added Lyrebird instrument config

r3038 | jgn | 2010-12-13 16:10:57 +1100 (Mon, 13 Dec 2010) | 1 line

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