Quokka motion controller files added
r1755 | dbx | 2007-03-31 12:58:27 +1000 (Sat, 31 Mar 2007) | 2 lines
This commit is contained in:
Dan Bartlett
committed by
Douglas Clowes
Douglas Clowes
parent
db9a45ff1e
commit
210e61e1b8
138
site_ansto/instrument/sans/DMC2280/controller1.txt
Normal file
138
site_ansto/instrument/sans/DMC2280/controller1.txt
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@@ -0,0 +1,138 @@
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NO TE: QUOKKA - CONTROLLER 1
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NO TE:
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NO TE: $Revision: 1.1 $
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NO TE: $Date: 2007-03-31 02:58:27 $
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NO TE: Author: Dan Bartlett
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NO TE: Last revision by: $Author: dbx $
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NO TE:
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NO TE: A-SAMPLE UPPER TILT
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NO TE: B-SAMPLE LOWER TILT
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NO TE: C-SAMPLE TRANSLATION X (ALONG BEAM)
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NO TE: D-SAMPLE TRANSLATION Y (ACROSS BEAM)
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NO TE: E-SAMPLE RAISE
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NO TE: F-SAMPLE ROTATE
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NO TE: G-DETECTOR Y (ACROSS BEAM)
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NO TE: H-DETECTOR X (ALONG BEAM)
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NO ----------------------------------------
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#AUTO
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NO TE: THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
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MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
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MO;' FIRST TIME MOTOR OFF
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CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
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II 8,,,0;' CONFIGURES THE 8TH INPUT TO ACTIVATE THE #ININT ROUTINE
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OP 65280;' SETS OUTPUTS 9-16 ON = RELAYS OFF
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IA 137,157,202,69;' CONFIGURES IP ADDRESS
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AC 25000,25000,25000,25000,25000,25000,25000,25000;' SET ACELERATION
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DC 25000,25000,25000,25000,25000,25000,25000,25000;' SET DECELERATION
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SP 25000,25000,25000,25000,25000,25000,25000,25000;' SET SPEED
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SIA=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SIB=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SIC=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SID=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SIF=1,25,13,0<-2>2;'HEIDENHAIN RCN425
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SIG=1,25,13,0<-2>2;'HEIDENHAIN RCN425
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SIH=1,25,13,0<-2>2;'HEIDENHAIN RCN425
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JS #THREAD0
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EN
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NO ----------------------------------------
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#THREAD0
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NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
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NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
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IF (_SPA>50000)
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SPA=50000
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ENDIF
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IF (_SPB>50000)
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SPB=50000
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ENDIF
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IF (_SPC>50000)
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SPC=50000
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ENDIF
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IF (_SPD>50000)
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SPD=50000
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ENDIF
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IF (_SPE>50000)
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SPE=50000
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ENDIF
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IF (_SPF>50000)
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SPF=50000
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ENDIF
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IF (_SPG>50000)
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SPG=50000
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ENDIF
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IF (_SPH>50000)
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SPH=50000
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ENDIF
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NO TE: CONTROLS THE SAMPLE RAISE ELECTRO-MECHANICAL BRAKE
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IF (_MOE=0)
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CB 13;' MOTOR ON = BRAKE ENERGISED = UNLOCKED
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ELSE
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SB 13;' MOTOR OFF = BRAKE DENERGISED = LOCKED
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ENDIF
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JP #THREAD0
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EN
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NO ----------------------------------------
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#TCPERR
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NO TE: EMPTY ROUTINE FOR A TCP ERROR
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RE
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NO ----------------------------------------
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#ININT
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NO TE: INTERUPT ROUTINE TO STOP ALL AXES
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NO TE: WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
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STA,B,C,D,E,F,G,H
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AM
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MO
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RI
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NO ----------------------------------------
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#LIMSWI
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NO TE: LIMIT SWITCH ROUTINE WHICH SHORTENS DECEL TIME WHEN A LIMIT IS HIT
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OLDDCA=_DCA;' REMEMBERS CURRENT DECEL
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OLDDCB=_DCB
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OLDDCC=_DCC
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OLDDCD=_DCD
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OLDDCE=_DCE
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OLDDCF=_DCF
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OLDDCG=_DCG
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OLDDCH=_DCH
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IF (_LFA = 0) | (_LRA = 0)
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DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STA
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ENDIF
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IF (_LFB = 0) | (_LRB = 0)
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DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STB
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ENDIF
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IF (_LFC = 0) | (_LRC = 0)
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DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STC
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ENDIF
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IF (_LFD = 0) | (_LRD = 0)
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DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STD
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ENDIF
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IF (_LFE = 0) | (_LRE = 0)
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DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STE
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ENDIF
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IF (_LFF = 0) | (_LRF = 0)
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DCF=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STF
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ENDIF
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IF (_LFG = 0) | (_LRG = 0)
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DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STG
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ENDIF
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IF (_LFH = 0) | (_LRH = 0)
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DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STH
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ENDIF
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AM ABCDEFGH;' AFTER ALL AXES STOPPED
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DCA=OLDDCA;' RESET DECEL TO OLD VALUE
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DCB=OLDDCB
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DCC=OLDDCC
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DCD=OLDDCD
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DCE=OLDDCE
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DCF=OLDDCF
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DCG=OLDDCG
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DCH=OLDDCH
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RE
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132
site_ansto/instrument/sans/DMC2280/controller2.txt
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132
site_ansto/instrument/sans/DMC2280/controller2.txt
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@@ -0,0 +1,132 @@
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NO TE: QUOKKA - CONTROLLER 2
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NO TE:
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NO TE: $Revision: 1.1 $
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NO TE: $Date: 2007-03-31 02:58:27 $
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NO TE: Author: Dan Bartlett
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NO TE: Last revision by: $Author: dbx $
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NO TE:
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NO TE: A-COLLIMATION OPTICS - CHAMBER 1
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NO TE: B-COLLIMATION OPTICS - CHAMBER 2
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NO TE: C-COLLIMATION OPTICS - CHAMBER 3
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NO TE: D-COLLIMATION OPTICS - CHAMBER 4
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NO TE: E-COLLIMATION OPTICS - CHAMBER 5
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NO TE: F-COLLIMATION OPTICS - CHAMBER 6
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NO TE: G-COLLIMATION OPTICS - CHAMBER 7
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NO TE: H-COLLIMATION OPTICS - CHAMBER 8
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NO ----------------------------------------
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#AUTO
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NO TE: THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
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MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
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MO;' FIRST TIME MOTOR OFF
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CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
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II 8,,,0;' CONFIGURES THE 8TH INPUT TO ACTIVATE THE #ININT ROUTINE
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OP 65280;' SETS OUTPUTS 9-16 ON = RELAYS OFF
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IA 137,157,202,70;' CONFIGURES IP ADDRESS
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AC 25000,25000,25000,25000,25000,25000,25000,25000;' SET ACELERATION
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DC 25000,25000,25000,25000,25000,25000,25000,25000;' SET DECELERATION
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SP 25000,25000,25000,25000,25000,25000,25000,25000;' SET SPEED
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SIA=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SIB=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SIC=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SID=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SIF=1,25,13,0<-2>2;'HEIDENHAIN RCN425
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SIG=1,25,13,0<-2>2;'HEIDENHAIN RCN425
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SIH=1,25,13,0<-2>2;'HEIDENHAIN RCN425
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JS #THREAD0
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EN
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NO ----------------------------------------
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#THREAD0
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NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
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NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
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IF (_SPA>50000)
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SPA=50000
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ENDIF
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IF (_SPB>50000)
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SPB=50000
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ENDIF
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IF (_SPC>50000)
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SPC=50000
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ENDIF
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IF (_SPD>50000)
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SPD=50000
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ENDIF
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IF (_SPE>50000)
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SPE=50000
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ENDIF
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IF (_SPF>50000)
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SPF=50000
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ENDIF
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IF (_SPG>50000)
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SPG=50000
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ENDIF
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IF (_SPH>50000)
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SPH=50000
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ENDIF
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JP #THREAD0
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EN
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NO ----------------------------------------
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#TCPERR
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NO TE: EMPTY ROUTINE FOR A TCP ERROR
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RE
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NO ----------------------------------------
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#ININT
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NO TE: INTERUPT ROUTINE TO STOP ALL AXES
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NO TE: WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
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STA,B,C,D,E,F,G,H
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AM
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MO
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RI
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NO ----------------------------------------
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#LIMSWI
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NO TE: LIMIT SWITCH ROUTINE WHICH SHORTENS DECEL TIME WHEN A LIMIT IS HIT
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OLDDCA=_DCA;' REMEMBERS CURRENT DECEL
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OLDDCB=_DCB
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OLDDCC=_DCC
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OLDDCD=_DCD
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OLDDCE=_DCE
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OLDDCF=_DCF
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OLDDCG=_DCG
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OLDDCH=_DCH
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IF (_LFA = 0) | (_LRA = 0)
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DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STA
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ENDIF
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IF (_LFB = 0) | (_LRB = 0)
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DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STB
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ENDIF
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IF (_LFC = 0) | (_LRC = 0)
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DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STC
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ENDIF
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IF (_LFD = 0) | (_LRD = 0)
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DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STD
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ENDIF
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IF (_LFE = 0) | (_LRE = 0)
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DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STE
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ENDIF
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IF (_LFF = 0) | (_LRF = 0)
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DCF=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STF
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ENDIF
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IF (_LFG = 0) | (_LRG = 0)
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DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STG
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ENDIF
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IF (_LFH = 0) | (_LRH = 0)
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DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STH
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ENDIF
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AM ABCDEFGH;' AFTER ALL AXES STOPPED
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DCA=OLDDCA;' RESET DECEL TO OLD VALUE
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DCB=OLDDCB
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DCC=OLDDCC
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DCD=OLDDCD
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DCE=OLDDCE
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DCF=OLDDCF
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DCG=OLDDCG
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DCH=OLDDCH
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RE
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132
site_ansto/instrument/sans/DMC2280/controller3.txt
Normal file
132
site_ansto/instrument/sans/DMC2280/controller3.txt
Normal file
@@ -0,0 +1,132 @@
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NO TE: QUOKKA - CONTROLLER 3
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||||||
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NO TE:
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||||||
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NO TE: $Revision: 1.1 $
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||||||
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NO TE: $Date: 2007-03-31 02:58:27 $
|
||||||
|
NO TE: Author: Dan Bartlett
|
||||||
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NO TE: Last revision by: $Author: dbx $
|
||||||
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NO TE:
|
||||||
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NO TE: A-COLLIMATION OPTICS - CHAMBER 9
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||||||
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NO TE: B-COLLIMATION OPTICS - CHAMBER 10
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||||||
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NO TE: C-SOURCE END CHAMBER - PENTAPRISM
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NO TE: D-SOURCE END CHAMBER - SRC APERTURES
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NO TE: E-SAMPLE END CHAMBER - X APETURE
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||||||
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NO TE: F-SAMPLE END CHAMBER - Y APETURE
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||||||
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NO TE: G-SPARE
|
||||||
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NO TE: H-ROTARY ATTENUATOR
|
||||||
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NO ----------------------------------------
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||||||
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#AUTO
|
||||||
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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
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||||||
|
SIG=0,25,13,0<-2>2;'NOT USED
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||||||
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SIH=1,25,13,0<-2>2;'HEIDENHAIN RCN425
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||||||
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JS #THREAD0
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||||||
|
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
|
||||||
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ENDIF
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||||||
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IF (_SPB>50000)
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||||||
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SPB=50000
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||||||
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ENDIF
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||||||
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IF (_SPC>50000)
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SPC=50000
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||||||
|
ENDIF
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||||||
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IF (_SPD>50000)
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||||||
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SPD=50000
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||||||
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ENDIF
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||||||
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IF (_SPE>50000)
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SPE=50000
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ENDIF
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IF (_SPF>50000)
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SPF=50000
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ENDIF
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||||||
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NO IF (_SPG>50000) COMMENTED OUT, NOT USED
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NO SPG=50000
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NO ENDIF
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IF (_SPH>50000)
|
||||||
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SPH=50000
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ENDIF
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||||||
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JP #THREAD0
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||||||
|
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
|
||||||
138
site_ansto/instrument/sans/DMC2280/controller4.txt
Normal file
138
site_ansto/instrument/sans/DMC2280/controller4.txt
Normal file
@@ -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
|
||||||
Reference in New Issue
Block a user