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resolver code fixed and tested

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r1546 | dbx | 2007-02-22 18:36:59 +1100 (Thu, 22 Feb 2007) | 2 lines
This commit is contained in:
Dan Bartlett
2007-02-22 18:36:59 +11:00
committed by Douglas Clowes
parent 9e0346f718
commit 66448923f1
1 changed files with 18 additions and 27 deletions
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45
site_ansto/instrument/hipd/DMC2280/controller3.txt
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@@ -1,7 +1,7 @@
NO TE: WOMBAT - CONTROLLER 3 NO TE: WOMBAT - CONTROLLER 3
NO TE: NO TE:
NO TE: $Revision: 1.2 $ NO TE: $Revision: 1.3 $
NO TE: $Date: 2007-01-31 03:39:19 $ NO TE: $Date: 2007-02-22 07:36:59 $
NO TE: Author: Dan Bartlett NO TE: Author: Dan Bartlett
NO TE: Limit switch HOME routine added by Ferdi Franceschini NO TE: Limit switch HOME routine added by Ferdi Franceschini
NO TE: Last revision by: $Author: dbx $ 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 MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
MO;' FIRST TIME MOTOR OFF MO;' FIRST TIME MOTOR OFF
CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS 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 II 8,,,0;' CONFIGURES THE 8TH INPUT TO ACTIVATE THE #ININT ROUTINE
IA 137,157,201,69;' CONFIGURES IP ADDRESS IA 137,157,201,69;' CONFIGURES IP ADDRESS
AC 12500,12500,,,60000,60000,60000,60000;' SET ACELERATION AC 1250,,,,60000,60000,60000,60000;' SET ACELERATION
DC 12500,12500,,,60000,60000,60000,60000;' SET DECELERATION DC 1250,,,,60000,60000,60000,60000;' SET DECELERATION
SP 25000,25000,,,30000,30000,30000,30000;' SET SPEED SP 2500,,,,30000,30000,30000,30000;' SET SPEED
HOMERUN=0;' HOMING PROCEDURE HAS NOT BEEN RUN HOMERUN=0;' HOMING PROCEDURE HAS NOT BEEN RUN
JS #THREAD0 JS #THREAD0
EN EN
@@ -56,30 +57,20 @@ ENDIF
IF (_SPH>30000) IF (_SPH>30000)
SPH=30000 SPH=30000
ENDIF 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 JP#THREAD0
EN EN
NO ---------------------------------------- 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 #TCPERR
NO TE: EMPTY ROUTINE FOR A TCP ERROR NO TE: EMPTY ROUTINE FOR A TCP ERROR
RE RE
@@ -141,4 +132,4 @@ DP ,,,,0,0,0,0
SP ,,,,30000,30000,30000,30000 SP ,,,,30000,30000,30000,30000
HOMERUN=1;'HOMING PROCEDURE HAS BEEN RUN HOMERUN=1;'HOMING PROCEDURE HAS BEEN RUN
#ENDHOME #ENDHOME
EN EN