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

r1417 | dbx | 2007-01-31 17:44:50 +1100 (Wed, 31 Jan 2007) | 2 lines

site_ansto/instrument/reflectometer/DMC2280/controller4.txt

@@ -1,19 +1,18 @@
 NO TE: PLAYTPUS - CONTROLLER 4
 NO TE:
-NO TE: $Revision: 1.1 $
+NO TE: $Revision: 1.2 $
-NO TE: $Date: 2007-01-31 04:09:08 $
+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: A-SLIT S3 TOP BLADE
-NO TE: B-SLIT S3 RIGHT BLADE
+NO TE: B-SLIT S3 BOTTOM BLADE
-NO TE: C-SLIT S3 TOP BLADE
+NO TE: C-SLIT S3 WEST BLADE
-NO TE: D-SLIT S3 BOTTOM BLADE
+NO TE: D-SLIT S3 EAST BLADE
-NO TE: E-SLIT S4 LEFT BLADE
+NO TE: E-SLIT S4 TOP BLADE
-NO TE: F-SLIT S4 RIGHT BLADE
+NO TE: F-SLIT S4 BOTTOM BLADE
-NO TE: G-SLIT S4 TOP BLADE
+NO TE: G-SLIT S4 WEST BLADE
-NO TE: H-SLIT S4 BOTTOM 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
+JG -30000,-30000,-30000,-30000,-30000,-30000,-30000,-30000
-IF ((_TSA & 4) = 0)
+BG;' OPEN SLITS TO LIMITS
-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
 AM ABCDEFGH
-NO TE: DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH
+FE;' DRIVE TO THE HOME LIMIT AT FULL SPEED
-SH
-JG -25000,-25000,-25000,-25000,-25000,-25000,-25000,-25000
 BG
 AM ABCDEFGH
-NO TE: MOVE AWAY FROM SWITCHES BY 2MM AND DRIVE BACK SLOWLY
+PR -100625,-100625,-100625,-100625,-100625,-100625,-100625,-100625;' MOVE AWAY 5MM
-PR 80000,80000,80000,80000,80000,80000,80000,80000
 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
+DP 0,0,0,0,0,0,0,0;' DEFINE EACH AXIS POSTION AS 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
 HOMERUN=1;'HOMING PROCEDURE HAS BEEN RUN
 #ENDHOME
 EN