From 210e61e1b8b9d08cc129bbe044d18127300dfb00 Mon Sep 17 00:00:00 2001
From: Dan Bartlett <dbx@ansto.gov.au>
Date: Sat, 31 Mar 2007 12:58:27 +1000
Subject: [PATCH] Quokka motion controller files added

r1755 | dbx | 2007-03-31 12:58:27 +1000 (Sat, 31 Mar 2007) | 2 lines
---
 .../instrument/sans/DMC2280/controller1.txt   | 138 ++++++++++++++++++
 .../instrument/sans/DMC2280/controller2.txt   | 132 +++++++++++++++++
 .../instrument/sans/DMC2280/controller3.txt   | 132 +++++++++++++++++
 .../instrument/sans/DMC2280/controller4.txt   | 138 ++++++++++++++++++
 4 files changed, 540 insertions(+)
 create mode 100644 site_ansto/instrument/sans/DMC2280/controller1.txt
 create mode 100644 site_ansto/instrument/sans/DMC2280/controller2.txt
 create mode 100644 site_ansto/instrument/sans/DMC2280/controller3.txt
 create mode 100644 site_ansto/instrument/sans/DMC2280/controller4.txt

diff --git a/site_ansto/instrument/sans/DMC2280/controller1.txt b/site_ansto/instrument/sans/DMC2280/controller1.txt
new file mode 100644
index 00000000..fb8addc8
--- /dev/null
+++ b/site_ansto/instrument/sans/DMC2280/controller1.txt
@@ -0,0 +1,138 @@
+NO TE: QUOKKA - CONTROLLER 1
+NO TE:
+NO TE: $Revision: 1.1 $
+NO TE: $Date: 2007-03-31 02:58:27 $
+NO TE: Author: Dan Bartlett
+NO TE: Last revision by: $Author: dbx $
+NO TE:
+NO TE: A-SAMPLE UPPER TILT
+NO TE: B-SAMPLE LOWER TILT
+NO TE: C-SAMPLE TRANSLATION X (ALONG BEAM)
+NO TE: D-SAMPLE TRANSLATION Y (ACROSS BEAM)
+NO TE: E-SAMPLE RAISE
+NO TE: F-SAMPLE ROTATE
+NO TE: G-DETECTOR Y (ACROSS BEAM)
+NO TE: H-DETECTOR X (ALONG BEAM)
+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 137,157,202,69;' 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 25000,25000,25000,25000,25000,25000,25000,25000;' SET SPEED
+SIA=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIB=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIC=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SID=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIF=1,25,13,0<-2>2;'HEIDENHAIN RCN425
+SIG=1,25,13,0<-2>2;'HEIDENHAIN RCN425
+SIH=1,25,13,0<-2>2;'HEIDENHAIN RCN425
+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
+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>50000)
+SPF=50000
+ENDIF
+IF (_SPG>50000)
+SPG=50000
+ENDIF
+IF (_SPH>50000)
+SPH=50000
+ENDIF
+NO TE: CONTROLS THE SAMPLE RAISE ELECTRO-MECHANICAL BRAKE
+IF (_MOE=0)
+CB 13;' MOTOR ON = BRAKE ENERGISED = UNLOCKED
+ELSE
+SB 13;' MOTOR OFF = BRAKE DENERGISED = LOCKED
+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 ----------------------------------------
+#LIMSWI
+NO TE: LIMIT SWITCH ROUTINE WHICH SHORTENS DECEL TIME WHEN A LIMIT IS HIT
+OLDDCA=_DCA;' REMEMBERS CURRENT DECEL
+OLDDCB=_DCB
+OLDDCC=_DCC
+OLDDCD=_DCD
+OLDDCE=_DCE
+OLDDCF=_DCF
+OLDDCG=_DCG
+OLDDCH=_DCH
+IF (_LFA = 0) | (_LRA = 0)
+DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STA
+ENDIF
+IF (_LFB = 0) | (_LRB = 0)
+DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STB
+ENDIF
+IF (_LFC = 0) | (_LRC = 0)
+DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STC
+ENDIF
+IF (_LFD = 0) | (_LRD = 0)
+DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STD
+ENDIF
+IF (_LFE = 0) | (_LRE = 0)
+DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STE
+ENDIF
+IF (_LFF = 0) | (_LRF = 0)
+DCF=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STF
+ENDIF
+IF (_LFG = 0) | (_LRG = 0)
+DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STG
+ENDIF
+IF (_LFH = 0) | (_LRH = 0)
+DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STH
+ENDIF
+AM ABCDEFGH;' AFTER ALL AXES STOPPED
+DCA=OLDDCA;' RESET DECEL TO OLD VALUE
+DCB=OLDDCB
+DCC=OLDDCC
+DCD=OLDDCD
+DCE=OLDDCE
+DCF=OLDDCF
+DCG=OLDDCG
+DCH=OLDDCH
+RE
diff --git a/site_ansto/instrument/sans/DMC2280/controller2.txt b/site_ansto/instrument/sans/DMC2280/controller2.txt
new file mode 100644
index 00000000..6135cba4
--- /dev/null
+++ b/site_ansto/instrument/sans/DMC2280/controller2.txt
@@ -0,0 +1,132 @@
+NO TE: QUOKKA - CONTROLLER 2
+NO TE:
+NO TE: $Revision: 1.1 $
+NO TE: $Date: 2007-03-31 02:58:27 $
+NO TE: Author: Dan Bartlett
+NO TE: Last revision by: $Author: dbx $
+NO TE:
+NO TE: A-COLLIMATION OPTICS - CHAMBER 1
+NO TE: B-COLLIMATION OPTICS - CHAMBER 2
+NO TE: C-COLLIMATION OPTICS - CHAMBER 3
+NO TE: D-COLLIMATION OPTICS - CHAMBER 4
+NO TE: E-COLLIMATION OPTICS - CHAMBER 5
+NO TE: F-COLLIMATION OPTICS - CHAMBER 6
+NO TE: G-COLLIMATION OPTICS - CHAMBER 7
+NO TE: H-COLLIMATION OPTICS - CHAMBER 8
+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 137,157,202,70;' 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 25000,25000,25000,25000,25000,25000,25000,25000;' SET SPEED
+SIA=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIB=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIC=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SID=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIF=1,25,13,0<-2>2;'HEIDENHAIN RCN425
+SIG=1,25,13,0<-2>2;'HEIDENHAIN RCN425
+SIH=1,25,13,0<-2>2;'HEIDENHAIN RCN425
+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
+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>50000)
+SPF=50000
+ENDIF
+IF (_SPG>50000)
+SPG=50000
+ENDIF
+IF (_SPH>50000)
+SPH=50000
+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 ----------------------------------------
+#LIMSWI
+NO TE: LIMIT SWITCH ROUTINE WHICH SHORTENS DECEL TIME WHEN A LIMIT IS HIT
+OLDDCA=_DCA;' REMEMBERS CURRENT DECEL
+OLDDCB=_DCB
+OLDDCC=_DCC
+OLDDCD=_DCD
+OLDDCE=_DCE
+OLDDCF=_DCF
+OLDDCG=_DCG
+OLDDCH=_DCH
+IF (_LFA = 0) | (_LRA = 0)
+DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STA
+ENDIF
+IF (_LFB = 0) | (_LRB = 0)
+DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STB
+ENDIF
+IF (_LFC = 0) | (_LRC = 0)
+DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STC
+ENDIF
+IF (_LFD = 0) | (_LRD = 0)
+DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STD
+ENDIF
+IF (_LFE = 0) | (_LRE = 0)
+DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STE
+ENDIF
+IF (_LFF = 0) | (_LRF = 0)
+DCF=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STF
+ENDIF
+IF (_LFG = 0) | (_LRG = 0)
+DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STG
+ENDIF
+IF (_LFH = 0) | (_LRH = 0)
+DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STH
+ENDIF
+AM ABCDEFGH;' AFTER ALL AXES STOPPED
+DCA=OLDDCA;' RESET DECEL TO OLD VALUE
+DCB=OLDDCB
+DCC=OLDDCC
+DCD=OLDDCD
+DCE=OLDDCE
+DCF=OLDDCF
+DCG=OLDDCG
+DCH=OLDDCH
+RE
diff --git a/site_ansto/instrument/sans/DMC2280/controller3.txt b/site_ansto/instrument/sans/DMC2280/controller3.txt
new file mode 100644
index 00000000..1823a1eb
--- /dev/null
+++ b/site_ansto/instrument/sans/DMC2280/controller3.txt
@@ -0,0 +1,132 @@
+NO TE: QUOKKA - CONTROLLER 3
+NO TE:
+NO TE: $Revision: 1.1 $
+NO TE: $Date: 2007-03-31 02:58:27 $
+NO TE: Author: Dan Bartlett
+NO TE: Last revision by: $Author: dbx $
+NO TE:
+NO TE: A-COLLIMATION OPTICS - CHAMBER 9
+NO TE: B-COLLIMATION OPTICS - CHAMBER 10
+NO TE: C-SOURCE END CHAMBER - PENTAPRISM
+NO TE: D-SOURCE END CHAMBER - SRC APERTURES
+NO TE: E-SAMPLE END CHAMBER - X APETURE
+NO TE: F-SAMPLE END CHAMBER - Y APETURE
+NO TE: G-SPARE
+NO TE: H-ROTARY ATTENUATOR
+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 137,157,202,71;' CONFIGURES IP ADDRESS
+AC 25000,25000,25000,25000,25000,25000,,25000;' SET ACELERATION
+DC 25000,25000,25000,25000,25000,25000,,25000;' SET DECELERATION
+SP 25000,25000,25000,25000,25000,25000,,25000;' SET SPEED
+SIA=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIB=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIC=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SID=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIF=1,25,13,0<-2>2;'HEIDENHAIN RCN425
+SIG=0,25,13,0<-2>2;'NOT USED
+SIH=1,25,13,0<-2>2;'HEIDENHAIN RCN425
+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
+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>50000)
+SPF=50000
+ENDIF
+NO IF (_SPG>50000) COMMENTED OUT, NOT USED
+NO SPG=50000
+NO ENDIF
+IF (_SPH>50000)
+SPH=50000
+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 ----------------------------------------
+#LIMSWI
+NO TE: LIMIT SWITCH ROUTINE WHICH SHORTENS DECEL TIME WHEN A LIMIT IS HIT
+OLDDCA=_DCA;' REMEMBERS CURRENT DECEL
+OLDDCB=_DCB
+OLDDCC=_DCC
+OLDDCD=_DCD
+OLDDCE=_DCE
+OLDDCF=_DCF
+NO OLDDCG=_DCG COMMENTED OUT, NOT USED
+OLDDCH=_DCH
+IF (_LFA = 0) | (_LRA = 0)
+DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STA
+ENDIF
+IF (_LFB = 0) | (_LRB = 0)
+DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STB
+ENDIF
+IF (_LFC = 0) | (_LRC = 0)
+DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STC
+ENDIF
+IF (_LFD = 0) | (_LRD = 0)
+DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STD
+ENDIF
+IF (_LFE = 0) | (_LRE = 0)
+DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STE
+ENDIF
+IF (_LFF = 0) | (_LRF = 0)
+DCF=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STF
+ENDIF
+IF (_LFG = 0) | (_LRG = 0)
+NO DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
+NO STG
+NO ENDIF
+IF (_LFH = 0) | (_LRH = 0)
+DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STH
+ENDIF
+AM ABCDEFGH;' AFTER ALL AXES STOPPED
+DCA=OLDDCA;' RESET DECEL TO OLD VALUE
+DCB=OLDDCB
+DCC=OLDDCC
+DCD=OLDDCD
+DCE=OLDDCE
+DCF=OLDDCF
+NO DCG=OLDDCG COMMENTED OUT, NOT USED
+DCH=OLDDCH
+RE
diff --git a/site_ansto/instrument/sans/DMC2280/controller4.txt b/site_ansto/instrument/sans/DMC2280/controller4.txt
new file mode 100644
index 00000000..a74c2014
--- /dev/null
+++ b/site_ansto/instrument/sans/DMC2280/controller4.txt
@@ -0,0 +1,138 @@
+NO TE: QUOKKA - CONTROLLER 4
+NO TE:
+NO TE: $Revision: 1.1 $
+NO TE: $Date: 2007-03-31 02:58:27 $
+NO TE: Author: Dan Bartlett
+NO TE: Last revision by: $Author: dbx $
+NO TE:
+NO TE: A-BEAM STOPS TRANSLATION - X (ACCROSS BEAM)
+NO TE: B-BEAM STOPS TRANSLATION - RAISE
+NO TE: C-BEAM STOP 1 (LARGEST DISK)
+NO TE: D-BEAM STOP 2
+NO TE: E-BEAM STOP 3
+NO TE: F-BEAM STOP 4
+NO TE: G-BEAM STOP 5 (SMALLEST DISK)
+NO TE: H-POLARISER
+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 137,157,202,72;' 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 25000,25000,25000,25000,25000,25000,25000,25000;' SET SPEED
+SIA=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIB=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIC=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SID=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIF=1,25,13,0<-2>2;'HEIDENHAIN RCN425
+SIG=1,25,13,0<-2>2;'HEIDENHAIN RCN425
+SIH=1,25,13,0<-2>2;'HEIDENHAIN RCN425
+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
+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>50000)
+SPF=50000
+ENDIF
+IF (_SPG>50000)
+SPG=50000
+ENDIF
+IF (_SPH>50000)
+SPH=50000
+ENDIF
+NO TE: CONTROLS THE BEAM STOPS RAISE ELECTRO-MECHANICAL BRAKE
+IF (_MOB=0)
+CB 9;' MOTOR ON = BRAKE ENERGISED = UNLOCKED
+ELSE
+SB 9;' MOTOR OFF = BRAKE DENERGISED = LOCKED
+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 ----------------------------------------
+#LIMSWI
+NO TE: LIMIT SWITCH ROUTINE WHICH SHORTENS DECEL TIME WHEN A LIMIT IS HIT
+OLDDCA=_DCA;' REMEMBERS CURRENT DECEL
+OLDDCB=_DCB
+OLDDCC=_DCC
+OLDDCD=_DCD
+OLDDCE=_DCE
+OLDDCF=_DCF
+OLDDCG=_DCG
+OLDDCH=_DCH
+IF (_LFA = 0) | (_LRA = 0)
+DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STA
+ENDIF
+IF (_LFB = 0) | (_LRB = 0)
+DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STB
+ENDIF
+IF (_LFC = 0) | (_LRC = 0)
+DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STC
+ENDIF
+IF (_LFD = 0) | (_LRD = 0)
+DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STD
+ENDIF
+IF (_LFE = 0) | (_LRE = 0)
+DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STE
+ENDIF
+IF (_LFF = 0) | (_LRF = 0)
+DCF=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STF
+ENDIF
+IF (_LFG = 0) | (_LRG = 0)
+DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STG
+ENDIF
+IF (_LFH = 0) | (_LRH = 0)
+DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STH
+ENDIF
+AM ABCDEFGH;' AFTER ALL AXES STOPPED
+DCA=OLDDCA;' RESET DECEL TO OLD VALUE
+DCB=OLDDCB
+DCC=OLDDCC
+DCD=OLDDCD
+DCE=OLDDCE
+DCF=OLDDCF
+DCG=OLDDCG
+DCH=OLDDCH
+RE