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Substantially modified controller software: mainly limit switches and deceleration.

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r2388 | dcl | 2008-03-07 16:12:47 +1100 (Fri, 07 Mar 2008) | 2 lines
This commit is contained in:
Douglas Clowes
2008-03-07 16:12:47 +11:00
parent 2ea2923399
commit 106159ca58
8 changed files with 2374 additions and 776 deletions
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335
site_ansto/instrument/hipd/DMC2280/controller1.txt
View File

@@ -1,11 +1,11 @@
' WOMBAT - CONTROLLER 1 ' WOMBAT - CONTROLLER 1
' '
' $Revision: 1.8 $ ' $Revision: 1.9 $
' $Date: 2008-03-05 04:25:02 $ ' $Date: 2008-03-07 05:12:47 $
' Author: Dan Bartlett ' Author: Dan Bartlett
' Airpad control added by Doug Clowes ' Airpad control added by Doug Clowes
' Last revision by: $Author: dcl $ ' Last revision by: $Author: dcl $
' '
' A-MONOCHROMATOR UPPER TILT ' A-MONOCHROMATOR UPPER TILT
' B-MONOCHROMATOR LOWER TILT ' B-MONOCHROMATOR LOWER TILT
' C-MONOCHROMATOR UPPER TRANSLATION ' C-MONOCHROMATOR UPPER TRANSLATION
@@ -47,8 +47,8 @@ HLTC=0
HLTD=0 HLTD=0
HLTE=0 HLTE=0
HLTF=0 HLTF=0
' HLTG=0 HLTG=0
' HLTH=0 HLTH=0
' FIRST TIME THROUGH RESET LIMIT CONTROL ' FIRST TIME THROUGH RESET LIMIT CONTROL
LSAHIT=0 LSAHIT=0
LSBHIT=0 LSBHIT=0
@@ -56,8 +56,8 @@ LSCHIT=0
LSDHIT=0 LSDHIT=0
LSEHIT=0 LSEHIT=0
LSFHIT=0 LSFHIT=0
' LSGHIT=0 LSGHIT=0
' LSHHIT=0 LSHHIT=0
JS #THREAD0 JS #THREAD0
EN EN
' '
@@ -67,134 +67,105 @@ EN
' MAIN THREAD ' MAIN THREAD
' THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK ' THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
' '
JS #CHKSPD
JS #CHKDCEL JS #CHKDCEL
JS #AIRPAD JS #AIRPAD
JS #CHKSPD
JP #THREAD0 JP #THREAD0
EN EN
' '
' '
'----------------------------------------------------------------------- '-----------------------------------------------------------------------
#CHKDCEL #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 DCA=OLDDCA;' RESET DECEL TO OLD VALUE
IF (HLTA=1)
MOA
HLTA=0
ENDIF
LSAHIT=0 LSAHIT=0
ENDIF ENDIF
IF (LSBHIT=1)&(_BGB=0) IF (HLTA=1)
DCB=OLDDCB HLTA=0
IF (HLTB=1)
MOB
HLTB=0
ENDIF ENDIF
ENDIF
'
IF (_BGB=0)
IF (LSBHIT=1)
DCB=OLDDCB
LSBHIT=0 LSBHIT=0
ENDIF ENDIF
IF (LSCHIT=1)&(_BGC=0) IF (HLTB=1)
DCC=OLDDCC HLTB=0
IF (HLTC=1)
MOC
HLTC=0
ENDIF ENDIF
ENDIF
'
IF (_BGC=0)
IF (LSCHIT=1)
DCC=OLDDCC
LSCHIT=0 LSCHIT=0
ENDIF ENDIF
IF (LSDHIT=1)&(_BGD=0) IF (HLTC=1)
DCD=OLDDCD HLTC=0
IF (HLTD=1)
MOD
HLTD=0
ENDIF ENDIF
ENDIF
'
IF (_BGD=0)
IF (LSDHIT=1)
DCD=OLDDCD
LSDHIT=0 LSDHIT=0
ENDIF ENDIF
IF (LSEHIT=1)&(_BGE=0) IF (HLTD=1)
DCE=OLDDCE HLTD=0
IF (HLTE=1)
MOE
HLTE=0
ENDIF ENDIF
ENDIF
'
IF (_BGE=0)
IF (LSEHIT=1)
DCE=OLDDCE
LSEHIT=0 LSEHIT=0
ENDIF ENDIF
IF (LSFHIT=1)&(_BGF=0) IF (HLTE=1)
HLTE=0
ENDIF
ENDIF
'
IF (_BGF=0)
IF (LSFHIT=1)
DCF=OLDDCF DCF=OLDDCF
IF (HLTF=1)
MOF
HLTF=0
ENDIF;'
LSFHIT=0 LSFHIT=0
ENDIF ENDIF
' IF (LSGHIT=1)&(_BGG=0) IF (HLTF=1)
' DCG=OLDDCG HLTF=0
' IF (HLTG=1) ENDIF
' MOG ENDIF
' HLTG=0 '
' ENDIF IF (_BGG=0)
' LSGHIT=0 IF (LSGHIT=1)
' ENDIF DCG=OLDDCG
' IF (LSHHIT=1)&(_BGH=0) LSGHIT=0
' DCH=OLDDCH ENDIF
' IF (HLTH=1) IF (HLTG=1)
' MOH HLTG=0
' HLTH=0 ENDIF
' ENDIF ENDIF
' LSHHIT=0 '
' 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,((HLTA=1)&(LSAHIT=0))
JS #SETDCEL,((HLTB=1)&(LSBHIT=0)) JS #SETDCEL,((HLTB=1)&(LSBHIT=0))
JS #SETDCEL,((HLTC=1)&(LSCHIT=0)) JS #SETDCEL,((HLTC=1)&(LSCHIT=0))
JS #SETDCEL,((HLTD=1)&(LSDHIT=0)) JS #SETDCEL,((HLTD=1)&(LSDHIT=0))
JS #SETDCEL,((HLTE=1)&(LSEHIT=0)) JS #SETDCEL,((HLTE=1)&(LSEHIT=0))
JS #SETDCEL,((HLTF=1)&(LSFHIT=0)) JS #SETDCEL,((HLTF=1)&(LSFHIT=0))
' JS #SETDCEL,((HLTG=1)&(LSGHIT=0)) JS #SETDCEL,((HLTG=1)&(LSGHIT=0))
' JS #SETDCEL,((HLTH=1)&(LSHHIT=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
EN EN
' '
' '
@@ -220,12 +191,12 @@ ENDIF
IF (_SPF>75000) IF (_SPF>75000)
SPF=75000 SPF=75000
ENDIF ENDIF
' IF (_SPG>50000) IF (_SPG>50000)
' SPG=50000 SPG=50000
' ENDIF ENDIF
' IF (_SPH>50000) IF (_SPH>50000)
' SPH=50000 SPH=50000
' ENDIF ENDIF
EN EN
' '
' '
@@ -256,8 +227,8 @@ HLTC=1
HLTD=1 HLTD=1
HLTE=1 HLTE=1
HLTF=1 HLTF=1
' HLTG=1 HLTG=1
' HLTH=1 HLTH=1
JS #SETDCEL JS #SETDCEL
RI RI
' '
@@ -271,74 +242,142 @@ RE
' '
'----------------------------------------------------------------------- '-----------------------------------------------------------------------
#SETDCEL #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 (_BGA=1)
IF (LSAHIT=0)&(_BGA=1);'STILL MOVING, FIRST TIME IF (((_SCA=2)&(_LFA=0))|((_SCA=3)&(_LRA=0))|(HLTA=1))
OLDDCA=_DCA;'REMEMBER OLD DECEL VALUE
STA STA
DCA=100000;'INCREASE DECEL VALUE FOR RAPID STOP IF (LSAHIT=0)
OLDDCA=_DCA
DCA=100000
LSAHIT=1 LSAHIT=1
ENDIF ENDIF
ENDIF ENDIF
IF (_LFB=0)|(_LRB=0)|(HLTB=1) ENDIF
IF (LSBHIT=0)&(_BGB=1) '
OLDDCB=_DCB IF (_BGB=1)
IF (((_SCB=2)&(_LFB=0))|((_SCB=3)&(_LRB=0))|(HLTB=1))
STB STB
IF (LSBHIT=0)
OLDDCB=_DCB
DCB=100000 DCB=100000
LSBHIT=1 LSBHIT=1
ENDIF ENDIF
ENDIF ENDIF
IF (_LFC=0)|(_LRC=0)|(HLTC=1) ENDIF
IF (LSCHIT=0)&(_BGC=1) '
OLDDCC=_DCC IF (_BGC=1)
IF (((_SCC=2)&(_LFC=0))|((_SCC=3)&(_LRC=0))|(HLTC=1))
STC STC
IF (LSCHIT=0)
OLDDCC=_DCC
DCC=100000 DCC=100000
LSCHIT=1 LSCHIT=1
ENDIF ENDIF
ENDIF ENDIF
IF (_LFD=0)|(_LRD=0)|(HLTD=1) ENDIF
IF (LSDHIT=0)&(_BGD=1) '
OLDDCD=_DCD IF (_BGD=1)
IF (((_SCD=2)&(_LFD=0))|((_SCD=3)&(_LRD=0))|(HLTD=1))
STD STD
IF (LSDHIT=0)
OLDDCD=_DCD
DCD=100000 DCD=100000
LSDHIT=1 LSDHIT=1
ENDIF ENDIF
ENDIF ENDIF
IF (_LFE=0)|(_LRE=0)|(HLTE=1) ENDIF
IF (LSEHIT=0)&(_BGE=1) '
OLDDCE=_DCE IF (_BGE=1)
IF (((_SCE=2)&(_LFE=0))|((_SCE=3)&(_LRE=0))|(HLTE=1))
STE STE
IF (LSEHIT=0)
OLDDCE=_DCE
DCE=100000 DCE=100000
LSEHIT=1 LSEHIT=1
ENDIF ENDIF
ENDIF ENDIF
IF (_LFF=0)|(_LRF=0)|(HLTF=1) ENDIF
IF (LSFHIT=0)&(_BGF=1) '
OLDDCF=_DCF IF (_BGF=1)
IF (((_SCF=2)&(_LFF=0))|((_SCF=3)&(_LRF=0))|(HLTF=1))
STF STF
IF (LSFHIT=0)
OLDDCF=_DCF
DCF=50000 DCF=50000
LSFHIT=1 LSFHIT=1
ENDIF ENDIF
ENDIF ENDIF
' IF (_LFG=0)|(_LRG=0)|(HLTG=1) ENDIF
' IF (LSGHIT=0)&(_BGG=1) '
' OLDDCG=_DCG IF (_BGG=1)
' STG IF (((_SCG=2)&(_LFG=0))|((_SCG=3)&(_LRG=0))|(HLTG=1))
' DCG=100000 STG
' LSGHIT=1 IF (LSGHIT=0)
' ENDIF OLDDCG=_DCG
' ENDIF DCG=100000
' IF (_LFH=0)|(_LRH=0)|(HLTH=1) LSGHIT=1
' IF (LSHHIT=0)&(_BGH=1) ENDIF
' OLDDCH=_DCH ENDIF
' STH ENDIF
' DCH=100000 '
' LSHHIT=1 IF (_BGH=1)
' ENDIF IF (((_SCH=2)&(_LFH=0))|((_SCH=3)&(_LRH=0))|(HLTH=1))
' ENDIF 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 EN
' '
' '
'----------------------------------------------------------------------- '-----------------------------------------------------------------------

295
site_ansto/instrument/hipd/DMC2280/controller2.txt
View File

@@ -1,11 +1,11 @@
' WOMBAT - CONTROLLER 2 ' WOMBAT - CONTROLLER 2
' '
' $Revision: 1.5 $ ' $Revision: 1.6 $
' $Date: 2008-03-05 04:25:32 $ ' $Date: 2008-03-07 05:12:47 $
' Author: Dan Bartlett ' Author: Dan Bartlett
' Airpad control added by Doug Clowes ' Airpad control added by Doug Clowes
' Last revision by: $Author: dcl $ ' Last revision by: $Author: dcl $
' '
' A-SAMPLE UPPER TILT ' A-SAMPLE UPPER TILT
' B-SAMPLE LOWER TILT ' B-SAMPLE LOWER TILT
' C-SAMPLE UPPER LINEAR ' C-SAMPLE UPPER LINEAR
@@ -48,7 +48,7 @@ HLTD=0
HLTE=0 HLTE=0
HLTF=0 HLTF=0
HLTG=0 HLTG=0
' HLTH=0 HLTH=0
' FIRST TIME THROUGH RESET LIMIT CONTROL ' FIRST TIME THROUGH RESET LIMIT CONTROL
LSAHIT=0 LSAHIT=0
LSBHIT=0 LSBHIT=0
@@ -57,7 +57,7 @@ LSDHIT=0
LSEHIT=0 LSEHIT=0
LSFHIT=0 LSFHIT=0
LSGHIT=0 LSGHIT=0
' LSHHIT=0 LSHHIT=0
JS #THREAD0 JS #THREAD0
EN EN
' '
@@ -67,81 +67,97 @@ EN
' MAIN THREAD ' MAIN THREAD
' THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK ' THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
' '
JS #CHKSPD
JS #CHKDCEL JS #CHKDCEL
JS #AIRPAD JS #AIRPAD
JS #CHKSPD
JP #THREAD0 JP #THREAD0
EN EN
' '
' '
'----------------------------------------------------------------------- '-----------------------------------------------------------------------
#CHKDCEL #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 DCA=OLDDCA;' RESET DECEL TO OLD VALUE
IF (HLTA=1)
MOA
HLTA=0
ENDIF
LSAHIT=0 LSAHIT=0
ENDIF ENDIF
IF (LSBHIT=1)&(_BGB=0) IF (HLTA=1)
DCB=OLDDCB HLTA=0
IF (HLTB=1)
MOB
HLTB=0
ENDIF ENDIF
ENDIF
'
IF (_BGB=0)
IF (LSBHIT=1)
DCB=OLDDCB
LSBHIT=0 LSBHIT=0
ENDIF ENDIF
IF (LSCHIT=1)&(_BGC=0) IF (HLTB=1)
DCC=OLDDCC HLTB=0
IF (HLTC=1)
MOC
HLTC=0
ENDIF ENDIF
ENDIF
'
IF (_BGC=0)
IF (LSCHIT=1)
DCC=OLDDCC
LSCHIT=0 LSCHIT=0
ENDIF ENDIF
IF (LSDHIT=1)&(_BGD=0) IF (HLTC=1)
DCD=OLDDCD HLTC=0
IF (HLTD=1)
MOD
HLTD=0
ENDIF ENDIF
ENDIF
'
IF (_BGD=0)
IF (LSDHIT=1)
DCD=OLDDCD
LSDHIT=0 LSDHIT=0
ENDIF ENDIF
IF (LSEHIT=1)&(_BGE=0) IF (HLTD=1)
DCE=OLDDCE HLTD=0
IF (HLTE=1)
MOE
HLTE=0
ENDIF ENDIF
ENDIF
'
IF (_BGE=0)
IF (LSEHIT=1)
DCE=OLDDCE
LSEHIT=0 LSEHIT=0
ENDIF ENDIF
IF (LSFHIT=1)&(_BGF=0) IF (HLTE=1)
HLTE=0
ENDIF
ENDIF
'
IF (_BGF=0)
IF (LSFHIT=1)
DCF=OLDDCF DCF=OLDDCF
IF (HLTF=1)
MOF
HLTF=0
ENDIF;'
LSFHIT=0 LSFHIT=0
ENDIF ENDIF
IF (LSGHIT=1)&(_BGG=0) IF (HLTF=1)
DCG=OLDDCG HLTF=0
IF (HLTG=1)
MOG
HLTG=0
ENDIF ENDIF
ENDIF
'
IF (_BGG=0)
IF (LSGHIT=1)
DCG=OLDDCG
LSGHIT=0 LSGHIT=0
ENDIF ENDIF
' IF (LSHHIT=1)&(_BGH=0) IF (HLTG=1)
' DCH=OLDDCH HLTG=0
' IF (HLTH=1) ENDIF
' MOH ENDIF
' HLTH=0 '
' ENDIF IF (_BGH=0)
' LSHHIT=0 IF (LSHHIT=1)
' ENDIF DCH=OLDDCH
LSHHIT=0
ENDIF
IF (HLTH=1)
HLTH=0
ENDIF
ENDIF
'
JS #SETDCEL,((HLTA=1)&(LSAHIT=0)) JS #SETDCEL,((HLTA=1)&(LSAHIT=0))
JS #SETDCEL,((HLTB=1)&(LSBHIT=0)) JS #SETDCEL,((HLTB=1)&(LSBHIT=0))
JS #SETDCEL,((HLTC=1)&(LSCHIT=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,((HLTE=1)&(LSEHIT=0))
JS #SETDCEL,((HLTF=1)&(LSFHIT=0)) JS #SETDCEL,((HLTF=1)&(LSFHIT=0))
JS #SETDCEL,((HLTG=1)&(LSGHIT=0)) JS #SETDCEL,((HLTG=1)&(LSGHIT=0))
' JS #SETDCEL,((HLTH=1)&(LSHHIT=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
EN EN
' '
' '
@@ -216,9 +194,9 @@ ENDIF
IF (_SPG>500000) IF (_SPG>500000)
SPG=500000 SPG=500000
ENDIF ENDIF
' IF (_SPH>50000) IF (_SPH>50000)
' SPH=50000 SPH=50000
' ENDIF ENDIF
EN EN
' '
' '
@@ -250,7 +228,7 @@ HLTD=1
HLTE=1 HLTE=1
HLTF=1 HLTF=1
HLTG=1 HLTG=1
' HLTH=1 HLTH=1
JS #SETDCEL JS #SETDCEL
RI RI
' '
@@ -264,72 +242,134 @@ RE
' '
'----------------------------------------------------------------------- '-----------------------------------------------------------------------
#SETDCEL #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 (_BGA=1)
IF (LSAHIT=0)&(_BGA=1);'STILL MOVING, FIRST TIME IF (((_SCA=2)&(_LFA=0))|((_SCA=3)&(_LRA=0))|(HLTA=1))
OLDDCA=_DCA;'REMEMBER OLD DECEL VALUE
STA STA
DCA=100000;'INCREASE DECEL VALUE FOR RAPID STOP IF (LSAHIT=0)
OLDDCA=_DCA
DCA=100000
LSAHIT=1 LSAHIT=1
ENDIF ENDIF
ENDIF ENDIF
IF (_LFB=0)|(_LRB=0)|(HLTB=1) ENDIF
IF (LSBHIT=0)&(_BGB=1) '
OLDDCB=_DCB IF (_BGB=1)
IF (((_SCB=2)&(_LFB=0))|((_SCB=3)&(_LRB=0))|(HLTB=1))
STB STB
IF (LSBHIT=0)
OLDDCB=_DCB
DCB=100000 DCB=100000
LSBHIT=1 LSBHIT=1
ENDIF ENDIF
ENDIF ENDIF
IF (_LFC=0)|(_LRC=0)|(HLTC=1) ENDIF
IF (LSCHIT=0)&(_BGC=1) '
OLDDCC=_DCC IF (_BGC=1)
IF (((_SCC=2)&(_LFC=0))|((_SCC=3)&(_LRC=0))|(HLTC=1))
STC STC
IF (LSCHIT=0)
OLDDCC=_DCC
DCC=100000 DCC=100000
LSCHIT=1 LSCHIT=1
ENDIF ENDIF
ENDIF ENDIF
IF (_LFD=0)|(_LRD=0)|(HLTD=1) ENDIF
IF (LSDHIT=0)&(_BGD=1) '
OLDDCD=_DCD IF (_BGD=1)
IF (((_SCD=2)&(_LFD=0))|((_SCD=3)&(_LRD=0))|(HLTD=1))
STD STD
IF (LSDHIT=0)
OLDDCD=_DCD
DCD=100000 DCD=100000
LSDHIT=1 LSDHIT=1
ENDIF ENDIF
ENDIF ENDIF
IF (_LFE=0)|(_LRE=0)|(HLTE=1) ENDIF
IF (LSEHIT=0)&(_BGE=1) '
OLDDCE=_DCE IF (_BGE=1)
IF (((_SCE=2)&(_LFE=0))|((_SCE=3)&(_LRE=0))|(HLTE=1))
STE STE
IF (LSEHIT=0)
OLDDCE=_DCE
DCE=100000 DCE=100000
LSEHIT=1 LSEHIT=1
ENDIF ENDIF
ENDIF ENDIF
IF (_LFF=0)|(_LRF=0)|(HLTF=1) ENDIF
IF (LSFHIT=0)&(_BGF=1) '
OLDDCF=_DCF IF (_BGF=1)
IF (((_SCF=2)&(_LFF=0))|((_SCF=3)&(_LRF=0))|(HLTF=1))
STF STF
IF (LSFHIT=0)
OLDDCF=_DCF
DCF=50000 DCF=50000
LSFHIT=1 LSFHIT=1
ENDIF ENDIF
ENDIF ENDIF
IF (_LFG=0)|(_LRG=0)|(HLTG=1) ENDIF
IF (LSGHIT=0)&(_BGG=1) '
OLDDCG=_DCG IF (_BGG=1)
IF (((_SCG=2)&(_LFG=0))|((_SCG=3)&(_LRG=0))|(HLTG=1))
STG STG
IF (LSGHIT=0)
OLDDCG=_DCG
DCG=100000 DCG=100000
LSGHIT=1 LSGHIT=1
ENDIF ENDIF
ENDIF ENDIF
' IF (_LFH=0)|(_LRH=0)|(HLTH=1) ENDIF
' IF (LSHHIT=0)&(_BGH=1) '
' OLDDCH=_DCH IF (_BGH=1)
' STH IF (((_SCH=2)&(_LFH=0))|((_SCH=3)&(_LRH=0))|(HLTH=1))
' DCH=100000 STH
' LSHHIT=1 IF (LSHHIT=0)
' ENDIF OLDDCH=_DCH
' ENDIF 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 EN
' '
' '
@@ -354,7 +394,7 @@ SPG=500000
ACG=750000 ACG=750000
DCG=750000 DCG=750000
#LOOP #LOOP
PRG=225000;' MOVE FORWARD DISTANCE AS PER ANGLE VALUE PRG=225000;' MOVE FORWARD DISTANCE AS PER ANGLE VALUE
BGG BGG
AMG AMG
PRG=-225000;' MOVE BACK DISTANCE AS PER ANGLE VALUE PRG=-225000;' MOVE BACK DISTANCE AS PER ANGLE VALUE
@@ -375,3 +415,6 @@ ENDIF
JP #ACCVETO,(_XQ1<>-1) JP #ACCVETO,(_XQ1<>-1)
' JUMP BACK TO START UNLESS #OSC IS NOT RUNNING ' JUMP BACK TO START UNLESS #OSC IS NOT RUNNING
EN EN
'
'
'-----------------------------------------------------------------------

456
site_ansto/instrument/hipd/DMC2280/controller3.txt
View File

@@ -1,22 +1,25 @@
NO TE: WOMBAT - CONTROLLER 3 ' WOMBAT - CONTROLLER 3
NO TE: '
NO TE: $Revision: 1.3 $ ' $Revision: 1.4 $
NO TE: $Date: 2007-02-22 07:36:59 $ ' $Date: 2008-03-07 05:12:47 $
NO TE: Author: Dan Bartlett ' Author: Dan Bartlett
NO TE: Limit switch HOME routine added by Ferdi Franceschini ' Limit switch HOME routine added by Ferdi Franceschini
NO TE: Last revision by: $Author: dbx $ ' Last revision by: $Author: dcl $
NO TE: '
NO TE: A-MONOCHROMATOR FOCUS ' A-MONOCHROMATOR FOCUS
NO TE: B-MONOCHROMATOR FOCUS ' B-MONOCHROMATOR FOCUS
NO TE: C-SPARE ' C-SPARE
NO TE: D-SPARE ' D-SPARE
NO TE: E-SLIT 1 LEFT BLADE ' E-SLIT 1 LEFT BLADE
NO TE: F-SLIT 1 RIGHT BLADE ' F-SLIT 1 RIGHT BLADE
NO TE: G-SLIT 1 TOP BLADE ' G-SLIT 1 TOP BLADE
NO TE: H-SLIT 1 BOTTOM BLADE ' H-SLIT 1 BOTTOM BLADE
NO ---------------------------------------- '
'
'-----------------------------------------------------------------------
#AUTO #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 MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
MO;' FIRST TIME MOTOR OFF MO;' FIRST TIME MOTOR OFF
CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS 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 DC 1250,,,,60000,60000,60000,60000;' SET DECELERATION
SP 2500,,,,30000,30000,30000,30000;' SET SPEED SP 2500,,,,30000,30000,30000,30000;' SET SPEED
HOMERUN=0;' HOMING PROCEDURE HAS NOT BEEN RUN 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 JS #THREAD0
EN EN
NO ---------------------------------------- '
'
'-----------------------------------------------------------------------
#THREAD0 #THREAD0
NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK ' MAIN THREAD
NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED ' 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) IF (_SPA>50000)
SPA=50000 SPA=50000
ENDIF ENDIF
IF (_SPB>50000) IF (_SPB>50000)
SPB=50000 SPB=50000
ENDIF ENDIF
NO IF (_SPC>50000) AXES NOT USED, COMMENTED OUT IF (_SPC>50000)
NO SPC=50000 SPC=50000
NO ENDIF ENDIF
NO IF (_SPD>50000) IF (_SPD>50000)
NO SPD=50000 SPD=50000
NO ENDIF ENDIF
IF (_SPE>30000) IF (_SPE>30000)
SPE=30000 SPE=30000
ENDIF ENDIF
@@ -57,79 +187,217 @@ ENDIF
IF (_SPH>30000) IF (_SPH>30000)
SPH=30000 SPH=30000
ENDIF ENDIF
NO TE: THIS FOLLOWING CODE UPDATES THE RESOLVER DATA EN
NO TE: AND LOADS IT INTO TPA WITH THE DEA= COMMAND '
'
'-----------------------------------------------------------------------
#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 SB1;' DRIVE INHIBIT BIT HIGH
CB1;' DRIVE INHIBIT BIT LOW TO LOCK DATA 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 IOBYTE1=_TI2;' LOAD FIRST BYTE OF DATA
IOBYTE2=_TI3;' LOAD SECOND BYTE OF DATA IOBYTE2=_TI3;' LOAD SECOND BYTE OF DATA
IOBYTE2=(IOBYTE2&63);' MASK OUT XBUSY AND UNUSED BITS IOBYTE2=(IOBYTE2&63);' MASK OUT XBUSY AND UNUSED BITS
IOBYTE2=(IOBYTE2*256);' SHIFT REMAINING BITS 8 BITS IOBYTE2=(IOBYTE2*256);' SHIFT REMAINING BITS 8 BITS
DEA=(IOBYTE1+IOBYTE2);' ADD BYTES TOGETHER AND LOAD INTO DEA DEA=(IOBYTE1+IOBYTE2);' ADD BYTES TOGETHER AND LOAD INTO DEA
SB1;' DRIVE INHIBIT HIGH 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 EN
'
'
'-----------------------------------------------------------------------

401
site_ansto/instrument/hipd/DMC2280/controller4.txt
View File

@@ -1,22 +1,25 @@
NO TE: WOMBAT - CONTROLLER 4 ' WOMBAT - CONTROLLER 4
NO TE: '
NO TE: $Revision: 1.2 $ ' $Revision: 1.3 $
NO TE: $Date: 2007-01-31 03:39:19 $ ' $Date: 2008-03-07 05:12:47 $
NO TE: Author: Dan Bartlett ' Author: Dan Bartlett
NO TE: Limit switch HOME routine added by Ferdi Franceschini ' Limit switch HOME routine added by Ferdi Franceschini
NO TE: Last revision by: $Author: dbx $ ' Last revision by: $Author: dcl $
NO TE: '
NO TE: A-SPARE ' A-SPARE
NO TE: B-SPARE ' B-SPARE
NO TE: C-SPARE ' C-SPARE
NO TE: D-SPARE ' D-SPARE
NO TE: E-SLIT 1 LEFT BLADE ' E-SLIT 1 LEFT BLADE
NO TE: F-SLIT 1 RIGHT BLADE ' F-SLIT 1 RIGHT BLADE
NO TE: G-SLIT 1 TOP BLADE ' G-SLIT 1 TOP BLADE
NO TE: H-SLIT 1 BOTTOM BLADE ' H-SLIT 1 BOTTOM BLADE
NO ---------------------------------------- '
'
'-----------------------------------------------------------------------
#AUTO #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 MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
MO;' FIRST TIME MOTOR OFF MO;' FIRST TIME MOTOR OFF
CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS 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 DC ,,,,60000,60000,60000,60000;' SET DECELERATION
SP ,,,,30000,30000,30000,30000;' SET SPEED SP ,,,,30000,30000,30000,30000;' SET SPEED
HOMERUN=0;' HOMING PROCEDURE HAS NOT BEEN RUN 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 JS #THREAD0
EN EN
NO ---------------------------------------- '
'
'-----------------------------------------------------------------------
#THREAD0 #THREAD0
NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK ' MAIN THREAD
NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED ' THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
NO IF (_SPA>50000) AXES NOT USED, COMMENTED OUT '
NO SPA=50000 JS #CHKSPD
NO ENDIF JS #CHKDCEL
NO IF (_SPB>50000) JP #THREAD0
NO SPB=50000 EN
NO ENDIF '
NO IF (_SPC>50000) '
NO SPC=50000 '-----------------------------------------------------------------------
NO ENDIF #CHKDCEL
NO IF (_SPD>50000) 'ROUTINE TO RESET DECELERATION AFTER AN EMERGENCY STOP
NO SPD=50000 '
NO ENDIF 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) IF (_SPE>30000)
SPE=30000 SPE=30000
ENDIF ENDIF
@@ -56,68 +185,200 @@ ENDIF
IF (_SPH>30000) IF (_SPH>30000)
SPH=30000 SPH=30000
ENDIF ENDIF
JP#THREAD0
EN EN
NO ---------------------------------------- '
'
'-----------------------------------------------------------------------
#TCPERR #TCPERR
NO TE: EMPTY ROUTINE FOR A TCP ERROR ' EMPTY ROUTINE FOR A TCP ERROR
'
RE RE
NO ---------------------------------------- '
'
'-----------------------------------------------------------------------
#CMDERR
'ROUTINE TO HANDLE COMMAND ERRORS
'
ZS0
EN1
'
'
'-----------------------------------------------------------------------
#ININT #ININT
NO TE: INTERUPT ROUTINE TO STOP ALL AXES ' INTERUPT ROUTINE TO STOP ALL AXES
NO TE: WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT ' WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
'
STA,B,C,D,E,F,G,H STA,B,C,D,E,F,G,H
AM HLTA=1
MO HLTB=1
HLTC=1
HLTD=1
HLTE=1
HLTF=1
HLTG=1
HLTH=1
JS #SETDCEL
RI 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 #HOME
IF (HOMERUN = 1) IF (HOMERUN = 1)
JP #ENDHOME JP #ENDHOME
ENDIF ENDIF
NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH SH EFGH
IF ((_TSE & 4) = 0) ST EFGH
SHE MC EFGH
SP ,,,,30000,30000,30000,30000
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF (_LRE = 0)
PRE=200000 PRE=200000
BGE BGE
ENDIF ENDIF
NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH ' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF ((_TSF & 4) = 0) IF (_LRF = 0)
SHF
PRF=200000 PRF=200000
BGF BGF
ENDIF ENDIF
NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH ' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF ((_TSG & 4) = 0) IF (_LRG = 0)
SHG
PRG=200000 PRG=200000
BGG BGG
ENDIF ENDIF
NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH ' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF ((_TSH & 4) = 0) IF (_LRH = 0)
SHH
PRH=200000 PRH=200000
BGH BGH
ENDIF ENDIF
AMEFGH MC EFGH
NO TE: DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH WT 100
SHEFGH ' DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH
JG ,,,,-25000,-25000,-25000,-25000 JG ,,,,-25000,-25000,-25000,-25000
BGEFGH BG EFGH
AMEFGH MC EFGH
NO TE: MOVE AWAY FROM SWITCHES BY 2MM AND DRIVE BACK SLOWLY WT 100
PR ,,,,80000,80000,80000,80000 ' MOVE AWAY FROM SWITCHES BY 2MM AND DRIVE BACK SLOWLY
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 PR ,,,,40000,40000,40000,40000
BGEFGH BG EFGH
AMEFGH 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 DP ,,,,0,0,0,0
SP ,,,,30000,30000,30000,30000 SP ,,,,30000,30000,30000,30000
HOMERUN=1;'HOMING PROCEDURE HAS BEEN RUN HOMERUN=1;'HOMING PROCEDURE HAS BEEN RUN
#ENDHOME #ENDHOME
EN EN
'
'
'-----------------------------------------------------------------------

398
site_ansto/instrument/hrpd/DMC2280/controller1.txt
View File

@@ -1,21 +1,25 @@
NO TE: ECHIDNA - CONTROLLER 1 ' ECHIDNA - CONTROLLER 1
NO TE: '
NO TE: $Revision: 1.6 $ ' $Revision: 1.7 $
NO TE: $Date: 2007-01-31 03:38:33 $ ' $Date: 2008-03-07 05:12:47 $
NO TE: Author: Dan Bartlett ' Author: Dan Bartlett
NO TE: Last revision by: $Author: dbx $ ' Airpad control added by Doug Clowes
NO TE: ' Last revision by: $Author: dcl $
NO TE: A-MONOCHROMATOR UPPER TILT (mphi) - TILT 1 '
NO TE: B-MONOCHROMATOR LOWER TILT (mchi) - TILT 2 ' A-MONOCHROMATOR UPPER TILT (mphi) - TILT 1
NO TE: C-MONOCHROMATOR UPPER TRANSLATION (mz:nexus, mx:KDL) - LINEAR 1 ' B-MONOCHROMATOR LOWER TILT (mchi) - TILT 2
NO TE: D-MONOCHROMATOR LOWER TRANSLATION (mx:nexus, my:KDL) - LINEAR 2 ' C-MONOCHROMATOR UPPER TRANSLATION (mz:nexus, mx:KDL) - LINEAR 1
NO TE: E-MONOCHROMATOR ROTATION (mom) ' D-MONOCHROMATOR LOWER TRANSLATION (mx:nexus, my:KDL) - LINEAR 2
NO TE: F-FLIGHT TUBE ROTATION ' E-MONOCHROMATOR ROTATION (mom)
NO TE: G-PRIMARY COLLIMATOR 1 ' F-FLIGHT TUBE ROTATION
NO TE: H-PRIMARY COLLIMATOR 2 ' G-PRIMARY COLLIMATOR 1
NO ---------------------------------------- ' H-PRIMARY COLLIMATOR 2
'
'
'-----------------------------------------------------------------------
#AUTO #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 MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
MO;' FIRST TIME MOTOR OFF MO;' FIRST TIME MOTOR OFF
CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS 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 SIF=1,25,25,0<-2>2;'HEIDENHAIN RCN226
SIG=1,25,13,0<-2>2;'HEIDENHAIN ROQ425 SIG=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
SIH=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 JS #THREAD0
EN EN
NO ---------------------------------------- '
'
'-----------------------------------------------------------------------
#THREAD0 #THREAD0
NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK ' MAIN THREAD
NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED ' 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) IF (_SPA>50000)
SPA=50000 SPA=50000
ENDIF ENDIF
@@ -64,88 +197,187 @@ ENDIF
IF (_SPH>50000) IF (_SPH>50000)
SPH=50000 SPH=50000
ENDIF 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 EN
NO ---------------------------------------- '
'
'-----------------------------------------------------------------------
#TCPERR #TCPERR
NO TE: EMPTY ROUTINE FOR A TCP ERROR ' EMPTY ROUTINE FOR A TCP ERROR
'
RE RE
NO ---------------------------------------- '
'
'-----------------------------------------------------------------------
#CMDERR
'ROUTINE TO HANDLE COMMAND ERRORS
'
ZS0
EN1
'
'
'-----------------------------------------------------------------------
#ININT #ININT
NO TE: INTERUPT ROUTINE TO STOP ALL AXES ' INTERUPT ROUTINE TO STOP ALL AXES
NO TE: WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT ' WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
'
STA,B,C,D,E,F,G,H STA,B,C,D,E,F,G,H
AM HLTA=1
MO HLTB=1
HLTC=1
HLTD=1
HLTE=1
HLTF=1
HLTG=1
HLTH=1
JS #SETDCEL
RI RI
NO ---------------------------------------- '
'
'-----------------------------------------------------------------------
#LIMSWI #LIMSWI
NO TE: LIMIT SWITCH ROUTINE WHICH SHORTENS DECEL TIME WHEN A LIMIT IS HIT 'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
OLDDCA=_DCA;' REMEMBERS CURRENT DECEL '
OLDDCB=_DCB JS #SETDCEL
OLDDCC=_DCC RE
OLDDCD=_DCD '
OLDDCE=_DCE '-----------------------------------------------------------------------
OLDDCF=_DCF #SETDCEL
OLDDCG=_DCG 'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS
OLDDCH=_DCH '
IF (_LFA = 0) | (_LRA = 0) IF (_BGA=1)
DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE IF (((_SCA=2)&(_LFA=0))|((_SCA=3)&(_LRA=0))|(HLTA=1))
STA STA
IF (LSAHIT=0)
OLDDCA=_DCA
DCA=100000
LSAHIT=1
ENDIF ENDIF
IF (_LFB = 0) | (_LRB = 0) ENDIF
DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE ENDIF
'
IF (_BGB=1)
IF (((_SCB=2)&(_LFB=0))|((_SCB=3)&(_LRB=0))|(HLTB=1))
STB STB
IF (LSBHIT=0)
OLDDCB=_DCB
DCB=100000
LSBHIT=1
ENDIF ENDIF
IF (_LFC = 0) | (_LRC = 0) ENDIF
DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE ENDIF
'
IF (_BGC=1)
IF (((_SCC=2)&(_LFC=0))|((_SCC=3)&(_LRC=0))|(HLTC=1))
STC STC
IF (LSCHIT=0)
OLDDCC=_DCC
DCC=100000
LSCHIT=1
ENDIF ENDIF
IF (_LFD = 0) | (_LRD = 0) ENDIF
DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE ENDIF
'
IF (_BGD=1)
IF (((_SCD=2)&(_LFD=0))|((_SCD=3)&(_LRD=0))|(HLTD=1))
STD STD
IF (LSDHIT=0)
OLDDCD=_DCD
DCD=100000
LSDHIT=1
ENDIF ENDIF
IF (_LFE = 0) | (_LRE = 0) ENDIF
DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE ENDIF
'
IF (_BGE=1)
IF (((_SCE=2)&(_LFE=0))|((_SCE=3)&(_LRE=0))|(HLTE=1))
STE STE
IF (LSEHIT=0)
OLDDCE=_DCE
DCE=100000
LSEHIT=1
ENDIF ENDIF
IF (_LFF = 0) | (_LRF = 0) ENDIF
DCF=50000;' DECEL FOR LIMIT HIT OCCURENCE ENDIF
'
IF (_BGF=1)
IF (((_SCF=2)&(_LFF=0))|((_SCF=3)&(_LRF=0))|(HLTF=1))
STF STF
IF (LSFHIT=0)
OLDDCF=_DCF
DCF=50000
LSFHIT=1
ENDIF ENDIF
IF (_LFG = 0) | (_LRG = 0) ENDIF
DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE ENDIF
'
IF (_BGG=1)
IF (((_SCG=2)&(_LFG=0))|((_SCG=3)&(_LRG=0))|(HLTG=1))
STG STG
IF (LSGHIT=0)
OLDDCG=_DCG
DCG=100000
LSGHIT=1
ENDIF ENDIF
IF (_LFH = 0) | (_LRH = 0) ENDIF
DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE ENDIF
'
IF (_BGH=1)
IF (((_SCH=2)&(_LFH=0))|((_SCH=3)&(_LRH=0))|(HLTH=1))
STH STH
IF (LSHHIT=0)
OLDDCH=_DCH
DCH=100000
LSHHIT=1
ENDIF ENDIF
AM ABCDEFGH;' AFTER ALL AXES STOPPED ENDIF
DCA=OLDDCA;' RESET DECEL TO OLD VALUE ENDIF
DCB=OLDDCB '
DCC=OLDDCC EN
DCD=OLDDCD '
DCE=OLDDCE '
DCF=OLDDCF '-----------------------------------------------------------------------
DCG=OLDDCG #AIRPAD
DCH=OLDDCH ' ROUTINE TO CONTROL THE AIRPADS
RE ' 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
'
'
'-----------------------------------------------------------------------

402
site_ansto/instrument/hrpd/DMC2280/controller2.txt
View File

@@ -1,21 +1,25 @@
NO TE: ECHIDNA - CONTROLLER 2 ' ECHIDNA - CONTROLLER 2
NO TE: '
NO TE: $Revision: 1.4 $ ' $Revision: 1.5 $
NO TE: $Date: 2007-01-31 03:38:33 $ ' $Date: 2008-03-07 05:12:47 $
NO TE: Author: Dan Bartlett ' Author: Dan Bartlett
NO TE: Last revision by: $Author: dbx $ ' Airpad control added by Doug Clowes
NO TE: ' Last revision by: $Author: dcl $
NO TE: A-SAMPLE UPPER TILT (sphi) - TILT 1 '
NO TE: B-SAMPLE LOWER TILT (schi) - TILT 2 ' A-SAMPLE UPPER TILT (sphi) - TILT 1
NO TE: C-SAMPLE UPPER TRANSLATION (sz:nexus, sx:KDL) - LINEAR 1 ' B-SAMPLE LOWER TILT (schi) - TILT 2
NO TE: D-SAMPLE LOWER TRANSLATION (sx:nexus, sy:KDL) - LINEAR 2 ' C-SAMPLE UPPER TRANSLATION (sz:nexus, sx:KDL) - LINEAR 1
NO TE: E-SAMPLE ROTATION (som) ' D-SAMPLE LOWER TRANSLATION (sx:nexus, sy:KDL) - LINEAR 2
NO TE: F-DETECTOR ROTATION ' E-SAMPLE ROTATION (som)
NO TE: G-SPARE ' F-DETECTOR ROTATION
NO TE: H-SPARE ' G-SPARE
NO ---------------------------------------- ' H-SPARE
'
'
'-----------------------------------------------------------------------
#AUTO #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 MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
MO;' FIRST TIME MOTOR OFF MO;' FIRST TIME MOTOR OFF
CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS 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 SIF=1,25,25,0<-2>2;'HEIDENHAIN RCN226
SIG=0,25,13,0<-2>2;'NOT USED SIG=0,25,13,0<-2>2;'NOT USED
SIH=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 JS #THREAD0
EN EN
NO ---------------------------------------- '
'
'-----------------------------------------------------------------------
#THREAD0 #THREAD0
NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK ' MAIN THREAD
NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED ' 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) IF (_SPA>50000)
SPA=50000 SPA=50000
ENDIF ENDIF
@@ -58,89 +191,186 @@ ENDIF
IF (_SPF>150000) IF (_SPF>150000)
SPF=150000 SPF=150000
ENDIF ENDIF
NO IF (_SPG>50000) AXES NOT IN USE, COMMENTED OUT IF (_SPG>50000)
NO SPG=50000 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
ENDIF ENDIF
IF (_MOF=1)&(APDONE=0);'DETECTOR MOTOR IS OFF IF (_SPH>50000)
SB 9;'DETECTOR AIR PAD ON-SOLENOID OFF SPH=50000
CB 10;'DETECTOR AIR PAD OFF-SOLENOID ON
WT500;'WAIT 1/2 SEC
SB 10;'DETECTOR AIR PAD OFF-SOLENOID OFF
APDONE=1
ENDIF ENDIF
JP #THREAD0
EN EN
NO ---------------------------------------- '
'
'-----------------------------------------------------------------------
#TCPERR #TCPERR
NO TE: EMPTY ROUTINE FOR A TCP ERROR ' EMPTY ROUTINE FOR A TCP ERROR
'
RE RE
NO ---------------------------------------- '
'
'-----------------------------------------------------------------------
#CMDERR
'ROUTINE TO HANDLE COMMAND ERRORS
'
ZS0
EN1
'
'
'-----------------------------------------------------------------------
#ININT #ININT
NO TE: INTERUPT ROUTINE TO STOP ALL AXES ' INTERUPT ROUTINE TO STOP ALL AXES
NO TE: WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT ' WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
'
STA,B,C,D,E,F,G,H STA,B,C,D,E,F,G,H
AM HLTA=1
MO HLTB=1
HLTC=1
HLTD=1
HLTE=1
HLTF=1
HLTG=1
HLTH=1
JS #SETDCEL
RI RI
NO ---------------------------------------- '
'
'-----------------------------------------------------------------------
#LIMSWI #LIMSWI
NO TE: LIMIT SWITCH ROUTINE WHICH SHORTENS DECEL TIME WHEN A LIMIT IS HIT 'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
OLDDCA=_DCA;' REMEMBERS CURRENT DECEL '
OLDDCB=_DCB JS #SETDCEL
OLDDCC=_DCC RE
OLDDCD=_DCD '
OLDDCE=_DCE '-----------------------------------------------------------------------
OLDDCF=_DCF #SETDCEL
OLDDCG=_DCG 'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS
OLDDCH=_DCH '
IF (_LFA = 0) | (_LRA = 0) IF (_BGA=1)
DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE IF (((_SCA=2)&(_LFA=0))|((_SCA=3)&(_LRA=0))|(HLTA=1))
STA STA
IF (LSAHIT=0)
OLDDCA=_DCA
DCA=100000
LSAHIT=1
ENDIF ENDIF
IF (_LFB = 0) | (_LRB = 0) ENDIF
DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE ENDIF
'
IF (_BGB=1)
IF (((_SCB=2)&(_LFB=0))|((_SCB=3)&(_LRB=0))|(HLTB=1))
STB STB
IF (LSBHIT=0)
OLDDCB=_DCB
DCB=100000
LSBHIT=1
ENDIF ENDIF
IF (_LFC = 0) | (_LRC = 0) ENDIF
DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE ENDIF
'
IF (_BGC=1)
IF (((_SCC=2)&(_LFC=0))|((_SCC=3)&(_LRC=0))|(HLTC=1))
STC STC
IF (LSCHIT=0)
OLDDCC=_DCC
DCC=100000
LSCHIT=1
ENDIF ENDIF
IF (_LFD = 0) | (_LRD = 0) ENDIF
DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE ENDIF
'
IF (_BGD=1)
IF (((_SCD=2)&(_LFD=0))|((_SCD=3)&(_LRD=0))|(HLTD=1))
STD STD
IF (LSDHIT=0)
OLDDCD=_DCD
DCD=100000
LSDHIT=1
ENDIF ENDIF
IF (_LFE = 0) | (_LRE = 0) ENDIF
DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE ENDIF
'
IF (_BGE=1)
IF (((_SCE=2)&(_LFE=0))|((_SCE=3)&(_LRE=0))|(HLTE=1))
STE STE
IF (LSEHIT=0)
OLDDCE=_DCE
DCE=100000
LSEHIT=1
ENDIF ENDIF
IF (_LFF = 0) | (_LRF = 0) ENDIF
DCF=50000;' DECEL FOR LIMIT HIT OCCURENCE ENDIF
'
IF (_BGF=1)
IF (((_SCF=2)&(_LFF=0))|((_SCF=3)&(_LRF=0))|(HLTF=1))
STF STF
IF (LSFHIT=0)
OLDDCF=_DCF
DCF=50000
LSFHIT=1
ENDIF ENDIF
NO IF (_LFG = 0) | (_LRG = 0) AXES NOT IN USE, COMMENTED OUT ENDIF
NO DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE ENDIF
NO STG '
NO ENDIF IF (_BGG=1)
NO IF (_LFH = 0) | (_LRH = 0) IF (((_SCG=2)&(_LFG=0))|((_SCG=3)&(_LRG=0))|(HLTG=1))
NO DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE STG
NO STH IF (LSGHIT=0)
NO ENDIF OLDDCG=_DCG
AM ABCDEFGH;' AFTER ALL AXES STOPPED DCG=100000
DCA=OLDDCA;' RESET DECEL TO OLD VALUE LSGHIT=1
DCB=OLDDCB ENDIF
DCC=OLDDCC ENDIF
DCD=OLDDCD ENDIF
DCE=OLDDCE '
DCF=OLDDCF IF (_BGH=1)
NO DCG=OLDDCG AXIS NOT IN USE, COMMENTED OUT IF (((_SCH=2)&(_LFH=0))|((_SCH=3)&(_LRH=0))|(HLTH=1))
NO DCH=OLDDCH AXIS NOT IN USE, COMMENTED OUT STH
RE 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
'
'
'-----------------------------------------------------------------------

460
site_ansto/instrument/hrpd/DMC2280/controller3.txt
View File

@@ -1,22 +1,25 @@
NO TE: ECHIDNA - CONTROLLER 3 ' ECHIDNA - CONTROLLER 3
NO TE: '
NO TE: $Revision: 1.7 $ ' $Revision: 1.8 $
NO TE: $Date: 2007-01-31 03:38:33 $ ' $Date: 2008-03-07 05:12:47 $
NO TE: Author: Dan Bartlett ' Author: Dan Bartlett
NO TE: Limit switch HOME routine added by Ferdi Franceschini ' Limit switch HOME routine added by Ferdi Franceschini
NO TE: Last revision by: $Author: dbx $ ' Last revision by: $Author: dcl $
NO TE: '
NO TE: A-MONOCHROMATOR FOCUS ' A-MONOCHROMATOR FOCUS
NO TE: B-SPARE ' B-SPARE
NO TE: C-SPARE ' C-SPARE
NO TE: D-SPARE ' D-SPARE
NO TE: E-SLIT 1 LEFT BLADE (ss1l) ' E-SLIT 1 LEFT BLADE (ss1l)
NO TE: F-SLIT 1 RIGHT BLADE (ss1r) ' F-SLIT 1 RIGHT BLADE (ss1r)
NO TE: G-SLIT 1 TOP BLADE (ss1u) ' G-SLIT 1 TOP BLADE (ss1u)
NO TE: H-SLIT 1 BOTTOM BLADE (ss1d) ' H-SLIT 1 BOTTOM BLADE (ss1d)
NO ---------------------------------------- '
'
'-----------------------------------------------------------------------
#AUTO #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 MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
MO;' FIRST TIME MOTOR OFF MO;' FIRST TIME MOTOR OFF
CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS 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 DC 12500,,,,60000,60000,60000,60000;' SET DECELERATION
SP 25000,,,,30000,30000,30000,30000;' SET SPEED SP 25000,,,,30000,30000,30000,30000;' SET SPEED
HOMERUN=0;' HOMING PROCEDURE HAS NOT BEEN RUN 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 JS #THREAD0
EN EN
NO ---------------------------------------- '
'
'-----------------------------------------------------------------------
#THREAD0 #THREAD0
NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK ' MAIN THREAD
NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED ' 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) IF (_SPA>25000)
SPA=25000 SPA=25000
ENDIF ENDIF
NO IF (_SPB>50000) AXES NOT IN USE, COMMENTED OUT IF (_SPB>50000)
NO SPB=50000 SPB=50000
NO ENDIF ENDIF
NO IF (_SPC>50000) IF (_SPC>50000)
NO SPC=50000 SPC=50000
NO ENDIF ENDIF
NO IF (_SPD>50000) IF (_SPD>50000)
NO SPD=50000 SPD=50000
NO ENDIF ENDIF
IF (_SPE>30000) IF (_SPE>30000)
SPE=30000 SPE=30000
ENDIF ENDIF
@@ -56,12 +186,206 @@ ENDIF
IF (_SPH>30000) IF (_SPH>30000)
SPH=30000 SPH=30000
ENDIF ENDIF
JP#THREAD0
EN 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 SB1
CB1;' OUTPUT WITH FALLING EDGE TO TRIGGER EMPIRE RESOLVER BOX CB1;' OUTPUT WITH FALLING EDGE TO TRIGGER EMPIRE RESOLVER BOX
AI31;' LOCK DATA 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 FOCUS=(IOBYTE1+IOBYTE2);' ADD WORDS TOGETHER, READ FOCUS VARIABLE FOR DATA
SB1 SB1
EN 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

403
site_ansto/instrument/hrpd/DMC2280/controller4.txt
View File

@@ -1,22 +1,25 @@
NO TE: ECHIDNA - CONTROLLER 4 ' ECHIDNA - CONTROLLER 4
NO TE: '
NO TE: $Revision: 1.8 $ ' $Revision: 1.9 $
NO TE: $Date: 2007-01-31 03:38:33 $ ' $Date: 2008-03-07 05:12:47 $
NO TE: Author: Dan Bartlett ' Author: Dan Bartlett
NO TE: Limit switch HOME routine added by Ferdi Franceschini ' Limit switch HOME routine added by Ferdi Franceschini
NO TE: Last revision by: $Author: dbx $ ' Last revision by: $Author: dcl $
NO TE: '
NO TE: A-SPARE ' A-SPARE
NO TE: B-SPARE ' B-SPARE
NO TE: C-SPARE ' C-SPARE
NO TE: D-SPARE ' D-SPARE
NO TE: E-SLIT 1 LEFT BLADE (ss1l) ' E-SLIT 1 LEFT BLADE (ss1l)
NO TE: F-SLIT 1 RIGHT BLADE (ss1r) ' F-SLIT 1 RIGHT BLADE (ss1r)
NO TE: G-SLIT 1 TOP BLADE (ss1u) ' G-SLIT 1 TOP BLADE (ss1u)
NO TE: H-SLIT 1 BOTTOM BLADE (ss1d) ' H-SLIT 1 BOTTOM BLADE (ss1d)
NO ---------------------------------------- '
'
'-----------------------------------------------------------------------
#AUTO #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 MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
MO;' FIRST TIME MOTOR OFF MO;' FIRST TIME MOTOR OFF
CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS 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 DC ,,,,60000,60000,60000,60000;' SET DECELERATION
SP ,,,,30000,30000,30000,30000;' SET SPEED SP ,,,,30000,30000,30000,30000;' SET SPEED
HOMERUN=0;' HOMING PROCEDURE HAS NOT BEEN RUN 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 JS #THREAD0
EN EN
NO ---------------------------------------- '
'
'-----------------------------------------------------------------------
#THREAD0 #THREAD0
NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK ' MAIN THREAD
NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED ' THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
NO IF (_SPA>25000) AXES NOT IN USE, COMMENTED OUT '
NO SPA=25000 JS #CHKSPD
NO ENDIF JS #CHKDCEL
NO IF (_SPB>50000) JP #THREAD0
NO SPB=50000 EN
NO ENDIF '
NO IF (_SPC>50000) '
NO SPC=50000 '-----------------------------------------------------------------------
NO ENDIF #CHKDCEL
NO IF (_SPD>50000) 'ROUTINE TO RESET DECELERATION AFTER AN EMERGENCY STOP
NO SPD=50000 '
NO ENDIF 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) IF (_SPE>30000)
SPE=30000 SPE=30000
ENDIF ENDIF
@@ -56,68 +185,200 @@ ENDIF
IF (_SPH>30000) IF (_SPH>30000)
SPH=30000 SPH=30000
ENDIF ENDIF
JP#THREAD0
EN EN
NO ---------------------------------------- '
'
'-----------------------------------------------------------------------
#TCPERR #TCPERR
NO TE: EMPTY ROUTINE FOR A TCP ERROR ' EMPTY ROUTINE FOR A TCP ERROR
'
RE RE
NO ---------------------------------------- '
'
'-----------------------------------------------------------------------
#CMDERR
'ROUTINE TO HANDLE COMMAND ERRORS
'
ZS0
EN1
'
'
'-----------------------------------------------------------------------
#ININT #ININT
NO TE: INTERUPT ROUTINE TO STOP ALL AXES ' INTERUPT ROUTINE TO STOP ALL AXES
NO TE: WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT ' WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
'
STA,B,C,D,E,F,G,H STA,B,C,D,E,F,G,H
AM HLTA=1
MO HLTB=1
HLTC=1
HLTD=1
HLTE=1
HLTF=1
HLTG=1
HLTH=1
JS #SETDCEL
RI 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 #HOME
IF (HOMERUN = 1) IF (HOMERUN = 1)
JP #ENDHOME JP #ENDHOME
ENDIF ENDIF
NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH SH EFGH
IF ((_TSE & 4) = 0) ST EFGH
SHE MC EFGH
SP ,,,,30000,30000,30000,30000
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF (_LRE = 0)
PRE=200000 PRE=200000
BGE BGE
ENDIF ENDIF
NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH ' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF ((_TSF & 4) = 0) IF (_LRF = 0)
SHF
PRF=200000 PRF=200000
BGF BGF
ENDIF ENDIF
NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH ' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF ((_TSG & 4) = 0) IF (_LRG = 0)
SHG
PRG=200000 PRG=200000
BGG BGG
ENDIF ENDIF
NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH ' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF ((_TSH & 4) = 0) IF (_LRH = 0)
SHH
PRH=200000 PRH=200000
BGH BGH
ENDIF ENDIF
AMEFGH MC EFGH
NO TE: DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH WT 100
SHEFGH ' DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH
JG ,,,,-25000,-25000,-25000,-25000 JG ,,,,-25000,-25000,-25000,-25000
BGEFGH BG EFGH
AMEFGH MC EFGH
NO TE: MOVE AWAY FROM SWITCHES BY 2MM AND DRIVE BACK SLOWLY WT 100
PR ,,,,80000,80000,80000,80000 ' MOVE AWAY FROM SWITCHES BY 2MM AND DRIVE BACK SLOWLY
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 PR ,,,,40000,40000,40000,40000
BGEFGH BG EFGH
AMEFGH 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 DP ,,,,0,0,0,0
SP ,,,,30000,30000,30000,30000 SP ,,,,30000,30000,30000,30000
HOMERUN=1 HOMERUN=1;'HOMING PROCEDURE HAS BEEN RUN
#ENDHOME #ENDHOME
EN EN
'
'
'-----------------------------------------------------------------------