Version given before migration to SICS

r3291 | dcl | 2011-11-28 13:46:22 +1100 (Mon, 28 Nov 2011) | 1 line
2011-11-28 13:46:22 +11:00
parent d66223f78c
commit 1bb2e24df8
5 changed files with 1385 additions and 147 deletions
--- 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
+'
+'