add Pelican

r3108 | jgn | 2011-04-20 12:29:55 +1000 (Wed, 20 Apr 2011) | 1 line

site_ansto/instrument/pelican/DMC2280/controller4.txt

@@ -0,0 +1,80 @@
+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 ----------------------------------------