGES - THE DELAYS ARENT RUNNING EVERY CYCLE
+' IN THE 2ND IF, THE OFF-SOLENOIDS ARENT HELD ENERGISED IN CASE THE
+' VALVE MANUAL OVER RIDE IS NEEDED.
+'
+' FOLLOW SHF/MOF COMMANDS ENTERED MANUALLY
+IF (_MOF=0)&(RSPF=0);'FLIGHT TUBE MOTOR IS ON BUT AIR IS OFF
+REQF=1
+ENDIF
+IF (_MOF=1)&(RSPF=1);'FLIGHT TUBE MOTOR IS OFF BUT AIR IS ON
+SHF;' FOLLOWING STEPS MUST BE RUN BEFORE MOTOR CAN BE TURNED OFF
+REQF=0
+ENDIF
+'
+IF (REQF=1)&(RSPF=0);'REQUESTING FLIGHT TUBE BE MOVABLE
+SHF;' TURN MOTOR ON
+WT500;' WAIT FOR MOTOR TO STABILISE
+SB 12;' DRIVE WHEEL UP-SOLENOID OFF
+CB 11;' DRIVE WHEEL DOWN-SOLENOID ON
+WT1000;' WAIT FOR DRIVE WHEEL TO LOWER
+SB 10;' AIR PAD OFF-SOLENOID OFF
+CB 9;' AIR PAD ON-SOLENOID ON
+WT1000;
+RSPF=1
+ENDIF
+IF (REQF=0)&(RSPF=1);'FLIGHT TUBE MOTION FINISHED
+WT1000;' WAIT FOR FLIGHT TUBE TO SETTLE
+SB 9;' AIR PAD ON-SOLENOID OFF
+CB 10;' AIR PAD OFF-SOLENOID ON
+WT500;
+SB 10;' AIR PAD OFF-SOLENOID OFF
+SB 11;' DRIVE WHEEL DOWN-SOLENOID OFF
+CB 12;' DRIVE WHEEL UP-SOLENOID ON
+WT500;' WAIT 1/2 SEC
+SB 12;' DRIVE WHEEL UP-SOLENOID OFF
+MOF;' TURN MOTOR OFF
+RSPF=0
+ENDIF
+EN
+'
+'
+'-----------------------------------------------------------------------
diff --git a/site_ansto/instrument/hrpd/DMC2280/controller2.txt b/site_ansto/instrument/hrpd/DMC2280/controller2.txt
index a16344f6..d5db83bb 100644
--- a/site_ansto/instrument/hrpd/DMC2280/controller2.txt
+++ b/site_ansto/instrument/hrpd/DMC2280/controller2.txt
@@ -1,21 +1,25 @@
-NO TE: ECHIDNA - CONTROLLER 2
-NO TE:
-NO TE: $Revision: 1.4 $
-NO TE: $Date: 2007-01-31 03:38:33 $
-NO TE: Author: Dan Bartlett
-NO TE: Last revision by: $Author: dbx $
-NO TE:
-NO TE: A-SAMPLE UPPER TILT (sphi) - TILT 1
-NO TE: B-SAMPLE LOWER TILT (schi) - TILT 2
-NO TE: C-SAMPLE UPPER TRANSLATION (sz:nexus, sx:KDL) - LINEAR 1
-NO TE: D-SAMPLE LOWER TRANSLATION (sx:nexus, sy:KDL) - LINEAR 2
-NO TE: E-SAMPLE ROTATION (som)
-NO TE: F-DETECTOR ROTATION
-NO TE: G-SPARE
-NO TE: H-SPARE
-NO ----------------------------------------
+' ECHIDNA - CONTROLLER 2
+'
+' $Revision: 1.5 $
+' $Date: 2008-03-07 05:12:47 $
+' Author: Dan Bartlett
+' Airpad control added by Doug Clowes
+' Last revision by: $Author: dcl $
+'
+' A-SAMPLE UPPER TILT (sphi) - TILT 1
+' B-SAMPLE LOWER TILT (schi) - TILT 2
+' C-SAMPLE UPPER TRANSLATION (sz:nexus, sx:KDL) - LINEAR 1
+' D-SAMPLE LOWER TRANSLATION (sx:nexus, sy:KDL) - LINEAR 2
+' E-SAMPLE ROTATION (som)
+' F-DETECTOR ROTATION
+' G-SPARE
+' 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
@@ -33,13 +37,142 @@ SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
 SIF=1,25,25,0<-2>2;'HEIDENHAIN RCN226
 SIG=0,25,13,0<-2>2;'NOT USED
 SIH=0,25,13,0<-2>2;'NOT USED
-APDONE=0;' FIRST TIME THROUGH AIRPAD CONTROL NOT DONE
+' FIRST TIME THROUGH RESET AIRPAD CONTROL
+REQF=0
+RSPF=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
@@ -58,89 +191,186 @@ ENDIF
 IF (_SPF>150000)
 SPF=150000
 ENDIF
-NO IF (_SPG>50000) AXES NOT IN USE, COMMENTED OUT
-NO SPG=50000
-NO ENDIF
-NO IF (_SPH>50000)
-NO SPH=50000
-NO ENDIF
-NO TE: CONTROLS THE AIRPAD SOLENOID VALVES
-IF (_MOF=0);'DETECTOR MOTOR IS ON
-SB 10;'DETECTOR AIR PAD OFF-SOLENOID OFF
-CB 9;'DETECTOR AIR PAD ON-SOLENOID ON
-APDONE=0
+IF (_SPG>50000)
+SPG=50000
 ENDIF
-IF (_MOF=1)&(APDONE=0);'DETECTOR MOTOR IS OFF
-SB 9;'DETECTOR AIR PAD ON-SOLENOID OFF
-CB 10;'DETECTOR AIR PAD OFF-SOLENOID ON
-WT500;'WAIT 1/2 SEC
-SB 10;'DETECTOR AIR PAD OFF-SOLENOID OFF
-APDONE=1
+IF (_SPH>50000)
+SPH=50000
 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
-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
-OLDDCH=_DCH
-IF (_LFA = 0) | (_LRA = 0)
-DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
+'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
-IF (_LFB = 0) | (_LRB = 0)
-DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE
+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
-IF (_LFC = 0) | (_LRC = 0)
-DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
+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
-IF (_LFD = 0) | (_LRD = 0)
-DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
+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
-IF (_LFE = 0) | (_LRE = 0)
-DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE
+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
-IF (_LFF = 0) | (_LRF = 0)
-DCF=50000;' DECEL FOR LIMIT HIT OCCURENCE
+ENDIF
+ENDIF
+'
+IF (_BGF=1)
+IF (((_SCF=2)&(_LFF=0))|((_SCF=3)&(_LRF=0))|(HLTF=1))
 STF
+IF (LSFHIT=0)
+OLDDCF=_DCF
+DCF=50000
+LSFHIT=1
 ENDIF
-NO IF (_LFG = 0) | (_LRG = 0) AXES NOT IN USE, COMMENTED OUT
-NO DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
-NO STG
-NO 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
-NO DCG=OLDDCG AXIS NOT IN USE, COMMENTED OUT
-NO DCH=OLDDCH AXIS NOT IN USE, COMMENTED OUT
-RE
\ No newline at end of file
+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 AIRPADS
+' SET REQF=1 TO MAKE FLIGHT TUBE AVAILABLE FOR MOVE
+' THE RSPF BIT IS USED SO THAT THE CODE ONLY RUNS WHEN THE
+' STATE OF FTUBE CHANGES - THE DELAYS ARENT RUNNING EVERY CYCLE
+' IN THE 2ND IF, THE OFF-SOLENOIDS ARENT HELD ENERGISED IN CASE THE
+' VALVE MANUAL OVER RIDE IS NEEDED.
+'
+' FOLLOW SHF/MOF COMMANDS ENTERED MANUALLY
+IF (_MOF=0)&(RSPF=0);'FLIGHT TUBE MOTOR IS ON BUT AIR IS OFF
+REQF=1
+ENDIF
+IF (_MOF=1)&(RSPF=1);'FLIGHT TUBE MOTOR IS OFF BUT AIR IS ON
+SHF;' FOLLOWING STEPS MUST BE RUN BEFORE MOTOR CAN BE TURNED OFF
+REQF=0
+ENDIF
+'
+IF (REQF=1)&(RSPF=0);'REQUESTING FLIGHT TUBE BE MOVABLE
+SHF;' TURN MOTOR ON
+WT500;' WAIT FOR MOTOR TO STABILISE
+SB 10;' AIR PAD OFF-SOLENOID OFF
+CB 9;' AIR PAD ON-SOLENOID ON
+WT1000;
+RSPF=1
+ENDIF
+IF (REQF=0)&(RSPF=1);'FLIGHT TUBE MOTION FINISHED
+WT1000;' WAIT FOR FLIGHT TUBE TO SETTLE
+SB 9;' AIR PAD ON-SOLENOID OFF
+CB 10;' AIR PAD OFF-SOLENOID ON
+WT500;
+SB 10;' AIR PAD OFF-SOLENOID OFF
+MOF;' TURN MOTOR OFF
+RSPF=0
+ENDIF
+EN
+'
+'
+'-----------------------------------------------------------------------
diff --git a/site_ansto/instrument/hrpd/DMC2280/controller3.txt b/site_ansto/instrument/hrpd/DMC2280/controller3.txt
index 8eed61c0..d2781c4c 100644
--- a/site_ansto/instrument/hrpd/DMC2280/controller3.txt
+++ b/site_ansto/instrument/hrpd/DMC2280/controller3.txt
@@ -1,22 +1,25 @@
-NO TE: ECHIDNA - CONTROLLER 3
-NO TE:
-NO TE: $Revision: 1.7 $
-NO TE: $Date: 2007-01-31 03:38:33 $
-NO TE: Author: Dan Bartlett
-NO TE: Limit switch HOME routine added by Ferdi Franceschini
-NO TE: Last revision by: $Author: dbx $
-NO TE:
-NO TE: A-MONOCHROMATOR FOCUS
-NO TE: B-SPARE
-NO TE: C-SPARE
-NO TE: D-SPARE
-NO TE: E-SLIT 1 LEFT BLADE (ss1l)
-NO TE: F-SLIT 1 RIGHT BLADE (ss1r)
-NO TE: G-SLIT 1 TOP BLADE (ss1u)
-NO TE: H-SLIT 1 BOTTOM BLADE (ss1d)
-NO ----------------------------------------
+' ECHIDNA - CONTROLLER 3
+'
+' $Revision: 1.8 $
+' $Date: 2008-03-07 05:12:47 $
+' Author: Dan Bartlett
+' Limit switch HOME routine added by Ferdi Franceschini
+' Last revision by: $Author: dcl $
+'
+' A-MONOCHROMATOR FOCUS
+' B-SPARE
+' C-SPARE
+' D-SPARE
+' E-SLIT 1 LEFT BLADE (ss1l)
+' F-SLIT 1 RIGHT BLADE (ss1r)
+' G-SLIT 1 TOP BLADE (ss1u)
+' H-SLIT 1 BOTTOM BLADE (ss1d)
+'
+'
+'-----------------------------------------------------------------------
 #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
@@ -26,24 +29,151 @@ AC 12500,,,,60000,60000,60000,60000;' SET ACELERATION
 DC 12500,,,,60000,60000,60000,60000;' SET DECELERATION
 SP 25000,,,,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
+JS #RESLVR
+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>25000)
 SPA=25000
 ENDIF
-NO IF (_SPB>50000) AXES NOT IN USE, COMMENTED OUT
-NO SPB=50000
-NO ENDIF
-NO IF (_SPC>50000)
-NO SPC=50000
-NO ENDIF
-NO IF (_SPD>50000)
-NO SPD=50000
-NO ENDIF
+IF (_SPB>50000)
+SPB=50000
+ENDIF
+IF (_SPC>50000)
+SPC=50000
+ENDIF
+IF (_SPD>50000)
+SPD=50000
+ENDIF
 IF (_SPE>30000)
 SPE=30000
 ENDIF
@@ -56,12 +186,206 @@ ENDIF
 IF (_SPH>30000)
 SPH=30000
 ENDIF
-JP#THREAD0
 EN
-NO ----------------------------------------
-#RES
-NO TE: PROCEDURE TO UPDATE THE RESOLVER FEEDBACK.
-NO TE: MUST BE EXCUTED EACH TIME FOR AN UPDATE
+'
+'
+'-----------------------------------------------------------------------
+#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=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
+IF (HOMERUN = 1)
+JP #ENDHOME
+ENDIF
+SH EFGH
+ST EFGH
+MC EFGH
+SP ,,,,30000,30000,30000,30000
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRE = 0)
+PRE=200000
+BGE
+ENDIF
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRF = 0)
+PRF=200000
+BGF
+ENDIF
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRG = 0)
+PRG=200000
+BGG
+ENDIF
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRH = 0)
+PRH=200000
+BGH
+ENDIF
+MC EFGH
+WT 100
+' DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH
+JG ,,,,-25000,-25000,-25000,-25000
+BG EFGH
+MC EFGH
+WT 100
+' MOVE AWAY FROM SWITCHES BY 2MM AND DRIVE BACK SLOWLY
+PR ,,,,40000,40000,40000,40000
+BG EFGH
+MC EFGH
+WT 100
+JG ,,,,-5000,-5000,-5000,-5000
+BG EFGH
+MC EFGH
+WT 100
+' MOVE FORWARD FROM SWITCH BY 2MM AND SET ZERO
+PR ,,,,40000,40000,40000,40000
+BG EFGH
+MC EFGH
+WT 100
+MO EFGH
+DP ,,,,0,0,0,0
+SP ,,,,30000,30000,30000,30000
+HOMERUN=1;'HOMING PROCEDURE HAS BEEN RUN
+#ENDHOME
+EN
+'
+'
+'-----------------------------------------------------------------------
+#RESLVR
+' PROCEDURE TO UPDATE THE RESOLVER FEEDBACK.
+' MUST BE EXCUTED EACH TIME FOR AN UPDATE
 SB1
 CB1;' OUTPUT WITH FALLING EDGE TO TRIGGER EMPIRE RESOLVER BOX
 AI31;' LOCK DATA
@@ -72,66 +396,6 @@ IOBYTE2=(IOBYTE2*256);' SHIFT REMAINING BITS 8 POSITIONS TO RIGHT
 FOCUS=(IOBYTE1+IOBYTE2);' ADD WORDS TOGETHER, READ FOCUS VARIABLE FOR DATA
 SB1
 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 ----------------------------------------
-#HOME
-IF (HOMERUN = 1)
-JP #ENDHOME
-ENDIF
-NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
-IF ((_TSE & 4) = 0)
-SHE
-PRE=200000
-BGE
-ENDIF
-NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
-IF ((_TSF & 4) = 0)
-SHF
-PRF=200000
-BGF
-ENDIF
-NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
-IF ((_TSG & 4) = 0)
-SHG
-PRG=200000
-BGG
-ENDIF
-NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
-IF ((_TSH & 4) = 0)
-SHH
-PRH=200000
-BGH
-ENDIF
-AMEFGH
-NO TE: DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH
-SHEFGH
-JG ,,,,-25000,-25000,-25000,-25000
-BGEFGH
-AMEFGH
-NO TE: MOVE AWAY FROM SWITCHES BY 2MM AND DRIVE BACK SLOWLY
-PR ,,,,80000,80000,80000,80000
-BGEFGH
-AMEFGH
-JG,,,,-5000,-5000,-5000,-5000
-BGEFGH
-AMEFGH
-NO TE: MOVE FORWARD FROM SWITCH BY 2MM AND SET ZERO
-PR ,,,,40000,40000,40000,40000
-BGEFGH
-AMEFGH
-DP ,,,,0,0,0,0
-SP ,,,,30000,30000,30000,30000
-HOMERUN=1;'HOMING PROCEDURE HAS BEEN RUN
-#ENDHOME
-EN
\ No newline at end of file
+'
+'
+'-----------------------------------------------------------------------
diff --git a/site_ansto/instrument/hrpd/DMC2280/controller4.txt b/site_ansto/instrument/hrpd/DMC2280/controller4.txt
index b7a6f86b..c2a299bb 100644
--- a/site_ansto/instrument/hrpd/DMC2280/controller4.txt
+++ b/site_ansto/instrument/hrpd/DMC2280/controller4.txt
@@ -1,22 +1,25 @@
-NO TE: ECHIDNA - CONTROLLER 4
-NO TE:
-NO TE: $Revision: 1.8 $
-NO TE: $Date: 2007-01-31 03:38:33 $
-NO TE: Author: Dan Bartlett
-NO TE: Limit switch HOME routine added by Ferdi Franceschini
-NO TE: Last revision by: $Author: dbx $
-NO TE:
-NO TE: A-SPARE
-NO TE: B-SPARE
-NO TE: C-SPARE
-NO TE: D-SPARE
-NO TE: E-SLIT 1 LEFT BLADE (ss1l)
-NO TE: F-SLIT 1 RIGHT BLADE (ss1r)
-NO TE: G-SLIT 1 TOP BLADE (ss1u)
-NO TE: H-SLIT 1 BOTTOM BLADE (ss1d)
-NO ----------------------------------------
+' ECHIDNA - CONTROLLER 4
+'
+' $Revision: 1.9 $
+' $Date: 2008-03-07 05:12:47 $
+' Author: Dan Bartlett
+' Limit switch HOME routine added by Ferdi Franceschini
+' Last revision by: $Author: dcl $
+'
+' A-SPARE
+' B-SPARE
+' C-SPARE
+' D-SPARE
+' E-SLIT 1 LEFT BLADE (ss1l)
+' F-SLIT 1 RIGHT BLADE (ss1r)
+' G-SLIT 1 TOP BLADE (ss1u)
+' H-SLIT 1 BOTTOM BLADE (ss1d)
+'
+'
+'-----------------------------------------------------------------------
 #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
@@ -26,24 +29,150 @@ AC ,,,,60000,60000,60000,60000;' SET ACELERATION
 DC ,,,,60000,60000,60000,60000;' SET DECELERATION
 SP ,,,,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
-NO IF (_SPA>25000) AXES NOT IN USE, COMMENTED OUT
-NO SPA=25000
-NO ENDIF
-NO IF (_SPB>50000)
-NO SPB=50000
-NO ENDIF
-NO IF (_SPC>50000)
-NO SPC=50000
-NO ENDIF
-NO IF (_SPD>50000)
-NO SPD=50000
-NO ENDIF
+' 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>50000)
+SPA=50000
+ENDIF
+IF (_SPB>50000)
+SPB=50000
+ENDIF
+IF (_SPC>50000)
+SPC=50000
+ENDIF
+IF (_SPD>50000)
+SPD=50000
+ENDIF
 IF (_SPE>30000)
 SPE=30000
 ENDIF
@@ -56,68 +185,200 @@ 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
 IF (HOMERUN = 1)
 JP #ENDHOME
 ENDIF
-NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
-IF ((_TSE & 4) = 0)
-SHE
+SH EFGH
+ST EFGH
+MC EFGH
+SP ,,,,30000,30000,30000,30000
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRE = 0)
 PRE=200000
 BGE
 ENDIF
-NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
-IF ((_TSF & 4) = 0)
-SHF
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRF = 0)
 PRF=200000
 BGF
 ENDIF
-NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
-IF ((_TSG & 4) = 0)
-SHG
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRG = 0)
 PRG=200000
 BGG
 ENDIF
-NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
-IF ((_TSH & 4) = 0)
-SHH
+' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
+IF (_LRH = 0)
 PRH=200000
 BGH
 ENDIF
-AMEFGH
-NO TE: DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH
-SHEFGH
+MC EFGH
+WT 100
+' DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH
 JG ,,,,-25000,-25000,-25000,-25000
-BGEFGH
-AMEFGH
-NO TE: MOVE AWAY FROM SWITCHES BY 2MM AND DRIVE BACK SLOWLY
-PR ,,,,80000,80000,80000,80000
-BGEFGH
-AMEFGH
-JG,,,,-5000,-5000,-5000,-5000
-BGEFGH
-AMEFGH
-NO TE: MOVE FORWARD FROM SWITCH BY 2MM AND SET ZERO
+BG EFGH
+MC EFGH
+WT 100
+' MOVE AWAY FROM SWITCHES BY 2MM AND DRIVE BACK SLOWLY
 PR ,,,,40000,40000,40000,40000
-BGEFGH
-AMEFGH
+BG EFGH
+MC EFGH
+WT 100
+JG ,,,,-5000,-5000,-5000,-5000
+BG EFGH
+MC EFGH
+WT 100
+' MOVE FORWARD FROM SWITCH BY 2MM AND SET ZERO
+PR ,,,,40000,40000,40000,40000
+BG EFGH
+MC EFGH
+WT 100
+MO EFGH
 DP ,,,,0,0,0,0
 SP ,,,,30000,30000,30000,30000
-HOMERUN=1
+HOMERUN=1;'HOMING PROCEDURE HAS BEEN RUN
 #ENDHOME
-EN
\ No newline at end of file
+EN
+'
+'
+'-----------------------------------------------------------------------