Version given before migration to SICS

r3291 | dcl | 2011-11-28 13:46:22 +1100 (Mon, 28 Nov 2011) | 1 line

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 ----------------------------------------
+'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
+'
+'