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