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SLIT HOMING ROUTINE RE-WRITTEN TO UTILISE HIGH REPEATABILITY HOME LIMIT SWITCHES

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r1417 | dbx | 2007-01-31 17:44:50 +1100 (Wed, 31 Jan 2007) | 2 lines
This commit is contained in:
Dan Bartlett
2007-01-31 17:44:50 +11:00
committed by Douglas Clowes
parent ed154ca659
commit 730e977ddf
1 changed files with 20 additions and 71 deletions
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91
site_ansto/instrument/reflectometer/DMC2280/controller4.txt
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@@ -1,19 +1,18 @@
NO TE: PLAYTPUS - CONTROLLER 4
NO TE:
NO TE: $Revision: 1.1 $
NO TE: $Date: 2007-01-31 04:09:08 $
NO TE: $Revision: 1.2 $
NO TE: $Date: 2007-01-31 06:44:50 $
NO TE: Author: Dan Bartlett
NO TE: Limit switch HOME routine added by Ferdi Franceschini
NO TE: Last revision by: $Author: dbx $
NO TE:
NO TE: A-SLIT S3 LEFT BLADE
NO TE: B-SLIT S3 RIGHT BLADE
NO TE: C-SLIT S3 TOP BLADE
NO TE: D-SLIT S3 BOTTOM BLADE
NO TE: E-SLIT S4 LEFT BLADE
NO TE: F-SLIT S4 RIGHT BLADE
NO TE: G-SLIT S4 TOP BLADE
NO TE: H-SLIT S4 BOTTOM BLADE
NO TE: A-SLIT S3 TOP BLADE
NO TE: B-SLIT S3 BOTTOM BLADE
NO TE: C-SLIT S3 WEST BLADE
NO TE: D-SLIT S3 EAST BLADE
NO TE: E-SLIT S4 TOP BLADE
NO TE: F-SLIT S4 BOTTOM BLADE
NO TE: G-SLIT S4 WEST BLADE
NO TE: H-SLIT S4 EAST BLADE
NO ----------------------------------------
#AUTO
NO TE: THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
@@ -72,76 +71,26 @@ MO
RI
NO ----------------------------------------
#HOME
NO TE: THIS ROUTINE HOMES THE SLITS.
NO TE: IT USES THE HIGH REPEATABILITY HOME LIMIT SWITCH ON THE PLATYPUS SLITS
NO TE: IT WILL NOT WORK WITH OTHER SLIT PACKAGES WITHOUT THE HOME LIMITS
IF (HOMERUN = 1)
JP #ENDHOME
ENDIF
NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF ((_TSA & 4) = 0)
SHA
PRA=200000
BGA
ENDIF
NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF ((_TSB & 4) = 0)
SHB
PRB=200000
BGB
ENDIF
NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF ((_TSC & 4) = 0)
SHC
PRC=200000
BGC
ENDIF
NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF ((_TSD & 4) = 0)
SHD
PRD=200000
BGD
ENDIF
NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF ((_TSE & 4) = 0)
SHE
PRE=200000
BGE
ENDIF
NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF ((_TSF & 4) = 0)
SHF
PRF=200000
BGF
ENDIF
NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF ((_TSG & 4) = 0)
SHG
PRG=200000
BGG
ENDIF
NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF ((_TSH & 4) = 0)
SHH
PRH=200000
BGH
ENDIF
JG -30000,-30000,-30000,-30000,-30000,-30000,-30000,-30000
BG;' OPEN SLITS TO LIMITS
AM ABCDEFGH
NO TE: DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH
SH
JG -25000,-25000,-25000,-25000,-25000,-25000,-25000,-25000
FE;' DRIVE TO THE HOME LIMIT AT FULL SPEED
BG
AM ABCDEFGH
NO TE: MOVE AWAY FROM SWITCHES BY 2MM AND DRIVE BACK SLOWLY
PR 80000,80000,80000,80000,80000,80000,80000,80000
PR -100625,-100625,-100625,-100625,-100625,-100625,-100625,-100625;' MOVE AWAY 5MM
BG
AM ABCDEFGH
JG -5000,-5000,-5000,-5000,-5000,-5000,-5000,-5000
SP 7500,7500,7500,7500,7500,7500,7500,7500;' REDUCE SPEED
FE;' DRIVE TO HOME LIMIT AT LOW SPEED
BG
AM ABCDEFGH
NO TE: MOVE FORWARD FROM SWITCH BY 2MM AND SET ZERO
PR 40000,40000,40000,40000,40000,40000,40000,40000
BG
AM ABCDEFGH
DP 0,0,0,0,0,0,0,0
SP 30000,30000,30000,30000,30000,30000,30000,30000
DP 0,0,0,0,0,0,0,0;' DEFINE EACH AXIS POSTION AS ZERO
HOMERUN=1;'HOMING PROCEDURE HAS BEEN RUN
#ENDHOME
EN