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

r3275 | dcl | 2011-11-24 10:02:28 +1100 (Thu, 24 Nov 2011) | 1 line

site_ansto/instrument/tas/DMC2280/controller1.txt

@@ -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
+'SICS asks for a request before moving A axis (tube)
-'IF (REQA=1)&(REQB=1)
+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
+RSPA=1
-'RSPB=1
+'(if motor fault)
-'else(if motor fault)
 'RSPA=-1
-'RSPB=-1
+ENDIF
-'endif
+'if wedge shuffle routine has done,then SICS sends REQA=0
-'endif
+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
+POSA=DSTA
-ENDIF
-'after SICS resets REQ flags,then GALIL resets RSP flags
-IF (REQA=0)&(REQB=0)
-RSPA=0
-RSPB=0
-ENDIF
 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
 '+++++++++++++++++++++++++++++++++++++++++++++++++