From 4b17ca99da3fece420e438263f12ca28a6091bf9 Mon Sep 17 00:00:00 2001
From: Douglas Clowes <dcl@ansto.gov.au>
Date: Mon, 14 Apr 2008 10:28:07 +1000
Subject: [PATCH] Bring into line with changes made on Echidna and Wombat

r2432 | dcl | 2008-04-14 10:28:07 +1000 (Mon, 14 Apr 2008) | 2 lines
---
 .../instrument/rsd/DMC2280/controller1.txt    | 429 +++++++++++++-----
 1 file changed, 321 insertions(+), 108 deletions(-)

diff --git a/site_ansto/instrument/rsd/DMC2280/controller1.txt b/site_ansto/instrument/rsd/DMC2280/controller1.txt
index 6e61f73e..64bf62f1 100644
--- a/site_ansto/instrument/rsd/DMC2280/controller1.txt
+++ b/site_ansto/instrument/rsd/DMC2280/controller1.txt
@@ -1,21 +1,25 @@
-NO TE: KOWARI - CONTROLLER 1
-NO TE: 
-NO TE: $Revision: 1.5 $
-NO TE: $Date: 2007-09-24 01:20:08 $
-NO TE: Author: Dan Bartlett
-NO TE: Last revision by: $Author: dbx $
-NO TE:
-NO TE: A-MONOCHROMATOR UPPER TILT
-NO TE: B-MONOCHROMATOR LOWER TILT
-NO TE: C-MONOCHROMATOR UPPER TRANSLATION
-NO TE: D-MONOCHROMATOR LOWER TRANSLATION
-NO TE: E-MONOCHROMATOR ROTATION
-NO TE: F-FLIGHT TUBE ROTATION
-NO TE: G-SPARE
-NO TE: H-SPARE
-NO ----------------------------------------
+' KOWARI - CONTROLLER 1
+'
+' $Revision: 1.6 $
+' $Date: 2008-04-14 00:28:07 $
+' Author: Dan Bartlett
+' Airpad control added by Doug Clowes
+' Last revision by: $Author: dcl $
+'
+' A-MONOCHROMATOR UPPER TILT
+' B-MONOCHROMATOR LOWER TILT
+' C-MONOCHROMATOR UPPER TRANSLATION
+' D-MONOCHROMATOR LOWER TRANSLATION
+' E-MONOCHROMATOR ROTATION
+' F-FLIGHT TUBE ROTATION
+' G-SPARE
+' H-SPARE
+'
+'
+'-----------------------------------------------------------------------
 #AUTO
-NO TE: THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
+' 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
@@ -33,15 +37,142 @@ SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
 SIF=1,25,25,0<-2>2;'HEIDENHAIN RCN226
 SIG=0,25,13,0<-2>2;'NOT USED
 SIH=0,25,13,0<-2>2;'NOT USED
-NO TE: FIRST TIME THROUGH AIRPAD CONTROL NOT DONE
+' FIRST TIME THROUGH RESET AIRPAD CONTROL
 REQF=0
 RSPF=0
+' FIRST TIME THROUGH RESET HALT CONTROL
+HLTA=0
+HLTB=0
+HLTC=0
+HLTD=0
+HLTE=0
+HLTF=0
+HLTG=0
+HLTH=0
+' FIRST TIME THROUGH RESET LIMIT CONTROL
+LSAHIT=0
+LSBHIT=0
+LSCHIT=0
+LSDHIT=0
+LSEHIT=0
+LSFHIT=0
+LSGHIT=0
+LSHHIT=0
 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
+' MAIN THREAD
+' THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
+'
+JS #CHKSPD
+JS #CHKDCEL
+JS #AIRPAD
+JP #THREAD0
+EN
+'
+'
+'-----------------------------------------------------------------------
+#CHKDCEL
+'ROUTINE TO RESET DECELERATION AFTER AN EMERGENCY STOP
+'
+IF (_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
+IF (LSAHIT=1);'WHEN MOTION STOPS AFTER A LIMIT HIT
+DCA=OLDDCA;' RESET DECEL TO OLD VALUE
+LSAHIT=0
+ENDIF
+IF (HLTA=1)
+HLTA=0
+ENDIF
+ENDIF
+'
+IF (_BGB=0)
+IF (LSBHIT=1)
+DCB=OLDDCB
+LSBHIT=0
+ENDIF
+IF (HLTB=1)
+HLTB=0
+ENDIF
+ENDIF
+'
+IF (_BGC=0)
+IF (LSCHIT=1)
+DCC=OLDDCC
+LSCHIT=0
+ENDIF
+IF (HLTC=1)
+HLTC=0
+ENDIF
+ENDIF
+'
+IF (_BGD=0)
+IF (LSDHIT=1)
+DCD=OLDDCD
+LSDHIT=0
+ENDIF
+IF (HLTD=1)
+HLTD=0
+ENDIF
+ENDIF
+'
+IF (_BGE=0)
+IF (LSEHIT=1)
+DCE=OLDDCE
+LSEHIT=0
+ENDIF
+IF (HLTE=1)
+HLTE=0
+ENDIF
+ENDIF
+'
+IF (_BGF=0)
+IF (LSFHIT=1)
+DCF=OLDDCF
+LSFHIT=0
+ENDIF
+IF (HLTF=1)
+HLTF=0
+ENDIF
+ENDIF
+'
+IF (_BGG=0)
+IF (LSGHIT=1)
+DCG=OLDDCG
+LSGHIT=0
+ENDIF
+IF (HLTG=1)
+HLTG=0
+ENDIF
+ENDIF
+'
+IF (_BGH=0)
+IF (LSHHIT=1)
+DCH=OLDDCH
+LSHHIT=0
+ENDIF
+IF (HLTH=1)
+HLTH=0
+ENDIF
+ENDIF
+'
+JS #SETDCEL,((HLTA=1)&(LSAHIT=0))
+JS #SETDCEL,((HLTB=1)&(LSBHIT=0))
+JS #SETDCEL,((HLTC=1)&(LSCHIT=0))
+JS #SETDCEL,((HLTD=1)&(LSDHIT=0))
+JS #SETDCEL,((HLTE=1)&(LSEHIT=0))
+JS #SETDCEL,((HLTF=1)&(LSFHIT=0))
+JS #SETDCEL,((HLTG=1)&(LSGHIT=0))
+JS #SETDCEL,((HLTH=1)&(LSHHIT=0))
+EN
+'
+'
+'-----------------------------------------------------------------------
+#CHKSPD
+' ROUTINE TO CHECK IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
+'
 IF (_SPA>50000)
 SPA=50000
 ENDIF
@@ -60,40 +191,185 @@ ENDIF
 IF (_SPF>100000)
 SPF=100000
 ENDIF
-NO IF (_SPG>50000) AXIS NOT USED
-NO SPG=50000
-NO ENDIF
-NO IF (_SPH>50000)
-NO SPH=50000
-NO ENDIF
-NO TE: CONTROLS THE AIRPAD SOLENOID VALVES
-NO TE: THIS BIT IS USED SO THAT THE CODE ONLY RUNS WHEN THE
-NO TE: IN THE 2ND IF, THE OFF-SOLENOIDS ARENT HELD ENERGISED IN CASE THE
-NO TE: VALVE MANUAL OVER RIDE IS NEEDED.
-IF (_MOF=0)&(RSPF=0);'FLIGHT TUBE MOTOR IS ON
+IF (_SPG>50000)
+SPG=50000
+ENDIF
+IF (_SPH>50000)
+SPH=50000
+ENDIF
+EN
+'
+'
+'-----------------------------------------------------------------------
+#TCPERR
+' EMPTY ROUTINE FOR A TCP ERROR
+'
+RE
+'
+'
+'-----------------------------------------------------------------------
+#CMDERR
+'ROUTINE TO HANDLE COMMAND ERRORS
+'
+ZS0
+EN1
+'
+'
+'-----------------------------------------------------------------------
+#ININT
+' INTERUPT ROUTINE TO STOP ALL AXES
+' WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
+'
+STA,B,C,D,E,F,G,H
+HLTA=1
+HLTB=1
+HLTC=1
+HLTD=1
+HLTE=1
+HLTF=1
+HLTG=1
+HLTH=1
+JS #SETDCEL
+RI
+'
+'
+'-----------------------------------------------------------------------
+#LIMSWI
+'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
+'
+JS #SETDCEL
+RE
+'
+'-----------------------------------------------------------------------
+#SETDCEL
+'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS
+'
+IF (_BGA=1)
+IF (((_SCA=2)&(_LFA=0))|((_SCA=3)&(_LRA=0))|(HLTA=1))
+STA
+IF (LSAHIT=0)
+OLDDCA=_DCA
+DCA=100000
+LSAHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGB=1)
+IF (((_SCB=2)&(_LFB=0))|((_SCB=3)&(_LRB=0))|(HLTB=1))
+STB
+IF (LSBHIT=0)
+OLDDCB=_DCB
+DCB=100000
+LSBHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGC=1)
+IF (((_SCC=2)&(_LFC=0))|((_SCC=3)&(_LRC=0))|(HLTC=1))
+STC
+IF (LSCHIT=0)
+OLDDCC=_DCC
+DCC=100000
+LSCHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGD=1)
+IF (((_SCD=2)&(_LFD=0))|((_SCD=3)&(_LRD=0))|(HLTD=1))
+STD
+IF (LSDHIT=0)
+OLDDCD=_DCD
+DCD=100000
+LSDHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGE=1)
+IF (((_SCE=2)&(_LFE=0))|((_SCE=3)&(_LRE=0))|(HLTE=1))
+STE
+IF (LSEHIT=0)
+OLDDCE=_DCE
+DCE=100000
+LSEHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGF=1)
+IF (((_SCF=2)&(_LFF=0))|((_SCF=3)&(_LRF=0))|(HLTF=1))
+STF
+IF (LSFHIT=0)
+OLDDCF=_DCF
+DCF=50000
+LSFHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGG=1)
+IF (((_SCG=2)&(_LFG=0))|((_SCG=3)&(_LRG=0))|(HLTG=1))
+STG
+IF (LSGHIT=0)
+OLDDCG=_DCG
+DCG=100000
+LSGHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+IF (_BGH=1)
+IF (((_SCH=2)&(_LFH=0))|((_SCH=3)&(_LRH=0))|(HLTH=1))
+STH
+IF (LSHHIT=0)
+OLDDCH=_DCH
+DCH=100000
+LSHHIT=1
+ENDIF
+ENDIF
+ENDIF
+'
+EN
+'
+'
+'-----------------------------------------------------------------------
+#AIRPAD
+' ROUTINE TO CONTROL THE AIRPADS
+' SET REQF=1 TO MAKE FLIGHT TUBE AVAILABLE FOR MOVE
+' THE RSPF BIT IS USED SO THAT THE CODE ONLY RUNS WHEN THE
+' STATE OF FTUBE CHANGES - THE DELAYS ARENT RUNNING EVERY CYCLE
+' IN THE 2ND IF, THE OFF-SOLENOIDS ARENT HELD ENERGISED IN CASE THE
+' VALVE MANUAL OVER RIDE IS NEEDED.
+'
+' FOLLOW SHF/MOF COMMANDS ENTERED MANUALLY
+IF (_MOF=0)&(RSPF=0);'FLIGHT TUBE MOTOR IS ON BUT AIR IS OFF
 REQF=1
 ENDIF
-IF (_MOF=1)&(RSPF=1);'FLIGHT TUBE MOTOR IS OFF
+IF (_MOF=1)&(RSPF=1);'FLIGHT TUBE MOTOR IS OFF BUT AIR IS ON
+SHF;' FOLLOWING STEPS MUST BE RUN BEFORE MOTOR CAN BE TURNED OFF
 REQF=0
 ENDIF
+'
 IF (REQF=1)&(RSPF=0);'REQUESTING FLIGHT TUBE BE MOVABLE
-SHF
+SHF;' TURN MOTOR ON
 WT500;' WAIT FOR MOTOR TO STABILISE
 SB 12;' DRIVE WHEEL UP-SOLENOID OFF
 CB 11;' DRIVE WHEEL DOWN-SOLENOID ON
 WT1000;' WAIT FOR DRIVE WHEEL TO LOWER
-SB 10;' SAMPLE STAGE AIR PAD OFF-SOLENOID OFF
-CB 9;' SAMPLE STAGE AIR PAD ON-SOLENOID ON
-WT500;
+SB 10;' AIR PAD OFF-SOLENOID OFF
+CB 9;' AIR PAD ON-SOLENOID ON
+WT1000;
 RSPF=1
 ENDIF
-IF (REQF=0)&(RSPF=1);'FLIGHT TUBE MOTION FINISHED
-SHF;' FOLLOWING STEPS MUST BE RUN BEFORE MOTOR CAN BE TURNED OFF
+IF (REQF=0)&(RSPF=1)&(_BGF=0);'FLIGHT TUBE MOTION FINISHED
 WT1000;' WAIT FOR FLIGHT TUBE TO SETTLE
-SB 9;' SAMPLE STAGE AIR PAD ON-SOLENOID OFF
-CB 10;' SAMPLE STAGE AIR PAD OFF-SOLENOID ON
+SB 9;' AIR PAD ON-SOLENOID OFF
+CB 10;' AIR PAD OFF-SOLENOID ON
 WT500;
-SB 10;' SAMPLE STAGE AIR PAD OFF-SOLENOID OFF
+SB 10;' AIR PAD OFF-SOLENOID OFF
 SB 11;' DRIVE WHEEL DOWN-SOLENOID OFF
 CB 12;' DRIVE WHEEL UP-SOLENOID ON
 WT500;' WAIT 1/2 SEC
@@ -101,70 +377,7 @@ SB 12;' DRIVE WHEEL UP-SOLENOID OFF
 MOF;' TURN MOTOR OFF
 RSPF=0
 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 ----------------------------------------
-#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
-NO OLDDCG=_DCG COMMENTED OUT, AXIS NOT IN USE
-NO OLDDCH=_DCH COMMENTED OUT, AXIS NOT IN USE
-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=100000;' DECEL FOR LIMIT HIT OCCURENCE
-STE
-ENDIF
-IF (_LFF = 0) | (_LRF = 0)
-DCF=50000;' DECEL FOR LIMIT HIT OCCURENCE
-STF
-ENDIF
-NO IF (_LFG = 0) | (_LRG = 0) COMMENTED OUT, AXIS NOT IN USE
-NO DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
-NO STG
-NO ENDIF
-NO IF (_LFH = 0) | (_LRH = 0)
-NO DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
-NO STH
-NO ENDIF
-AM ABCDEF;' AFTER ALL AXES STOPPED
-DCA=OLDDCA;' RESET DECEL TO OLD VALUE
-DCB=OLDDCB
-DCC=OLDDCC
-DCD=OLDDCD
-DCE=OLDDCE
-DCF=OLDDCF
-NO DCG=OLDDCG COMMENTED OUT, AXIS NOT IN USE
-NO DCH=OLDDCH COMMENTED OUT, AXIS NOT IN USE
-RE
+'
+'
+'-----------------------------------------------------------------------