Quokka motion controller files added

r1755 | dbx | 2007-03-31 12:58:27 +1000 (Sat, 31 Mar 2007) | 2 lines

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