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Burhan's WIP version 6.1 from 2007-10-25

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r3275 | dcl | 2011-11-24 10:02:28 +1100 (Thu, 24 Nov 2011) | 1 line
This commit is contained in:
Douglas Clowes
2011-11-24 10:02:28 +11:00
parent 66064554a8
commit 2fd7540445
1 changed files with 28 additions and 20 deletions
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48
site_ansto/instrument/tas/DMC2280/controller1.txt
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@@ -82,17 +82,19 @@ XQ #THREAD4,4
'EXECUTE THREAD 5---------------------------------
XQ #THREAD5,5
#LOOP
'SICS asks for a request before moving axes A and B
'IF (REQA=1)&(REQB=1)
'SICS asks for a request before moving A axis (tube)
IF (REQA=1)&(RSPA=0)
'controller checks if motor can be driven and wedges can be moved
'if motor can be driven and everything is ok
'RSPA=1
'RSPB=1
'else(if motor fault)
RSPA=1
'(if motor fault)
'RSPA=-1
'RSPB=-1
'endif
'endif
ENDIF
'if wedge shuffle routine has done,then SICS sends REQA=0
IF (REQA=0)&(RSPA=1)
'GALIL resets RSPA flag
RSPA=0
ENDIF
JP #LOOP
EN
'-----THREAD 0 ENDS-------------------------------------------------
@@ -100,7 +102,7 @@ EN
#THREAD1
#LOOP1
'if everything is ok
IF (RSPA=1)&(RSPB=1)
IF (REQA=1)&(RSPA=1)
'EXECUTING RECOVERY PROCEDURE IF WEDGE PATTERN IS (0,0)
IF (CNTLEFT=0)&(CNTRIGHT=0)
JS #WDG1CW
@@ -108,7 +110,7 @@ JS #RECLPUP,(LOST=0)
JS #RECRDOP,(LOST=0)
ELSE
'NORMAL ROUTINE -> MAIN DRIVE MOVES TO THE DESTINATION POSITION
JS #MOVEMD,(RUNA=1)&(RUNB=1)&(STOP=0)&(DONE=0)&(ERRORFLG=0)&(FBERROR=0)
JS #MOVEMD,(RUNA=1)&(STOP=0)&(DONE=0)&(ERRORFLG=0)&(FBERROR=0)
ENDIF
ENDIF
JP #LOOP1
@@ -220,7 +222,7 @@ ENDIF
EN
'SUBROUTINE "MOVEMD" BEGINS-------------------------
#MOVEMD
ERROR=_TPC - DSTB
ERROR=_TPC - DSTA
'IF MD HAS REACHED FINAL DESTINATION
IF @ABS[ERROR]<DEADBAND
'STOP MD
@@ -229,15 +231,8 @@ MC B
'IT INDICATES MD HAS REACHED FINAL DEST
DONE=1
'Wedge Shuffle Routine is complete
IF (CURPOS=DSTB)
RUNA=0
RUNB=0
ENDIF
'after SICS resets REQ flags,then GALIL resets RSP flags
IF (REQA=0)&(REQB=0)
RSPA=0
RSPB=0
ENDIF
POSA=DSTA
MG "WEDGE SHUFFLE ROUTINE HAS BEEN COMPLETED" {EB}
ELSE
MG "MD IS MOVING TO THE DESTINATION" {EB}
@@ -255,7 +250,7 @@ EN
JS #CKMDDIR
'DECIDE UNLATCH RANGE,LOCATION OF THE WEDGE LATCH
JS #PROCESS
'CKECK LEFT & RIGHT CAM SWITCH BEFORE MOVING WEDGE
'CHECK LEFT & RIGHT CAM SWITCH BEFORE MOVING WEDGE
JS #CKLSMD,(STOP=0)&(RECOVER=0)&(ERRORFLG=0)
'STOP MD WHEN MD IS WITHIN UNLATCH RANGE
JS #STOPMD,(OKFLG=1)
@@ -269,6 +264,7 @@ AT 500
REFPOS=_TPC
AT 1000
CURPOS=_TPC
POSA=_TPC
'IF MD MOVES CLOCKWISE THEN VARIABLE "DIR" IS '1'
IF CURPOS < REFPOS
DIR=1
@@ -372,6 +368,7 @@ EN
IF (DIR=0)&(@IN[1]=1)
OKFLG=0
ERRORFLG=1
'RUNA=-1
MG "ERROR.MD CCW" {EB}
MG "LEFT CAM LIM SWI SHOULDN'T BE ACTIVATED BEFORE MOVING A WDG" {EB}
ENDIF
@@ -380,6 +377,7 @@ ENDIF
IF (DIR=0)&(@IN[2]=0)&(_TPC >= ULMAX)
OKFLG=0
ERRORFLG=1
'RUNA=-1
MG "ERROR.MD CCW" {EB}
MG "MD PASSED UNLATCHED RANGE BUT RIGHT CAM LIM SWI ISN'T ACTIVATED" {EB}
ENDIF
@@ -391,6 +389,7 @@ ELSE
MG "ERROR.MD CCW.(0,3).RIGHT CAM LIM SWI ISN'T SUPPOSED TO CLICK" {EB}
OKFLG=0
ERRORFLG=1
'RUNA=-1
ENDIF
ENDIF
IF (DIR=0)&(@IN[2]=1)&(CNTLEFT=1)&(CNTRIGHT=2)
@@ -400,6 +399,7 @@ ELSE
MG "ERROR.MD CCW.(1,2).RIGHT CAM LIM SWI ISN'T SUPPOSED TO CLICK" {EB}
OKFLG=0
ERRORFLG=1
'RUNA=-1
ENDIF
ENDIF
IF (DIR=0)&(@IN[2]=1)&(CNTLEFT=2)&(CNTRIGHT=1)
@@ -409,6 +409,7 @@ ELSE
MG "ERROR.MD CCW.(2,1).RIGHT CAM LIM SWI ISN'T SUPPOSED TO CLICK" {EB}
OKFLG=0
ERRORFLG=1
'RUNA=-1
ENDIF
ENDIF
IF (DIR=0)&(@IN[2]=1)&(CNTLEFT=3)&(CNTRIGHT=0)
@@ -418,6 +419,7 @@ ELSE
MG "ERROR.MD CCW.(3,0).RIGHT CAM LIM SWI ISN'T SUPPOSED TO CLICK" {EB}
OKFLG=0
ERRORFLG=1
'RUNA=-1
ENDIF
ENDIF
'IF MD CCW AND RIGHT CAM LIM SWI IS ACTIVATED
@@ -454,6 +456,7 @@ MG "OK.MD CW.LATCH HITS RIGHT CAM LIM SWI" {EB}
ELSE
OKFLG=0
ERRORFLG=1
'RUNA=-1
MG "ERROR.MD CW.RIGHT CAM LIM SWI NOT SUPPOSED TO CLICK" {EB}
ENDIF
ENDIF
@@ -462,6 +465,7 @@ ENDIF
IF (DIR=1)&(@IN[1]=0)&(_TPC <= ULMAX)
OKFLG=0
ERRORFLG=1
'RUNA=-1
MG "ERROR.MAIN DRIVE CW" {EB}
MG "MD PASSED UNLATCH RANGE BUT LEFT CAM LIM SWI ISN'T ACTIVATED" {EB}
ENDIF
@@ -487,6 +491,7 @@ ENDIF
ELSE
OKFLG=0
ERRORFLG=1
'RUNA=-1
MG "ERROR.MD CW.LEFT CAM LIM SWI CLICKS OUTSIDE UNLATCH RANGE" {EB}
ENDIF
ENDIF
@@ -769,6 +774,7 @@ ST A
MC A
MG "ERROR.LEFT CAM LIMIT ACTIVATES OUTSIDE RANGE" {EB}
WDGCCW=0
'RUNA=-1
ENDIF
ENDIF
'======================================================================
@@ -783,6 +789,7 @@ ST A
MC A
MG "ERROR.RIGHT CAM LIMIT ACTIVATES OUTSIDE RANGE" {EB}
WDGCW=0
'RUNA=-1
ENDIF
ENDIF
'CHECK LEFT CAM LIM SWI AFTER PICK UP A WDG
@@ -792,6 +799,7 @@ ST A
MC A
MG "ERROR.LEFT CAM LIMIT NOT SUPPOSED TO CLICK AFTER ARM PICKS UP A WDG" {EB}
WDGCW=0
'RUNA=-1
ENDIF
ENDIF
'+++++++++++++++++++++++++++++++++++++++++++++++++