From 66448923f10c4dd1e8c6497e4e5e10f9dcdae804 Mon Sep 17 00:00:00 2001
From: Dan Bartlett <dbx@ansto.gov.au>
Date: Thu, 22 Feb 2007 18:36:59 +1100
Subject: [PATCH] resolver code fixed and tested

r1546 | dbx | 2007-02-22 18:36:59 +1100 (Thu, 22 Feb 2007) | 2 lines
---
 .../instrument/hipd/DMC2280/controller3.txt   | 45 ++++++++-----------
 1 file changed, 18 insertions(+), 27 deletions(-)

diff --git a/site_ansto/instrument/hipd/DMC2280/controller3.txt b/site_ansto/instrument/hipd/DMC2280/controller3.txt
index 0b306410..ae64154e 100644
--- a/site_ansto/instrument/hipd/DMC2280/controller3.txt
+++ b/site_ansto/instrument/hipd/DMC2280/controller3.txt
@@ -1,7 +1,7 @@
 NO TE: WOMBAT - CONTROLLER 3
 NO TE:
-NO TE: $Revision: 1.2 $
-NO TE: $Date: 2007-01-31 03:39:19 $
+NO TE: $Revision: 1.3 $
+NO TE: $Date: 2007-02-22 07:36:59 $
 NO TE: Author: Dan Bartlett
 NO TE: Limit switch HOME routine added by Ferdi Franceschini
 NO TE: Last revision by: $Author: dbx $
@@ -20,11 +20,12 @@ 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
+CO 0;' CONFIGURES EXTENDED IO AS INPUTS
 II 8,,,0;' CONFIGURES THE 8TH INPUT TO ACTIVATE THE #ININT ROUTINE
 IA 137,157,201,69;' CONFIGURES IP ADDRESS
-AC 12500,12500,,,60000,60000,60000,60000;' SET ACELERATION
-DC 12500,12500,,,60000,60000,60000,60000;' SET DECELERATION
-SP 25000,25000,,,30000,30000,30000,30000;' SET SPEED
+AC 1250,,,,60000,60000,60000,60000;' SET ACELERATION
+DC 1250,,,,60000,60000,60000,60000;' SET DECELERATION
+SP 2500,,,,30000,30000,30000,30000;' SET SPEED
 HOMERUN=0;' HOMING PROCEDURE HAS NOT BEEN RUN
 JS #THREAD0
 EN
@@ -56,30 +57,20 @@ ENDIF
 IF (_SPH>30000)
 SPH=30000
 ENDIF
+NO TE: THIS FOLLOWING CODE UPDATES THE RESOLVER DATA
+NO TE: AND LOADS IT INTO TPA WITH THE DEA= COMMAND
+SB1;' DRIVE INHIBIT BIT HIGH
+CB1;' DRIVE INHIBIT BIT LOW TO LOCK DATA
+AI31;' WAIT FOR XBUSY BIT 
+IOBYTE1=_TI2;' LOAD FIRST BYTE OF DATA
+IOBYTE2=_TI3;' LOAD SECOND BYTE OF DATA
+IOBYTE2=(IOBYTE2&63);' MASK OUT XBUSY AND UNUSED BITS
+IOBYTE2=(IOBYTE2*256);' SHIFT REMAINING BITS 8 BITS
+DEA=(IOBYTE1+IOBYTE2);' ADD BYTES TOGETHER AND LOAD INTO DEA
+SB1;' DRIVE INHIBIT HIGH
 JP#THREAD0
 EN
 NO ----------------------------------------
-#RES
-SB1
-CB1
-AI31
-IOBYTE1=_TI2
-IOBYTE2=_TI3
-IOBYTE2=(IOBYTE2&63)
-IOBYTE2=(IOBYTE2*256)
-FOCUS1=(IOBYTE1+IOBYTE2)
-SB1
-SB2
-CB2
-AI31
-IOBYTE3=_TI4
-IOBYTE4=_TI5
-IOBYTE4=(IOBYTE2&63)
-IOBYTE4=(IOBYTE2*256)
-FOCUS2=(IOBYTE3+IOBYTE4)
-SB2
-EN
-NO ----------------------------------------
 #TCPERR
 NO TE: EMPTY ROUTINE FOR A TCP ERROR
 RE
@@ -141,4 +132,4 @@ DP ,,,,0,0,0,0
 SP ,,,,30000,30000,30000,30000
 HOMERUN=1;'HOMING PROCEDURE HAS BEEN RUN
 #ENDHOME
-EN
\ No newline at end of file
+EN