added Lyrebird instrument config

r3038 | jgn | 2010-12-13 16:10:57 +1100 (Mon, 13 Dec 2010) | 1 line
2010-12-13 16:10:57 +11:00
parent a3d551c8bb
commit 28772f6ec2
53 changed files with 4451 additions and 3 deletions
--- a/site_ansto/instrument/lyrebird/DMC2280/README.txt
+++ b/site_ansto/instrument/lyrebird/DMC2280/README.txt
@@ -0,0 +1 @@
+Programs for the DMC2280 controllers.
--- a/site_ansto/instrument/lyrebird/DMC2280/controller1.txt
+++ b/site_ansto/instrument/lyrebird/DMC2280/controller1.txt
@@ -0,0 +1,168 @@
+NO TE: QUOKKA - CONTROLLER 1
+NO TE:
+NO TE: $Revision: 1.9 $
+NO TE: $Name: not supported by cvs2svn $
+NO TE: $Date: 2008-05-30 00:26:57 $
+NO TE: Author: Dan Bartlett
+NO TE: Last revision by: $Author: ffr $
+NO TE:
+NO TE: A-SAMPLE UPPER TILT
+NO TE: B-SAMPLE LOWER TILT
+NO TE: C-SAMPLE TRANSLATION X (ACROSS BEAM)
+NO TE: D-SAMPLE TRANSLATION Y (ALONG BEAM)
+NO TE: E-SAMPLE RAISE
+NO TE: F-SAMPLE ROTATE
+NO TE: G-DETECTOR Y (ALONG BEAM) PRG=25000*70/377*mm
+NO TE: H-DETECTOR X (ACCROSS 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 137,157,202,67;' CONFIGURES IP ADDRESS
+AC 25000,25000,25000,25000,100000,25000,50000,25000;' SET ACELERATION
+DC 25000,25000,25000,25000,100000,25000,50000,25000;' SET DECELERATION
+SP 25000,25000,25000,50000,200000,25000,200000,25000;' 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 ROQ425
+SIG=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIH=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+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>100000)
+SPD=100000
+ENDIF
+IF (_SPE>200000)
+SPE=200000
+ENDIF
+IF (_SPF>50000)
+SPF=50000
+ENDIF
+IF (_SPG>200000)
+SPG=200000
+ENDIF
+IF (_SPH>100000)
+SPH=100000
+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
+NO TE: CONTROLS THE FAST SHUTTER
+NO TE:
+NO TE: FAST SHUTTER MUST BE CLOSED WHEN DETECTOR Z AXIS ACTIVE
+NO TE: INPUT 13 = FAST SHUTTER OPEN
+NO TE: INPUT 14 = FAST SHUTTER CLOSED
+NO TE: INPUT 5 = ONE OR MORE BEAM STOPS RAISED (FROM CONTROLLER 4)
+IF (_MOG=1) & (@IN[5]=0)
+NO TE: DETECTOR Y INACTIVE AND ONE OR MORE BEAM STOPS UP
+CB 15;' ENERGISE FAST SHUTTER SOLENOID = SHUTTER OPEN
+ENDIF
+IF (_MOG=0)&(@IN[14])
+NO TE:  DETECTOR Y AXIS IS ACTIVE AND FAST SHUTTER NOT CLOSED
+SB15;' CLOSE FAST SHUTTER
+IF (_BGG=1)
+STG;' DETECTOR Y MOVING, COMMANDED TO STOP
+AMG;'WAIT UNTIL STOPPED
+ENDIF
+MOG;' TURN DETECTOR Y OFF UNTIL FAST SHUTTER IS CLOSED
+AI13;' WAIT FOR SHUTTER TO CLOSE
+IF (@IN[14]=0)
+NO TE: FAST SHUTTER IS CLOSED
+SHG
+ENDIF
+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 ----------------------------------------
+#CMDERR
+NO TE: THIS IS A ROUTINE TO HANDLE COMMAND ERRORS
+ZS0;' ZERO STACK
+EN1
+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=400000;' 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=200000;' 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
--- a/site_ansto/instrument/lyrebird/DMC2280/controller2.txt
+++ b/site_ansto/instrument/lyrebird/DMC2280/controller2.txt
@@ -0,0 +1,140 @@
+NO TE: QUOKKA - CONTROLLER 2
+NO TE:
+NO TE: $Revision: 1.6 $
+NO TE: $Name: not supported by cvs2svn $
+NO TE: $Date: 2008-05-30 00:26:57 $
+NO TE: Author: Dan Bartlett
+NO TE: Last revision by: $Author: ffr $
+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 TE:
+NO TE: +VE MOTOR MOVES ALL IN A WESTERLY DIRECTION
+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 137,157,202,68;' CONFIGURES IP ADDRESS
+AC 12500,12500,12500,12500,12500,12500,12500,12500;' SET ACELERATION
+DC 12500,12500,12500,12500,12500,12500,12500,12500;' 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 ROQ425
+SIG=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIH=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+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>25000)
+SPA=25000
+ENDIF
+IF (_SPB>25000)
+SPB=25000
+ENDIF
+IF (_SPC>25000)
+SPC=25000
+ENDIF
+IF (_SPD>25000)
+SPD=25000
+ENDIF
+IF (_SPE>25000)
+SPE=25000
+ENDIF
+IF (_SPF>25000)
+SPF=25000
+ENDIF
+IF (_SPG>25000)
+SPG=25000
+ENDIF
+IF (_SPH>25000)
+SPH=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 ----------------------------------------
+#CMDERR
+NO TE: THIS IS A ROUTINE TO HANDLE COMMAND ERRORS
+ZS0;' ZERO STACK
+EN1
+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=75000;' DECEL FOR LIMIT HIT OCCURENCE
+STA
+ENDIF
+IF (_LFB = 0) | (_LRB = 0)
+DCB=75000;' DECEL FOR LIMIT HIT OCCURENCE
+STB
+ENDIF
+IF (_LFC = 0) | (_LRC = 0)
+DCC=75000;' DECEL FOR LIMIT HIT OCCURENCE
+STC
+ENDIF
+IF (_LFD = 0) | (_LRD = 0)
+DCD=75000;' DECEL FOR LIMIT HIT OCCURENCE
+STD
+ENDIF
+IF (_LFE = 0) | (_LRE = 0)
+DCE=75000;' DECEL FOR LIMIT HIT OCCURENCE
+STE
+ENDIF
+IF (_LFF = 0) | (_LRF = 0)
+DCF=75000;' DECEL FOR LIMIT HIT OCCURENCE
+STF
+ENDIF
+IF (_LFG = 0) | (_LRG = 0)
+DCG=75000;' DECEL FOR LIMIT HIT OCCURENCE
+STG
+ENDIF
+IF (_LFH = 0) | (_LRH = 0)
+DCH=75000;' 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
--- a/site_ansto/instrument/lyrebird/DMC2280/controller3.txt
+++ b/site_ansto/instrument/lyrebird/DMC2280/controller3.txt
@@ -0,0 +1,140 @@
+NO TE: QUOKKA - CONTROLLER 3
+NO TE:
+NO TE: $Revision: 1.6 $
+NO TE: $Name: not supported by cvs2svn $
+NO TE: $Date: 2008-05-30 00:26:57 $
+NO TE: Author: Dan Bartlett
+NO TE: Last revision by: $Author: ffr $
+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-SPARE WITH 8 AMP AMPLIFIER
+NO TE: F-SPARE WITH 8 AMP AMPLIFIER
+NO TE: G-ROTARY ATTENUATOR
+NO TE: H-SPARE
+NO TE:
+NO TE: +VE MOTOR MOVES COLL. 9&10 IN A WESTERLY DIRECTION
+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 12500,12500,25000,25000,,,25000,;' SET ACELERATION
+DC 12500,12500,25000,25000,,,25000,;' SET DECELERATION
+SP 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=0,25,13,0<-2>2;'NOT USED
+SIF=0,25,13,0<-2>2;'NOT USED
+SIG=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIH=0,25,13,0<-2>2;'NOT USED
+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>25000)
+SPA=25000
+ENDIF
+IF (_SPB>25000)
+SPB=25000
+ENDIF
+IF (_SPC>50000)
+SPC=50000
+ENDIF
+IF (_SPD>50000)
+SPD=50000
+ENDIF
+NO IF (_SPE>50000)
+NO SPE=50000
+NO ENDIF
+NO IF (_SPF>50000)
+NO SPF=50000
+NO ENDIF
+IF (_SPG>50000)
+SPG=50000
+ENDIF
+NO IF (_SPH>50000)
+NO SPH=50000
+NO 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 ----------------------------------------
+#CMDERR
+NO TE: THIS IS A ROUTINE TO HANDLE COMMAND ERRORS
+ZS0;' ZERO STACK
+EN1
+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
+NO OLDDCE=_DCE
+NO OLDDCF=_DCF
+OLDDCG=_DCG
+NO OLDDCH=_DCH
+IF (_LFA = 0) | (_LRA = 0)
+DCA=75000;' DECEL FOR LIMIT HIT OCCURENCE
+STA
+ENDIF
+IF (_LFB = 0) | (_LRB = 0)
+DCB=75000;' 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
+NO IF (_LFE = 0) | (_LRE = 0)
+NO DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE
+NO STE
+NO ENDIF
+NO IF (_LFF = 0) | (_LRF = 0)
+NO DCF=100000;' DECEL FOR LIMIT HIT OCCURENCE
+NO STF
+NO ENDIF
+IF (_LFG = 0) | (_LRG = 0)
+DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STG
+ENDIF
+NO IF (_LFH = 0) | (_LRH = 0)
+NO DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
+NO STH
+ENDIF
+AM ABCDEFGH;' AFTER ALL AXES STOPPED
+DCA=OLDDCA;' RESET DECEL TO OLD VALUE
+DCB=OLDDCB
+DCC=OLDDCC
+DCD=OLDDCD
+NO DCE=OLDDCE
+NO DCF=OLDDCF
+DCG=OLDDCG
+NO DCH=OLDDCH
+RE
--- a/site_ansto/instrument/lyrebird/DMC2280/controller4.txt
+++ b/site_ansto/instrument/lyrebird/DMC2280/controller4.txt
@@ -0,0 +1,152 @@
+NO TE: QUOKKA - CONTROLLER 4
+NO TE:
+NO TE: $Revision: 1.8 $
+NO TE: $Name: not supported by cvs2svn $
+NO TE: $Date: 2008-05-30 00:26:57 $
+NO TE: Author: Dan Bartlett
+NO TE: Last revision by: $Author: ffr $
+NO TE:
+NO TE: A-BEAM STOPS TRANS. X (ACCROSS BEAM) +VE=WEST
+NO TE: B-BEAM STOPS TRANSLATION - RAISE
+NO TE: C-BEAM STOP 1 -VE=UP (LARGEST DISK)
+NO TE: D-BEAM STOP 2 -VE=UP
+NO TE: E-BEAM STOP 3 +VE=UP
+NO TE: F-BEAM STOP 4 -VE=UP
+NO TE: G-BEAM STOP 5 +VE=UP (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 137,157,202,70;' CONFIGURES IP ADDRESS
+AC 25000,100000,5000,15000,15000,15000,15000,25000;' SET ACELERATION
+DC 25000,100000,5000,15000,15000,15000,15000,25000;' SET DECELERATION
+SP 100000,100000,30000,40000,40000,40000,40000,25000;' SET SPEED
+SIA=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIB=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIC=0,25,13,0<-2>2;'NO ENCODER
+SID=0,25,13,0<-2>2;'NO ENCODER
+SIE=0,25,13,0<-2>2;'NO ENCODER
+SIF=0,25,13,0<-2>2;'NO ENCODER
+SIG=0,25,13,0<-2>2;'NO ENCODER
+SIH=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+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>100000)
+SPA=100000
+ENDIF
+IF (_SPB>100000)
+SPB=100000
+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 10;' MOTOR ON = BRAKE ENERGISED = UNLOCKED
+ELSE
+SB 10;' MOTOR OFF = BRAKE DENERGISED = LOCKED
+ENDIF
+NO TE:  SETS AN OUTPUT IF ONE OR MORE BEAM STOPS ARE FULLY RAISED
+NO TE: OUTPUT 5 ON IF ONE OR MORE BEAMS TOPS RAISED
+NO IF (_TSC&12=4)|(_TSD&12=4)|(_TSE&12=4)|(_TSF&12=4)|(_TSG&12=4)
+NO TE: IF ANY OF THE 5 BEAMSTOPS IS NOT DOWN AND UP THEN SET BIT 1 HIGH
+NO SB1
+NO ELSE
+NO CB1
+NO 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 ----------------------------------------
+#CMDERR
+NO TE: THIS IS A ROUTINE TO HANDLE COMMAND ERRORS
+ZS0;' ZERO STACK
+EN1
+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=200000;' 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