From 1bb2e24df85546e74ce330c70f506f7ea6b7712f Mon Sep 17 00:00:00 2001
From: Douglas Clowes <dcl@ansto.gov.au>
Date: Mon, 28 Nov 2011 13:46:22 +1100
Subject: [PATCH] Version given before migration to SICS r3291 | dcl |
 2011-11-28 13:46:22 +1100 (Mon, 28 Nov 2011) | 1 line

---
 .../instrument/tas/DMC2280/controller2.txt    | 349 ++++++++++++++
 .../instrument/tas/DMC2280/controller3.txt    | 250 ++++++++++
 .../instrument/tas/DMC2280/controller4.txt    | 365 +++++++++++----
 .../instrument/tas/DMC2280/controller5.txt    | 142 +++---
 .../instrument/tas/DMC2280/controller6.txt    | 426 ++++++++++++++++++
 5 files changed, 1385 insertions(+), 147 deletions(-)
 create mode 100755 site_ansto/instrument/tas/DMC2280/controller2.txt
 create mode 100755 site_ansto/instrument/tas/DMC2280/controller3.txt
 create mode 100755 site_ansto/instrument/tas/DMC2280/controller6.txt

diff --git a/site_ansto/instrument/tas/DMC2280/controller2.txt b/site_ansto/instrument/tas/DMC2280/controller2.txt
new file mode 100755
index 00000000..11111f46
--- /dev/null
+++ b/site_ansto/instrument/tas/DMC2280/controller2.txt
@@ -0,0 +1,349 @@
+'TAIPAN - CONTROLLER 2
+'
+'$Revision:$
+'$Date:$
+'Author: Daniel Bartlett
+'Last revision by: $author:$
+'
+'A-SAMPLE TRANSLATION - TILT 1
+'B-SAMPLE TRANSLATION - TILT 2
+'C-SAMPLE TRANSLATION - LINEAR 1
+'D-SAMPLE TRANSLATION - LINEAR 2
+'E-SAMPLE TRANSLATION - ROTATE
+'F-DETECTOR + ANALYSER ROTATE _TPF=2771351 ON BEAM CL
+'G-ANALYSER FOCUS 1
+'H-ANALYSER FOCUS 2
+'
+'
+'--------------------------------------------------------------------------
+#AUTO
+'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;'ALL MOTORS OFF
+CN 1;'CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
+II 6,8,,0;' CONFIGURES THE 6TH, 7TH & 8TH INPUT TO ACTIVATE #ININT ROUTINE
+OP 65281;' SETS OUTPUTS 9-16 ON = RELAYS OFF
+IA 137,157,203,132;' CONFIGURES IP ADDRESS
+AC 25000,25000,25000,25000,25000,25000,12500,12500;' SET ACELERATION
+DC 25000,25000,25000,25000,25000,25000,12500,12500;' SET DECELERATION
+SP 25000,25000,25000,25000,25000,100000,12500,12500;' SET SPEED
+SIA=0;'TURN OFF CLOCK PULSES TO ALLOW ENCODER TO INITIALISE
+SIB=0
+SIC=0
+SID=0
+SIE=0
+SIF=0
+SIG=0
+SIH=0
+WT1000;'WAIT FOR ENCODER TO INITIALISE
+SIA=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - SAMPLE TILT 1
+SIB=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - SAMPLE TILT 2
+SIC=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - SAMPLE TRANS 1
+SID=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - SAMPLE TRANS 2
+SIE=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - SAMPLE ROTATE
+SIF=1,25,25,0<-13>2;'HEIDENHAIN RCN226 - DETECTOR + ANALYSER ROTATE
+SIG=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - ANALYSER FOCUS 1
+SIH=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - ANALYSER FOCUS 2
+LSAHIT=0;' INITIALISE THE BIT SET AFTER A LIMIT IS HIT
+LSBHIT=0
+LSCHIT=0
+LSDHIT=0
+LSEHIT=0
+LSFHIT=0
+LSGHIT=0
+LSHHIT=0
+APFDONE=0;' INITIALISE THE BIT FOR AXIS F AIRPAD CONTROL
+JS #THREAD0
+EN
+'
+'
+'--------------------------------------------------------------------------
+#THREAD0
+'THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
+'
+JS #CHKDCEL
+JS #AIRPAD
+JS #CHKSPD
+JS #BEAMSTP
+JP #THREAD0
+EN
+'
+'
+'--------------------------------------------------------------------------
+#CHKDCEL
+'ROUTINE TO RESET DECELERATIONS AFTER A LIMIT HIT
+'
+IF (LSAHIT=1)&(_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
+DCA=OLDDCA;' RESET DECEL TO OLD VALUE
+LSAHIT=0
+ENDIF
+'
+IF (LSBHIT=1)&(_BGB=0)
+DCB=OLDDCB
+LSBHIT=0
+ENDIF
+'
+IF (LSCHIT=1)&(_BGC=0)
+DCC=OLDDCC
+LSCHIT=0
+ENDIF
+'
+IF (LSDHIT=1)&(_BGD=0)
+DCD=OLDDCD
+LSDHIT=0
+ENDIF
+'
+IF (LSEHIT=1)&(_BGE=0)
+DCE=OLDDCE
+LSEHIT=0
+ENDIF
+'
+IF (LSFHIT=1)&(_BGF=0)
+DCF=OLDDCF
+LSFHIT=0
+ENDIF
+'
+IF (LSGHIT=1)&(_BGG=0)
+DCG=OLDDCG
+LSGHIT=0
+ENDIF
+'
+IF (LSHHIT=1)&(_BGH=0)
+DCH=OLDDCH
+LSHHIT=0
+ENDIF
+EN
+'
+'
+'--------------------------------------------------------------------------
+#AIRPAD
+'ROUTINE TO CONTROL AIRPADS
+'
+'CONTROLS THE AIRPAD SOLENOID VALVES FOR ANALYSER STAGE
+IF (_MOF=0);'ANALYSER MOTOR IS ON
+SB 10;'ANALYSER AIR PAD OFF-SOLENOID OFF
+CB 9;'ANALYSER AIR PAD ON-SOLENOID ON
+APFDONE=0
+ENDIF
+IF (_MOF=1)&(APFDONE=0);'ANALYSER MOTOR IS OFF
+SB 9;'ANALYSER AIR PAD ON-SOLENOID OFF
+CB 10;'ANALYSER AIR PAD OFF-SOLENOID ON
+WT500;'WAIT 1/2 SEC
+SB 10;'ANALYSER AIR PAD OFF-SOLENOID OFF
+APFDONE=1
+ENDIF
+'
+'
+'--------------------------------------------------------------------------
+#CHKSPD
+'ROUTINE TO CHECK THE SPEED OF THE AXES IS NOT GREATER THAN MAX 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>50000)
+SPE=50000
+ENDIF
+'
+IF (_SPF>100000)
+SPF=100000
+ENDIF
+'
+IF (_SPG>25000)
+SPG=25000
+ENDIF
+'
+IF (_SPH>25000)
+SPH=25000
+ENDIF
+EN
+'
+'
+'--------------------------------------------------------------------------
+#BEAMSTP
+'
+'THIS ROUTINE CONTROLS THE POSITION OF THE BEAMSTOP
+'IF THE ANALYSER IS WITHIN THE RANGE SPECIFIED THEN THE BEAMSTOP IS DOWN
+'TO AVOID COLLISIONS WITH SLITS AND OTHER EQUIPMENT
+'
+IF (_XQ1=-1)
+'#BSCHECK NOT RUNNING
+XQ #BSCHECK,1
+ENDIF
+IF (_TPF>9665152)&(_TPF<14370000)
+'IF (_TPF>9665152)&(_TPF<13168731)
+'IF (_TPF>12554353)&(_TPF<15923500)
+'IF (_TPF>12554353)&(_TPF<15809209)
+'ANALYSER WITHIN RANGE, BEAMSTOP NEEDS TO BE DOWN
+SB11;'TURN OFF SOLENOID VALVE
+ELSE
+CB11;'TURN ON SOLENOID VALVE
+ENDIF
+EN
+'
+'
+'--------------------------------------------------------------------------
+#BSCHECK
+'THIS ROUTINE CHECKS THE POSITION OF THE BEAMSTOP AND REPORTS ERRORS
+'TO THE SAFETY AND INTERLOCK SYSTEM
+'
+'IN[13]=1 TOP LIMIT ACTUATED
+'IN[14]=1 BOTTOM LIMIT ACTUATED
+IF ((_OP0&1024)=0)
+'RELAY 11 HAS BEEN ENABLED THEREFORE THE BEAMSTOP SHOULD BE UP
+WT1500;'DELAY TO ALLOW BEAMSTOP TO MOVE
+IF ((@IN[13]=1)&(@IN[14]=0))
+'BEAMSTOP UP AND NOT DOWN
+CB16;'SEND ALL-OK TO SIS
+ELSE
+SB16;'SEND ERROR BIT TO SIS
+ENDIF
+ENDIF
+'
+IF ((_OP0&1024)<>0)
+'RELAY 11 HAS BEEN DISABLED THEREFORE THE BEAMSTOP SHOULD BE DOWN
+WT1500;'DELAY TO ALLOW BEAMSTOP TO MOVE
+IF ((@IN[13]=0)&(@IN[14]=1))
+'BEAMSTOP DOWN AND NOT UP
+CB16;'SEND ALL-OK TO SIS
+ELSE
+SB16;'SEND ERROR BIT TO SIS
+ENDIF
+ENDIF
+'
+JP #BSCHECK
+EN
+'
+'--------------------------------------------------------------------------
+#TCPERR
+'EMPTY TCP ERROR ROUTINE
+'
+RE
+'
+'
+'--------------------------------------------------------------------------
+#ININT
+'INTERUPT ROUTINE
+'TO STOP ALL AXES WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
+'TO STOP AXIS F WHEN LIGHT CURTAINS BROKEN BUT TO ALLOW MOVEMENT AWAY
+'
+IF @IN[8]=0
+'SAFETY INTERLOCK SYSTEM ALL AXES SLOWDOWN
+CN-1;'RECONFIGURES LIMITS. RESULT:ALL LIMITS SEEN AS HIT. WILL RUN #LIMSWI
+WT250
+CN1;'SETS LIMITS BACK TO NORMAL
+JP #ENININT
+ENDIF
+'
+IF @IN[6]=0
+'LOW ANGLE LIGHT CURTAIN BROKEN
+IF _TVF>0
+'AXIS HEADING TOWARDS LIGHT CURTAIN
+STF
+ENDIF
+ENDIF
+'
+IF @IN[7]=0
+'HIGH ANGLE LIGHT CURTAIN BROKEN
+IF _TVF<0
+'AXIS HEADING TOWARDS LIGHT CURTAIN
+STF
+ENDIF
+ENDIF
+'
+#ENININT
+RI
+'
+'
+'--------------------------------------------------------------------------
+#CMDERR
+'ROUTINE TO HANDLE COMMAND ERRORS
+'
+ZS0
+EN1
+'
+'
+'--------------------------------------------------------------------------
+#LIMSWI
+'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
+'
+IF (_LFA=0)|(_LRA=0);'LIMIT HIT
+IF (LSAHIT=0)&(_BGA=1);'STILL MOVING, FIRST TIME
+OLDDCA=_DCA;'REMEMBER OLD DECEL VALUE
+DCA=100000;'INCREASE DECEL VALUE FOR RAPID STOP
+LSAHIT=1
+ENDIF
+ENDIF
+'
+IF (_LFB=0)|(_LRB=0)
+IF (LSBHIT=0)&(_BGB=1)
+OLDDCB=_DCB
+DCB=100000
+LSBHIT=1
+ENDIF
+ENDIF
+'
+IF (_LFC=0)|(_LRC=0)
+IF (LSCHIT=0)&(_BGC=1)
+OLDDCC=_DCC
+DCC=100000
+LSCHIT=1
+ENDIF
+ENDIF
+'
+IF (_LFD=0)|(_LRD=0)
+IF (LSDHIT=0)&(_BGD=1)
+OLDDCD=_DCD
+DCD=100000
+LSDHIT=1
+ENDIF
+ENDIF
+'
+IF (_LFE=0)|(_LRE=0)
+IF (LSEHIT=0)&(_BGE=1)
+OLDDCE=_DCE
+DCE=200000
+LSEHIT=1
+ENDIF
+ENDIF
+'
+IF (_LFF=0)|(_LRF=0)
+IF (LSFHIT=0)&(_BGF=1)
+OLDDCF=_DCF
+DCF=100000
+LSFHIT=1
+ENDIF
+ENDIF
+'
+IF (_LFG=0)|(_LRG=0)
+IF (LSGHIT=0)&(_BGG=1)
+OLDDCG=_DCG
+DCG=200000
+LSGHIT=1
+ENDIF
+ENDIF
+'
+IF (_LFH=0)|(_LRH=0)
+IF (LSHHIT=0)&(_BGH=1)
+OLDDCH=_DCH
+DCH=200000
+LSHHIT=1
+ENDIF
+ENDIF
+RE
+'
+'
diff --git a/site_ansto/instrument/tas/DMC2280/controller3.txt b/site_ansto/instrument/tas/DMC2280/controller3.txt
new file mode 100755
index 00000000..51eb6fbd
--- /dev/null
+++ b/site_ansto/instrument/tas/DMC2280/controller3.txt
@@ -0,0 +1,250 @@
+'TAIPAN - CONTROLLER 3
+'
+'$Revision:$
+'$Date:$
+'Author: Daniel Bartlett
+'Last revision by: $author:$
+'
+'A-MONOCHROMATOR 1 HORIZONTAL FOCUS
+'B-MONOCHROMATOR 1 VERTICAL FOCUS
+'C-MONOCHROMATOR 2 HORIZONTAL FOCUS
+'D-MONOCHROMATOR 2 VERTICAL FOCUS
+'E-MONOCHROMATOR ROTATE
+'F-SPARE
+'G-SPARE
+'H-SPARE
+'
+'
+'4096 COUNTS / 2 DEGREES
+'2048 COUNTS / DEGREE
+'PG 00 DEGREES = 16034863
+'PG 45 DEGREES = 16127023
+'--------------------------------------------------------------------------
+#AUTO
+'THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
+'
+MT-2,-2,-2,-2,-2.5,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER, E REVERSED
+MO;'ALL MOTORS OFF
+CN 1;'CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
+II 8,,,0;' CONFIGURES THE 8TH INPUT TO ACTIVATE THE #ININT ROUTINE
+OP 65280;' SETS OUTPUTS 9-16 ON = RELAYS OFF
+IA 137,157,203,133;' CONFIGURES IP ADDRESS
+AC 6000,6000,6000,6000,25000,,,;' SET ACELERATION
+DC 6000,6000,6000,6000,25000,,,;' SET DECELERATION
+SP 12500,12500,50000,12500,100000,,,;' SET SPEED
+SIA=0;'TURN OFF CLOCK PULSES TO ALLOW ENCODER TO INITIALISE
+SIB=0
+SIC=0
+SID=0
+SIE=0
+SIF=0
+SIG=0
+SIH=0
+WT1000;'WAIT FOR ENCODER TO INITIALISE
+SIA=1,24,12,0<-11>1;'RESOLVER VIA VEGA 2790 BOARD
+SIB=1,24,12,0<-11>1;'RESOLVER VIA VEGA 2790 BOARD
+SIC=1,24,12,0<-11>1;'RESOLVER VIA VEGA 2790 BOARD
+SID=1,24,12,0<-11>1;'RESOLVER VIA VEGA 2790 BOARD
+SIE=1,24,12,0<-11>1;'RESOLVER VIA VEGA 2790 BOARD
+LSAHIT=0;' INITIALISE THE BIT SET AFTER A LIMIT IS HIT
+LSBHIT=0
+LSCHIT=0
+LSDHIT=0
+LSEHIT=0
+'LSFHIT=0
+'LSGHIT=0
+'LSHHIT=0
+JS #THREAD0
+EN
+'
+'
+'--------------------------------------------------------------------------
+#THREAD0
+'THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
+'
+JW #CHKDCEL
+JS #CHKSPD
+JP #THREAD0
+EN
+'
+'
+'--------------------------------------------------------------------------
+#CHKDCEL
+'ROUTINE TO RESET DECELERATIONS AFTER A LIMIT HIT
+'
+IF ((LSAHIT=1)&(_BGA=0));'WHEN MOTION STOPS AFTER A LIMIT HIT
+DCA=OLDDCA;' RESET DECEL TO OLD VALUE
+LSAHIT=0
+ENDIF
+'
+IF ((LSBHIT=1)&(_BGB=0))
+DCB=OLDDCB
+LSBHIT=0
+ENDIF
+'
+IF ((LSCHIT=1)&(_BGC=0))
+DCC=OLDDCC
+LSCHIT=0
+ENDIF
+'
+IF ((LSDHIT=1)&(_BGD=0))
+DCD=OLDDCD
+LSDHIT=0
+ENDIF
+'
+IF ((LSEHIT=1)&(_BGE=0))
+DCE=OLDDCE
+LSEHIT=0
+ENDIF
+'
+'IF ((LSFHIT=1)&(_BGF=0))
+'DCF=OLDDCF
+'LSFHIT=0
+'ENDIF
+'
+'IF ((LSGHIT=1)&(_BGG=0))
+'DCG=OLDDCG
+'LSGHIT=0
+'ENDIF
+'
+'IF ((LSHHIT=1)&(_BGH=0))
+'DCH=OLDDCH
+'LSHHIT=0
+'ENDIF
+'EN
+'
+'
+'--------------------------------------------------------------------------
+#CHKSPD
+'ROUTINE TO CHECK THE SPEED OF THE AXES IS NOT GREATER THAN MAX ALLOWED
+'
+IF (_SPA>25000)
+SPA=25000
+ENDIF
+'
+IF (_SPB>25000)
+SPB=25000
+ENDIF
+'
+IF (_SPC>25000)
+SPC=25000
+ENDIF
+'
+IF (_SPD>25000)
+SPD=25000
+ENDIF
+'
+IF (_SPE>100000)
+SPE=100000
+ENDIF
+'
+'IF (_SPF>100000)
+'SPF=100000
+'ENDIF
+'
+'IF (_SPG>50000)
+'SPG=50000
+'ENDIF
+'
+'IF (_SPH>100000)
+'SPH=100000
+'ENDIF
+'EN
+'
+'
+'--------------------------------------------------------------------------
+#TCPERR
+'EMPTY TCP ERROR ROUTINE
+'
+RE
+'
+'
+'--------------------------------------------------------------------------
+#ININT
+'INTERUPT ROUTINE TO STOP ALL AXES
+'WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
+'
+CN-1;' RECONFIGURES LIMITS. RESULT:ALL LIMITS SEEN AS HIT. WILL RUN #LIMSWI
+WT250
+CN1;' SETS LIMITS BACK TO NORMAL
+RI
+'
+'
+'--------------------------------------------------------------------------
+#CMDERR
+'ROUTINE TO HANDLE COMMAND ERRORS
+'
+ZS0
+EN1
+'
+'
+'--------------------------------------------------------------------------
+#LIMSWI
+'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
+'
+IF ((_LFA=0)|(_LRA=0));'LIMIT HIT
+IF ((LSAHIT=0)&(_BGA=1));'STILL MOVING, FIRST TIME
+OLDDCA=_DCA;'REMEMBER OLD DECEL VALUE
+DCA=100000;'INCREASE DECEL VALUE FOR RAPID STOP
+LSAHIT=1
+ENDIF
+ENDIF
+'
+IF ((_LFB=0)|(_LRB=0))
+IF ((LSBHIT=0)&(_BGB=1))
+OLDDCB=_DCB
+DCB=100000
+LSBHIT=1
+ENDIF
+ENDIF
+'
+IF ((_LFC=0)|(_LRC=0))
+IF ((LSCHIT=0)&(_BGC=1))
+OLDDCC=_DCC
+DCC=100000
+LSCHIT=1
+ENDIF
+ENDIF
+'
+IF ((_LFD=0)|(_LRD=0))
+IF ((LSDHIT=0)&(_BGD=1))
+OLDDCD=_DCD
+DCD=100000
+LSDHIT=1
+ENDIF
+ENDIF
+'
+IF ((_LFE=0)|(_LRE=0))
+IF ((LSEHIT=0)&(_BGE=1))
+OLDDCE=_DCE
+DCE=200000
+LSEHIT=1
+ENDIF
+ENDIF
+'
+'IF ((_LFF=0)|(_LRF=0))
+'IF ((LSFHIT=0)&(_BGF=1))
+'OLDDCF=_DCF
+'DCF=200000
+'LSFHIT=1
+'ENDIF
+'ENDIF
+'
+'IF ((_LFG=0)|(_LRG=0))
+'IF ((LSGHIT=0)&(_BGG=1))
+'OLDDCG=_DCG
+'DCG=200000
+'LSGHIT=1
+'ENDIF
+'ENDIF
+'
+'IF ((_LFH=0)|(_LRH=0))
+'IF ((LSHHIT=0)&(_BGH=1))
+'OLDDCH=_DCH
+'DCH=200000
+'LSHHIT=1
+'ENDIF
+'ENDIF
+RE
+'
+'
diff --git a/site_ansto/instrument/tas/DMC2280/controller4.txt b/site_ansto/instrument/tas/DMC2280/controller4.txt
index 9fdc0927..2a6ad0dd 100644
--- a/site_ansto/instrument/tas/DMC2280/controller4.txt
+++ b/site_ansto/instrument/tas/DMC2280/controller4.txt
@@ -1,80 +1,285 @@
-NO TE: TAIPAN - CONTROLLER 4
-NO TE: 
-NO TE: $Revision: 1.2 $
-NO TE: $Date: 2007-09-24 01:28:42 $
-NO TE: Author: Dan Bartlett
-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-VIRTUAL SOURCE RIGHT, +VE OPEN, 6mm/TURN
-NO TE: F-VIRTUAL SOURCE LEFT, -VE OPEN, 6mm/TURN
-NO TE: G-SPARE
-NO TE: H-SPARE
-NO TE: 55mm GAP AT LIMITS, EQUAL ABOUT BEAM CL
-NO ----------------------------------------
-#AUTO
-NO TE: 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
-II 8,,,0;' CONFIGURES THE 8TH INPUT TO ACTIVATE THE #ININT ROUTINE
-OP 65280;' SETS OUTPUTS 9-16 ON = RELAYS OFF
-IA 137,157,203,134;' CONFIGURES IP ADDRESS
-AC ,,,,25000,25000,,;' SET ACELERATION
-DC ,,,,25000,25000,,;' SET DECELERATION
-SP ,,,,12500,12500,,;' SET SPEED
-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)
-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
-IF (_SPE<>12500)
-SPE=12500
-ENDIF
-IF (_SPF<>12500)
-SPF=12500
-ENDIF
-NO IF (_SPG>50000)
-NO SPG=50000
-NO ENDIF
-NO IF (_SPH>50000)
-NO SPH=50000
-NO ENDIF
-NO TE: CHECKS TO SEE IF DECELERATIONS OK
-IF (_DCE<>25000)
-DCE=25000
-ENDIF
-IF (_DCF<>25000)
-DCF=25000
-ENDIF
-JP #THREAD0
-EN
-NO ----------------------------------------
-#TCPERR
-NO TE: EMPTY ROUTINE FOR A TCP ERROR
-RE
-NO ----------------------------------------
-#ININT
-NO TE: INTERUPT ROUTINE TO STOP ALL AXES
-NO TE: WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
-STA,B,C,D,E,F,G,H
-AM
-MO
-RI
-NO ----------------------------------------
+'TAIPAN - CONTROLLER 4
+'
+'$Revision:$
+'$Date:$
+'Author: Daniel Bartlett
+'Last revision by: $author:$
+'
+'A-ANALYSER TILT 1
+'B-ANALYSER TILT 2
+'C-ANALYSER TRANSLATE
+'D-ANALYSER ROTATE LFD@24724763 LRD@25454179
+'E-VIRTUAL SOURCE LEFT, +VE OPEN, 6mm/TURN
+'F-VIRTUAL SOURCE RIGHT, -VE OPEN, 6mm/TURN
+'G-FILTER ROTATE
+'H-PRIMARY COLLIMATOR TRANSLATE
+'
+'
+'--------------------------------------------------------------------------
+#AUTO
+'THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
+'
+MT-2,-2,-2,-2.5,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
+MO;'ALL MOTORS OFF
+CN 1;'CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
+II 8,,,0;'CONFIGURES THE 8TH INPUT TO ACTIVATE THE #ININT ROUTINE
+OP 65280;'SETS OUTPUTS 9-16 ON = RELAYS OFF
+IA 137,157,203,134;'CONFIGURES IP ADDRESS
+AC 25000,25000,25000,25000,25000,25000,25000,25000;'SET ACELERATION
+DC 25000,25000,25000,25000,25000,25000,25000,25000;'SET DECELERATION
+SP 25000,25000,25000,25000,12500,12500,25000,12500;'SET SPEED
+SIA=0;'TURN OFF CLOCK PULSES TO ALLOW ENCODER TO INITIALISE
+SIB=0
+SIC=0
+SID=0
+SIE=0
+SIF=0
+SIG=0
+SIH=0
+WT1000;'WAIT FOR ENCODER TO INITIALISE
+SIA=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
+SIB=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
+SIC=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
+SID=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
+SIE=1,24,12,0<-10>1;'RESOLVER VIA VEGA 2790 BOARD
+SIF=1,24,12,0<-10>1;'RESOLVER VIA VEGA 2790 BOARD
+SIG=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
+SIH=1,24,12,0<-10>1;'RESOLVER VIA VEGA 2790 BOARD
+LSAHIT=0;'INITIALISE THE BIT SET AFTER A LIMIT IS HIT
+LSBHIT=0
+LSCHIT=0
+LSDHIT=0
+LSEHIT=0
+LSFHIT=0
+LSGHIT=0
+LSHHIT=0
+JS #THREAD0
+EN
+'
+'
+'--------------------------------------------------------------------------
+#THREAD0
+'THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
+'
+JS #CHKDCEL
+JS #CHKSPD
+JP #THREAD0
+EN
+'
+'
+'--------------------------------------------------------------------------
+#VSLMOVE
+'ROUTINE TO MOVE THE VIRTUAL SOURCE RIGHT USING A CLOSED LOOP SSI POSITION
+'
+'E AXIS
+'TPE AT LIMIT 16752106
+'TPE AT BEAM CL 16773946
+'
+DBAND1=2
+PRE=-25000*((VSLPOS-_TPE)/4096);'CALC STEPS TO DESTINATION
+SHE
+BGE
+AME
+JP #VSLMOVE, (@ABS[VSLPOS-_TPE]>DBAND1)
+'JUMP BACK FOR MORE TRIES IF OUTSIDE DEADBAND1
+EN
+'
+'
+'-----------------------------------------------------------------------------
+#VSRMOVE
+'ROUTINE TO MOVE THE VIRTUAL SOURCE RIGHT USING A CLOSED LOOP SSI POSITION
+'
+'F AXIS
+'TPF AT LIMIT 16775162
+'TPF AT BEAM CL 16756735
+'
+DBAND2=2
+PRF=-25000*((VSRPOS-_TPF)/4096);'CALC STEPS TO DESTINATION
+SHF
+BGF
+AMF
+JP #VSRMOVE, (@ABS[VSRPOS-_TPF]>DBAND2)
+'JUMP BACK FOR MORE TRIES IF OUTSIDE DEADBAND2
+EN
+'
+'
+'-----------------------------------------------------------------------------
+#CHKDCEL
+'ROUTINE TO RESET DECELERATIONS AFTER A LIMIT HIT
+'
+IF ((LSAHIT=1)&(_BGA=0));'WHEN MOTION STOPS AFTER A LIMIT HIT
+DCA=OLDDCA;'RESET DECEL TO OLD VALUE
+LSAHIT=0
+ENDIF
+'
+IF ((LSBHIT=1)&(_BGB=0))
+DCB=OLDDCB
+LSBHIT=0
+ENDIF
+'
+IF ((LSCHIT=1)&(_BGC=0))
+DCC=OLDDCC
+LSCHIT=0
+ENDIF
+'
+IF ((LSDHIT=1)&(_BGD=0))
+DCD=OLDDCD
+LSDHIT=0
+ENDIF
+'
+IF ((LSEHIT=1)&(_BGE=0))
+DCE=OLDDCE
+LSEHIT=0
+ENDIF
+'
+IF ((LSFHIT=1)&(_BGF=0))
+DCF=OLDDCF
+LSFHIT=0
+ENDIF
+'
+IF ((LSGHIT=1)&(_BGG=0))
+DCG=OLDDCG
+LSGHIT=0
+ENDIF
+'
+IF ((LSHHIT=1)&(_BGH=0))
+DCH=OLDDCH
+LSHHIT=0
+ENDIF
+EN
+'
+'
+'--------------------------------------------------------------------------
+#CHKSPD
+'ROUTINE TO CHECK THE SPEED OF THE AXES IS NOT GREATER THAN MAX ALLOWED
+'
+IF (_SPA>50000)
+SPA=50000
+ENDIF
+'
+IF (_SPB>50000)
+SPB=50000
+ENDIF
+'
+IF (_SPC>50000)
+SPC=50000
+ENDIF
+'
+IF (_SPD>100000)
+SPD=100000
+ENDIF
+'
+IF (_SPE>12500)
+SPE=12500
+ENDIF
+'
+IF (_SPF>12500)
+SPF=12500
+ENDIF
+'
+IF (_SPG>50000)
+SPG=50000
+ENDIF
+'
+IF (_SPH>12500)
+SPH=12500
+ENDIF
+EN
+'
+'
+'--------------------------------------------------------------------------
+#TCPERR
+'EMPTY TCP ERROR ROUTINE
+'
+RE
+'
+'
+'--------------------------------------------------------------------------
+#ININT
+'INTERUPT ROUTINE TO STOP ALL AXES
+'WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
+'
+CN-1;'RECONFIGURES LIMITS. RESULT:ALL LIMITS SEEN AS HIT. WILL RUN #LIMSWI
+WT250
+CN1;'SETS LIMITS BACK TO NORMAL
+RI
+'
+'
+'--------------------------------------------------------------------------
+#CMDERR
+'ROUTINE TO HANDLE COMMAND ERRORS
+'
+ZS0
+EN1
+'
+'
+'--------------------------------------------------------------------------
+#LIMSWI
+'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
+'
+IF ((_LFA=0)|(_LRA=0));'LIMIT HIT
+IF ((LSAHIT=0)&(_BGA=1));'STILL MOVING, FIRST TIME
+OLDDCA=_DCA;'REMEMBER OLD DECEL VALUE
+DCA=100000;'INCREASE DECEL VALUE FOR RAPID STOP
+LSAHIT=1
+ENDIF
+ENDIF
+'
+IF ((_LFB=0)|(_LRB=0))
+IF ((LSBHIT=0)&(_BGB=1))
+OLDDCB=_DCB
+DCB=100000
+LSBHIT=1
+ENDIF
+ENDIF
+'
+IF ((_LFC=0)|(_LRC=0))
+IF ((LSCHIT=0)&(_BGC=1))
+OLDDCC=_DCC
+DCC=100000
+LSCHIT=1
+ENDIF
+ENDIF
+'
+IF ((_LFD=0)|(_LRD=0))
+IF ((LSDHIT=0)&(_BGD=1))
+OLDDCD=_DCD
+DCD=100000
+LSDHIT=1
+ENDIF
+ENDIF
+'
+IF ((_LFE=0)|(_LRE=0))
+IF ((LSEHIT=0)&(_BGE=1))
+OLDDCE=_DCE
+DCE=50000
+LSEHIT=1
+ENDIF
+ENDIF
+'
+IF ((_LFF=0)|(_LRF=0))
+IF ((LSFHIT=0)&(_BGF=1))
+OLDDCF=_DCF
+DCF=50000
+LSFHIT=1
+ENDIF
+ENDIF
+'
+IF ((_LFG=0)|(_LRG=0))
+IF ((LSGHIT=0)&(_BGG=1))
+OLDDCG=_DCG
+DCG=100000
+LSGHIT=1
+ENDIF
+ENDIF
+'
+IF ((_LFH=0)|(_LRH=0))
+IF ((LSHHIT=0)&(_BGH=1))
+OLDDCH=_DCH
+DCH=100000
+LSHHIT=1
+ENDIF
+ENDIF
+RE
+'
+'
diff --git a/site_ansto/instrument/tas/DMC2280/controller5.txt b/site_ansto/instrument/tas/DMC2280/controller5.txt
index 52c2e079..cdaa55df 100644
--- a/site_ansto/instrument/tas/DMC2280/controller5.txt
+++ b/site_ansto/instrument/tas/DMC2280/controller5.txt
@@ -1,67 +1,75 @@
-NO TE: TAIPAN - CONTROLLER 5
-NO TE: 
-NO TE: $Revision: 1.2 $
-NO TE: $Date: 2007-09-24 01:29:31 $
-NO TE: Author: Dan Bartlett
-NO TE: Last revision by: $Author: dbx $
-NO TE:
-NO TE: A-SECONDARY SHUTTER, +VE OPEN, 6mm/TURN
-NO TE: ONE AXIS CONTROLLER ONLY
-NO ----------------------------------------
-#AUTO
-NO TE: THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
-SHA
-MTA=-2;'CONFIGURES ALL AXES AS STEPPER
-CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
-IA 137,157,203,135;' CONFIGURES IP ADDRESS
-ACA=100000;' SET ACELERATION
-DCA=100000;' SET DECELERATION
-SPA=50000;' SET SPEED
-JS #THREAD0
-EN
-NO ----------------------------------------
-#THREAD0
-NO TE: CONTROLS THE SECONDARY SHUTTER
-NO TE: INPUT 5=SECONDARY SHUTTER CLOSE SIGNAL 1
-NO TE: INPUT 6=SECONDARY SHUTTER CLOSE SIGNAL 2
-NO TE: INPUT 7=SECONDARY SHUTTER OPEN SIGNAL 1
-NO TE: INPUT 8=SECONDARY SHUTTER OPEN SIGNAL 2
-IF ((_TI0&192)=0)&(_BGA=0)&(_LFA=1)
-NO TE: INPUTS 7,8 EXCLUSIVELY ACTIVE(0) & NOT MOVING & NOT ALREADY OPEN
-NO TE: SECONDARY SHUTTER COMMANDED TO OPEN
-NO TE: INPUTS 1,2,3 AND 4 ARE MASKED OUT BY THE &192
-PRA=580000;'APROX 140mm
-BGA
-ENDIF
-IF ((_TI0&192<>0)&(_LRA=1)
-NO TE: INPUTS 7,8 NOT EXCLUSIVELY ACTIVE(0) & NOT ALREADY CLOSED
-NO TE: SECONDARY SHUTTER COMMANDED TO CLOSE
-NO TE: INPUTS 1,2,3 AND 4 ARE MASKED OUT BY THE &192
-STA;' STOP ANY MOTION
-AMA;' AFTER MOTION IS STOPPED
-PRA=-580000;' APROX 140mm
-BGA;' DRIVE SHUTTER CLOSED TO LIMIT SWITCH
-AMA
-ENDIF
-JP #THREAD0
-EN
-NO ----------------------------------------
-#TCPERR
-NO TE: EMPTY ROUTINE FOR A TCP ERROR
-RE
-NO ----------------------------------------
-#CMDERR
-NO TE: THIS IS A ROUTINE TO HANDLE COMMAND ERRORS
-ZS0;' ZERO STACK
-EN1
-NO ----------------------------------------
-#MONSWI
-NO TE: THIS IS A ROUTINE TO MONITOR THE POSITION
-NO TE: OF THE SECONDARY SHUTTER
-IF (_LFA=1)&(_LRA=1)
-MG {EA}, "SS NOT OPEN, NOT CLOSED"
-WT200
-ENDIF
-JP #MONSWI
-EN
-NO ----------------------------------------
\ No newline at end of file
+'TAIPAN - CONTROLLER 5
+' 
+'$Revision:$
+'$Date$
+'Author: Dan Bartlett
+'Last revision by: $Author:$
+'
+'A-SECONDARY SHUTTER, +VE OPEN, 6mm/TURN
+'ONE AXIS CONTROLLER ONLY
+'
+'
+'-----------------------------------------------------------------------------
+#AUTO
+NO TE: THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
+'
+MO;'MOTOR OFF
+SIA=1,24,12,0<-2>1;'RESOLVER VIA VEGA 2790 BOARD
+MTA=-2;'CONFIGURES AXIS AS STEPPER
+CN 1;' CONFIGURES LIMIT SWITCH TO ACCEPT NC CONTACTS
+IA 137,157,203,135;' CONFIGURES IP ADDRESS
+ACA=100000;' SET ACELERATION
+DCA=100000;' SET DECELERATION
+SPA=50000;' SET SPEED
+JS #THREAD0
+EN
+'
+'
+'-----------------------------------------------------------------------------
+#THREAD0
+'CONTROLS THE SECONDARY SHUTTER
+'
+'INPUT 5=SECONDARY SHUTTER CLOSE SIGNAL 1
+'INPUT 6=SECONDARY SHUTTER CLOSE SIGNAL 2
+'INPUT 7=SECONDARY SHUTTER OPEN SIGNAL 1
+'INPUT 8=SECONDARY SHUTTER OPEN SIGNAL 2
+IF ((@IN[5]=1)&(@IN[6]=1)&(@IN[7]=0)&(@IN[8]=0)&(_BGA=0)&(_LFA=1))
+'INPUTS 5&6 INACTIVE(1) & INPUT 7&8 ACTIVE(0) & NOT MOVING & NOT ALREADY OPEN
+'SECONDARY SHUTTER COMMANDED TO OPEN
+JGA=50000;' JOG OPEN AT 12mm/s
+SHA;' TURN ON MOTOR
+BGA;' DRIVE SHUTTER OPEN
+ENDIF
+IF (((@IN[7]=1)|(@IN[8]=1))&(_LRA=1))
+'EITHER OF INPUTS 7 OR 8 INACTIVE(1) & NOT ALREADY CLOSED
+'SECONDARY SHUTTER COMMANDED TO CLOSE
+STA;' STOP ANY MOTION
+MCA;' AFTER MOTION IS STOPPED
+JGA=-50000;' JOG CLOSED AT 12mm/s
+SHA;' TURN ON MOTOR
+BGA;' DRIVE SHUTTER CLOSED
+MCA
+ENDIF
+IF (((_LFA=0)|(_LRA=0))&(_BGA=0))
+'AT EITHER LIMIT AND NOT MOVING
+MOA;' TURN OFF MOTOR
+ENDIF
+JP #THREAD0
+EN
+'
+'
+'-----------------------------------------------------------------------------
+#TCPERR
+'EMPTY TCP ERROR ROUTINE
+'
+RE
+'
+'
+'-----------------------------------------------------------------------------
+#CMDERR
+'ROUTINE TO HANDLE COMMAND ERRORS
+'
+ZS0
+EN1
+'
+'
diff --git a/site_ansto/instrument/tas/DMC2280/controller6.txt b/site_ansto/instrument/tas/DMC2280/controller6.txt
new file mode 100755
index 00000000..608f633b
--- /dev/null
+++ b/site_ansto/instrument/tas/DMC2280/controller6.txt
@@ -0,0 +1,426 @@
+'TAIPAN - CONTROLLER 6
+'
+'AUTHOR - DANIEL BARTLETT
+'DATE - 23.02.2011
+'
+'A-SLIT S1 LEFT BLADE
+'B-SLIT S1 RIGHT BLADE
+'C-SLIT S1 TOP BLADE
+'D-SLIT S1 BOTTOM BLADE
+'E-SLIT S2 LEFT BLADE
+'F-SLIT S2 RIGHT BLADE
+'G-SLIT S2 TOP BLADE
+'H-SLIT S2 BOTTOM BLADE
+'
+'
+'-----------------------------------------------------------------------------
+#AUTO
+'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;'ALL MOTORS OFF
+CN1;'CONFIGURES LIMIT SWITCHES. NC CONTACTS USE CN1. NO CONTACT USE CN-1
+II 8,,,0;'CONFIGURES THE 8TH INPUT TO ACTIVATE THE #ININT ROUTINE
+OP 65281;'SETS OUTPUTS 9-16 ON = RELAYS OFF
+IA 137,157,203,136;'CONFIGURES IP ADDRESS
+AC 60416,60416,60416,60416,60416,60416,60416,60416;' SET ACELERATION
+DC 60416,60416,60416,60416,60416,60416,60416,60416;' SET DECELERATION
+SP 30000,30000,30000,30000,30000,30000,30000,30000;' SET SPEED
+SIA=0;'TURN OFF CLOCK PULSES TO ALLOW ENCODER TO INITIALISE
+SIB=0
+SIC=0
+SID=0
+SIE=0
+SIF=0
+SIG=0
+SIH=0
+WT1000;'WAIT FOR ENCODER TO INITIALISE
+'SIA=1,25,13,0<-26>2;'HEIDENHAIN ROQ425
+'SIA=1,25,25,0<-26>2;'HEIDENHAIN RCN226
+'SIA=1,25,12,-1<-26>1;'VEGA RESOLVER TO SSI CONVERTER
+'SIA=1,25,13,0<-26>1;'IVO GXM2H
+'SIA=1,25,13,0<-26>2;'KUEBLER 5863
+'SIA=1,31,13,0<26>2;'IVO STRING PULL, 31 BIT CONTROLLER REQUIRED
+'SIA=1,24,18,6<-26>2;'IVO PLATYPUS COLLIMATION TILT
+'SIA=1,15,15,0<-26>2;'GURLEY 15BIT
+LSAHIT=0;'INITIALISE THE BIT SET AFTER A LIMIT IS HIT
+LSBHIT=0
+LSCHIT=0
+LSDHIT=0
+LSEHIT=0
+LSFHIT=0
+LSGHIT=0
+LSHHIT=0
+S1HOMED=0;'SLIT S1 NOT HOMED
+S2HOMED=0;'SLIT S2 NOT HOMED
+JS #THREAD0
+EN
+'
+'
+'-----------------------------------------------------------------------------
+#THREAD0
+'THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
+'
+JS #CHKDCEL
+JS #CHKSPD
+JP #THREAD0
+EN
+'
+'
+'-----------------------------------------------------------------------------
+#CHKDCEL
+'ROUTINE TO RESET DECELERATIONS AFTER A LIMIT HIT
+'
+IF (LSAHIT=1)&(_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
+DCA=OLDDCA;'RESET DECEL TO OLD VALUE
+LSAHIT=0
+ENDIF
+'
+IF (LSBHIT=1)&(_BGB=0)
+DCB=OLDDCB
+LSBHIT=0
+ENDIF
+'
+IF (LSCHIT=1)&(_BGC=0)
+DCC=OLDDCC
+LSCHIT=0
+ENDIF
+'
+IF (LSDHIT=1)&(_BGD=0)
+DCD=OLDDCD
+LSDHIT=0
+ENDIF
+'
+IF (LSEHIT=1)&(_BGE=0)
+DCE=OLDDCE
+LSEHIT=0
+ENDIF
+'
+IF (LSFHIT=1)&(_BGF=0)
+DCF=OLDDCF
+LSFHIT=0
+ENDIF
+'
+IF (LSGHIT=1)&(_BGG=0)
+DCG=OLDDCG
+LSGHIT=0
+ENDIF
+'
+IF (LSHHIT=1)&(_BGH=0)
+DCH=OLDDCH
+LSHHIT=0
+ENDIF
+EN
+'
+'
+'-----------------------------------------------------------------------------
+#CHKSPD
+'ROUTINE TO CHECK THE SPEED OF THE AXES IS NOT GREATER THAN MAX ALLOWED
+'
+IF (_SPA>30000)
+SPA=30000
+ENDIF
+'
+IF (_SPB>30000)
+SPB=30000
+ENDIF
+'
+IF (_SPC>30000)
+SPC=30000
+ENDIF
+'
+IF (_SPD>30000)
+SPD=30000
+ENDIF
+'
+IF (_SPE>30000)
+SPE=30000
+ENDIF
+'
+IF (_SPF>30000)
+SPF=30000
+ENDIF
+'
+IF (_SPG>30000)
+SPG=30000
+ENDIF
+'
+IF (_SPH>30000)
+SPH=30000
+ENDIF
+EN
+'
+'
+'-----------------------------------------------------------------------------
+#TCPERR
+'EMPTY TCP ERROR ROUTINE
+'
+RE
+'
+'
+'-----------------------------------------------------------------------------
+#ININT
+'INTERUPT ROUTINE TO STOP ALL AXES
+'WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
+CN-1;'RECONFIGURES LIMITS. RESULT:ALL LIMITS SEEN AS HIT. WILL RUN #LIMSWI
+WT250
+CN1;'SETS LIMITS BACK TO NORMAL
+RI
+'
+'
+'-----------------------------------------------------------------------------
+#CMDERR
+'ROUTINE TO HANDLE COMMAND ERRORS
+'
+ZS0
+EN1
+'
+'
+'-----------------------------------------------------------------------------
+#LIMSWI
+'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
+'
+IF (_LFA=0)|(_LRA=0);'LIMIT HIT
+IF (LSAHIT=0)&(_BGA=1);'STILL MOVING, FIRST TIME
+OLDDCA=_DCA;'REMEMBER OLD DECEL VALUE
+DCA=100000;'INCREASE DECEL VALUE FOR RAPID STOP
+LSAHIT=1
+ENDIF
+ENDIF
+'
+IF (_LFB=0)|(_LRB=0)
+IF (LSBHIT=0)&(_BGB=1)
+OLDDCB=_DCB
+DCB=60000
+LSBHIT=1
+ENDIF
+ENDIF
+'
+IF (_LFC=0)|(_LRC=0)
+IF (LSCHIT=0)&(_BGC=1)
+OLDDCC=_DCC
+DCC=60000
+LSCHIT=1
+ENDIF
+ENDIF
+'
+IF (_LFD=0)|(_LRD=0)
+IF (LSDHIT=0)&(_BGD=1)
+OLDDCD=_DCD
+DCD=60000
+LSDHIT=1
+ENDIF
+ENDIF
+'
+IF (_LFE=0)|(_LRE=0)
+IF (LSEHIT=0)&(_BGE=1)
+OLDDCE=_DCE
+DCE=60000
+LSEHIT=1
+ENDIF
+ENDIF
+'
+IF (_LFF=0)|(_LRF=0)
+IF (LSFHIT=0)&(_BGF=1)
+OLDDCF=_DCF
+DCF=60000
+LSFHIT=1
+ENDIF
+ENDIF
+'
+IF (_LFG=0)|(_LRG=0)
+IF (LSGHIT=0)&(_BGG=1)
+OLDDCG=_DCG
+DCG=60000
+LSGHIT=1
+ENDIF
+ENDIF
+'
+IF (_LFH=0)|(_LRH=0)
+IF (LSHHIT=0)&(_BGH=1)
+OLDDCH=_DCH
+DCH=60000
+LSHHIT=1
+ENDIF
+ENDIF
+RE
+'
+'
+'-----------------------------------------------------------------------------
+#MOVE
+'THIS ROUTINE IS USED TO MOVE AN AXIS WITH A SSI ENCODER
+'USING A MOVE-CHECK-CORRECT METHOD
+'THE FOLLOWING VARIABLES MUST BE INITIALISED FIRST
+'~a=0 TO 7 SETS THE MOTOR, 0=A AXIS 1=B AXIS ETC
+'~b=0 TO 7 SETS THE ENCODER, 0=1ST SSI CHANNEL 1=2ND CHANNEL ETC
+'TRIES= MAXIMUM NUMBER OF TRIES
+'POS=DESIRED ENCODER POSITION
+'
+'~a=0:~b=0:TRIES=5:POS=12345678:XQ #MOVE,1
+'
+DBAND=3
+SH~a
+WT500;'WAIT TO STABILISE
+IF (_BG~a=1);'MOVING, FORCE STOP. PRA WHEN MOVING CAUSES THREAD CRASH
+ST~a
+MC~a
+ENDIF
+TEMP=_TP~b;'SET TEMPORARY VARIABLE
+PR~a=2500
+IF (_LF~a=0);'ALREADY ON LIMIT
+MG "Forward limit actuated" {EA}
+MG "Ratio not calculated" {EA}
+JP #MOVEEND
+ENDIF
+BG~a;'PERFORM A SMALL MOVE TO DETERMIN MOTOR:ENCODER RATIO
+MC~a
+WT500;'WAIT TO STABILISE
+IF (TEMP=_TP~b);'FAILED TO MOVE
+MG "No movement detected" {EA}
+MG "Ratio not calculated" {EA}
+JP #MOVEEND
+ENDIF
+RATIO=(TEMP-_TP~b)*10;'SETS ENCODER/MOTOR RATIO
+'
+#LOOP
+IF (_BG~a=1);'MOVING, FORCE STOP. PRA WHEN MOVING CAUSES THREAD CRASH
+ST~a
+MC~a
+ENDIF
+PR~a=25000*((_TP~b-POS)/RATIO);'CALC STEPS TO DESTINATION
+IF ((_PR~a>0)&(_LF~a=0));'IF POSITIVE MOVE AND ALREADY ON LIMIT
+MG "Forward limit actuated" {EA}
+MG "Positive move aborted" {EA}
+JP #MOVEEND
+ENDIF
+IF ((_PR~a<0)&(_LR~a=0));'IF NEGATIVE MOVE AND ALREADY ON LIMIT
+MG "Reverse limit actuated" {EA}
+MG "Negative move aborted" {EA}
+JP #MOVEEND
+ENDIF
+IF (_BG~a=1);'ALREADY MOVING
+ST~a
+MC~a
+ENDIF
+SH~a
+BG~a
+MC~a;'WAIT FOR MOTION TO COMPLETE
+TRIES=TRIES-1;'INCREMENT ATTEMPT COUNTER
+MG "Attempts to go: " {N} {EA}
+MG TRIES {F1.0} {EA}
+JP #LOOP, ((@ABS[_TP~b-POS]>DBAND)&(TRIES>0))
+'HAVE ANOTHER GO IF OUTSIDE DEAD BAND AND NOT TOO MANY ATTEMPTS
+#MOVEEND
+MG "TARGET   :" {N} {EA}
+MG POS {F8.0} {EA}
+MG "POSITION :" {N} {EA}
+MG _TP~b {F8.0} {EA}
+MG "Program ends" {EA}
+EN
+'
+'
+'-----------------------------------------------------------------------------
+#HOMES1
+'THIS ROUTINE HOMES THE S1 SLIT PACKAGE
+'
+IF (S1HOMED=1);'ALREADY HOMED
+JP #ENDS1
+ENDIF
+'
+IF (_LFA=0)&(_LRA=0)
+'BOTH LIMITS ACTUATED. SLIT PACKAGE PROBABLY NOT PLUGGED IN.
+JP #ENDS1
+ENDIF
+'
+SHABCD;'TURN ON THE MOTORS
+SP 30000,30000,30000,30000,,,,;'SET SPEED
+IF (_LRA=0);'ON THE REVERSE LIMIT SWITCH
+PRA=250*161/2*10;'MOVE AWAY 10mm
+BGA
+ENDIF
+'
+IF (_LRB=0);'ON THE REVERSE LIMIT SWITCH
+PRB=250*161/2*10;'MOVE AWAY 10mm
+BGB
+ENDIF
+'
+IF (_LRC=0);'ON THE REVERSE LIMIT SWITCH
+PRC=250*161/2*10;'MOVE AWAY 10mm
+BGC
+ENDIF
+'
+IF (_LRD=0);'ON THE REVERSE LIMIT SWITCH
+PRD=250*161/2*10;'MOVE AWAY 10mm
+BGD
+ENDIF
+'
+MCABCD;'WAIT FOR MOTION TO BE COMPLETE
+JG -30000,-30000,-30000,-30000,,,,;'JOG INTO REVERSE LIMIT
+BGABCD
+MCABCD
+PR 80500,80500,80500,80500,,,,;'MOVE AWAY 4MM
+BGABCD
+MCABCD
+JG -5000,-5000,-5000,-5000,,,,;'JOG SLOWLY INTO LIMITS
+BGABCD
+MCABCD
+DP 0,0,0,0,,,,;'DEFINE HOME POSITION
+SP 30000,30000,30000,30000,,,,;'SET SPEED BACK TO NORMAL
+S1HOMED=1;'HOMING OF SLIT S1 COMPLETE
+#ENDS1
+EN
+'
+'
+'-----------------------------------------------------------------------------
+#HOMES2
+'THIS ROUTINE HOMES THE S2 SLIT PACKAGE
+'
+IF (S2HOMED=1);'ALREADY HOMED
+JP #ENDS2
+ENDIF
+'
+IF (_LFE=0)&(_LRE=0)
+'BOTH LIMITS ACTUATED. SLIT PACKAGE PROBABLY NOT PLUGGED IN.
+JP #ENDS2
+ENDIF
+'
+SHEFGH;'TURN ON THE MOTORS
+SP ,,,,30000,30000,30000,30000;'SET SPEED
+IF (_LRE=0);'ON THE REVERSE LIMIT SWITCH
+PRE=250*161/2*10;'MOVE AWAY 10mm
+BGE
+ENDIF
+'
+IF (_LRF=0);'ON THE REVERSE LIMIT SWITCH
+PRF=250*161/2*10;'MOVE AWAY 10mm
+BGF
+ENDIF
+'
+IF (_LRG=0);'ON THE REVERSE LIMIT SWITCH
+PRG=250*161/2*10;'MOVE AWAY 10mm
+BGG
+ENDIF
+'
+IF (_LRH=0);'ON THE REVERSE LIMIT SWITCH
+PRH=250*161/2*10;'MOVE AWAY 10mm
+BGH
+ENDIF
+'
+MCEFGH;'WAIT FOR MOTION TO BE COMPLETE
+JG ,,,,-30000,-30000,-30000,-30000;'JOG INTO REVERSE LIMIT
+BGEFGH
+MCEFGH
+PR ,,,,80500,80500,80500,80500;'MOVE AWAY 4MM
+BGEFGH
+MCEFGH
+JG ,,,,-5000,-5000,-5000,-5000;'JOG SLOWLY INTO LIMITS
+BGEFGH
+MCEFGH
+DP ,,,,0,0,0,0;'DEFINE HOME POSITION
+SP ,,,,30000,30000,30000,30000;'SET SPEED BACK TO NORMAL
+S2HOMED=1;'HOMING OF SLIT S1 COMPLETE
+#ENDS2
+EN
+'
+'
+'-----------------------------------------------------------------------------