From 94f3ef8ce6840a2f2636a95036d33646a67761c6 Mon Sep 17 00:00:00 2001
From: Dan Bartlett <dbx@ansto.gov.au>
Date: Tue, 20 Mar 2007 14:10:55 +1100
Subject: [PATCH] NEW CODE FOR KOWARI

r1688 | dbx | 2007-03-20 14:10:55 +1100 (Tue, 20 Mar 2007) | 2 lines
---
 .../instrument/rsd/DMC2280/controller1.txt    | 161 ++++++++++++++++++
 .../instrument/rsd/DMC2280/controller2.txt    | 146 ++++++++++++++++
 .../instrument/rsd/DMC2280/controller3.txt    |  89 ++++++++++
 .../instrument/rsd/DMC2280/controller4.txt    | 132 ++++++++++++++
 4 files changed, 528 insertions(+)
 create mode 100644 site_ansto/instrument/rsd/DMC2280/controller1.txt
 create mode 100644 site_ansto/instrument/rsd/DMC2280/controller2.txt
 create mode 100644 site_ansto/instrument/rsd/DMC2280/controller3.txt
 create mode 100644 site_ansto/instrument/rsd/DMC2280/controller4.txt

diff --git a/site_ansto/instrument/rsd/DMC2280/controller1.txt b/site_ansto/instrument/rsd/DMC2280/controller1.txt
new file mode 100644
index 00000000..c7fed817
--- /dev/null
+++ b/site_ansto/instrument/rsd/DMC2280/controller1.txt
@@ -0,0 +1,161 @@
+NO TE: KOWARI - CONTROLLER 1
+NO TE: 
+NO TE: $Revision: 1.1 $
+NO TE: $Date: 2007-03-20 03:10:55 $
+NO TE: Author: Dan Bartlett
+NO TE: Last revision by: $Author: dbx $
+NO TE:
+NO TE: A-MONOCHROMATOR UPPER TILT
+NO TE: B-MONOCHROMATOR LOWER TILT
+NO TE: C-MONOCHROMATOR UPPER TRANSLATION
+NO TE: D-MONOCHROMATOR LOWER TRANSLATION
+NO TE: E-MONOCHROMATOR ROTATION
+NO TE: F-FLIGHT TUBE ROTATION
+NO TE: G-SPARE
+NO TE: H-SPARE
+NO ----------------------------------------
+#AUTO
+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
+II 8,,,0;' CONFIGURES THE 8TH INPUT TO ACTIVATE THE #ININT ROUTINE
+OP 65280;' SETS OUTPUTS 9-16 ON = RELAYS OFF
+IA 137,157,201,195;' CONFIGURES IP ADDRESS
+AC 25000,25000,25000,25000,25000,10000,,;' SET ACELERATION
+DC 25000,25000,25000,25000,25000,10000,,;' SET DECELERATION
+SP 25000,25000,25000,25000,50000,100000,,;' SET SPEED
+SIA=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIB=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIC=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SID=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIF=1,25,25,0<-2>2;'HEIDENHAIN RCN226
+SIG=O,25,13,0<-2>2;'NOT USED
+SIH=O,25,13,0<-2>2;'NOT USED
+APDONE=0;' FIRST TIME THROUGH AIRPAD CONTROL NOT DONE
+JS #THREAD0
+EN
+NO ----------------------------------------
+#THREAD0
+NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
+NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
+IF (_SPA>50000)
+SPA=50000
+ENDIF
+IF (_SPB>50000)
+SPB=50000
+ENDIF
+IF (_SPC>50000)
+SPC=50000
+ENDIF
+IF (_SPD>50000)
+SPD=50000
+ENDIF
+IF (_SPE>50000)
+SPE=50000
+ENDIF
+IF (_SPF>100000)
+SPF=100000
+ENDIF
+IF (_SPG>50000)
+SPG=50000
+ENDIF
+IF (_SPH>50000)
+SPH=50000
+ENDIF
+NO TE: CONTROLS THE AIRPAD SOLENOID VALVES
+NO TE: THE APDONE BIT IS USED SO THAT THE CODE ONLY RUNS WHEN THE
+NO TE: STATE OF FTUBE CHANGES - THE DELAYS ARENT RUNNING EVERY CYCLE
+NO TE: IN THE 2ND IF, THE OFF-SOLENOIDS ARENT HELD ENERGISED IN CASE THE
+NO TE: VALVE MANUAL OVER RIDE IS NEEDED.
+IF (_MOF=0)&(APDONE=0);'REQUESTING FLIGHT TUBE BE MOVABLE
+WT500;' WAIT FOR MOTOR TO STABILISE
+SB 12;' DRIVE WHEEL UP-SOLENOID OFF
+CB 11;' DRIVE WHEEL DOWN-SOLENOID ON
+WT1000;' WAIT FOR DRIVE WHEEL TO LOWER
+SB 10;' SAMPLE STAGE AIR PAD OFF-SOLENOID OFF
+CB 9;' SAMPLE STAGE AIR PAD ON-SOLENOID ON
+APDONE=1
+ENDIF
+IF (_MOF=1)&(APDONE=1);'FLIGHT TUBE MOTION FINISHED
+SHF;' FOLLOWING STEPS MUST BE RUN BEFORE MOTOR CAN BE TURNED OFF
+WT1000;' WAIT FOR FLIGHT TUBE TO SETTLE
+SB 9;' SAMPLE STAGE AIR PAD ON-SOLENOID OFF
+CB 10;' SAMPLE STAGE AIR PAD OFF-SOLENOID ON
+WT500;
+SB 10;' SAMPLE STAGE AIR PAD OFF-SOLENOID OFF
+SB 11;' DRIVE WHEEL DOWN-SOLENOID OFF
+CB 12;' DRIVE WHEEL UP-SOLENOID ON
+WT500;' WAIT 1/2 SEC
+SB 12;' DRIVE WHEEL UP-SOLENOID OFF
+MOF;' TURN MOTOR OFF
+APDONE=0
+ENDIF
+JP #THREAD0
+EN
+NO ----------------------------------------
+#TCPERR
+NO TE: EMPTY ROUTINE FOR A TCP ERROR
+RE
+NO ----------------------------------------
+#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
+AM
+MO
+RI
+NO ----------------------------------------
+#LIMSWI
+NO TE: LIMIT SWITCH ROUTINE WHICH SHORTENS DECEL TIME WHEN A LIMIT IS HIT
+OLDDCA=_DCA;' REMEMBERS CURRENT DECEL
+OLDDCB=_DCB
+OLDDCC=_DCC
+OLDDCD=_DCD
+OLDDCE=_DCE
+OLDDCF=_DCF
+NO OLDDCG=_DCG COMMENTED OUT, AXIS NOT IN USE
+NO OLDDCH=_DCH COMMENTED OUT, AXIS NOT IN USE
+IF (_LFA = 0) | (_LRA = 0)
+DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STA
+ENDIF
+IF (_LFB = 0) | (_LRB = 0)
+DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STB
+ENDIF
+IF (_LFC = 0) | (_LRC = 0)
+DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STC
+ENDIF
+IF (_LFD = 0) | (_LRD = 0)
+DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STD
+ENDIF
+IF (_LFE = 0) | (_LRE = 0)
+DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STE
+ENDIF
+IF (_LFF = 0) | (_LRF = 0)
+DCF=50000;' DECEL FOR LIMIT HIT OCCURENCE
+STF
+ENDIF
+NO IF (_LFG = 0) | (_LRG = 0) COMMENTED OUT, AXIS NOT IN USE
+NO DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
+NO STG
+NO ENDIF
+NO IF (_LFH = 0) | (_LRH = 0)
+NO DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
+NO STH
+NO ENDIF
+AM ABCDEF;' AFTER ALL AXES STOPPED
+DCA=OLDDCA;' RESET DECEL TO OLD VALUE
+DCB=OLDDCB
+DCC=OLDDCC
+DCD=OLDDCD
+DCE=OLDDCE
+DCF=OLDDCF
+NO DCG=OLDDCG COMMENTED OUT, AXIS NOT IN USE
+NO DCH=OLDDCH COMMENTED OUT, AXIS NOT IN USE
+RE
\ No newline at end of file
diff --git a/site_ansto/instrument/rsd/DMC2280/controller2.txt b/site_ansto/instrument/rsd/DMC2280/controller2.txt
new file mode 100644
index 00000000..5a2c9d07
--- /dev/null
+++ b/site_ansto/instrument/rsd/DMC2280/controller2.txt
@@ -0,0 +1,146 @@
+NO TE: KOWARI - CONTROLLER 2
+NO TE: 
+NO TE: $Revision: 1.1 $
+NO TE: $Date: 2007-03-20 03:10:55 $
+NO TE: Author: Dan Bartlett
+NO TE: Last revision by: $Author: dbx $
+NO TE:
+NO TE: A-SAMPLE RAISE FIRST SECTION
+NO TE: B-SAMPLE RAISE SECOND SECTION
+NO TE: C-SAMPLE UPPER TRANSLATION
+NO TE: D-SAMPLE LOWER TRANSLATION
+NO TE: E-SAMPLE ROTATE
+NO TE: F-DETECTOR ROTATE
+NO TE: G-SPARE
+NO TE: H-SPARE
+NO ----------------------------------------
+#AUTO
+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
+II 8,,,0;' CONFIGURES THE 8TH INPUT TO ACTIVATE THE #ININT ROUTINE
+OP 65280;' SETS OUTPUTS 9-16 ON = RELAYS OFF
+IA 137,157,201,196;' CONFIGURES IP ADDRESS
+AC 25000,25000,25000,25000,25000,25000,,;' SET ACELERATION
+DC 25000,25000,25000,25000,25000,25000,,;' SET DECELERATION
+SP 25000,25000,25000,25000,25000,25000,,;' SET SPEED
+SIA=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIB=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIC=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SID=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIF=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIG=O,25,13,0<-2>2;'NOT USED
+SIH=O,25,13,0<-2>2;'NOT USED
+APDONE=0;' FIRST TIME THROUGH AIRPAD CONTROL NOT DONE
+JS #THREAD0
+EN
+NO ----------------------------------------
+#THREAD0
+NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
+NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
+IF (_SPA>50000)
+SPA=50000
+ENDIF
+IF (_SPB>50000)
+SPB=50000
+ENDIF
+IF (_SPC>50000)
+SPC=50000
+ENDIF
+IF (_SPD>50000)
+SPD=50000
+ENDIF
+IF (_SPE>50000)
+SPE=50000
+ENDIF
+IF (_SPF>100000)
+SPF=100000
+ENDIF
+IF (_SPG>50000)
+SPG=50000
+ENDIF
+IF (_SPH>50000)
+SPH=50000
+ENDIF
+NO TE: CONTROLS THE AIRPAD SOLENOID VALVES
+IF (_MOF=0);'DETECTOR ROTATE MOTOR IS ON
+SB 10;'DETECTOR AIR PAD OFF-SOLENOID OFF
+CB 9;'DETECTOR AIR PAD ON-SOLENOID ON
+APDONE=0
+ENDIF
+IF (_MOF=1)&(APDONE=0);'DETECTOR ROTATE MOTOR IS OFF
+SB 9;'DETECTOR AIR PAD ON-SOLENOID OFF
+CB 10;'DETECTOR AIR PAD OFF-SOLENOID ON
+WT500;'WAIT 1/2 SEC
+SB 10;'DETECTOR AIR PAD OFF-SOLENOID OFF
+APDONE=1
+ENDIF
+JP #THREAD0
+EN
+NO ----------------------------------------
+#TCPERR
+NO TE: EMPTY ROUTINE FOR A TCP ERROR
+RE
+NO ----------------------------------------
+#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
+AM
+MO
+RI
+NO ----------------------------------------
+#LIMSWI
+NO TE: LIMIT SWITCH ROUTINE WHICH SHORTENS DECEL TIME WHEN A LIMIT IS HIT
+OLDDCA=_DCA;' REMEMBERS CURRENT DECEL
+OLDDCB=_DCB
+OLDDCC=_DCC
+OLDDCD=_DCD
+OLDDCE=_DCE
+OLDDCF=_DCF
+NO OLDDCG=_DCG COMMENTED OUT, AXIS NOT IN USE
+NO OLDDCH=_DCH COMMENTED OUT, AXIS NOT IN USE
+IF (_LFA = 0) | (_LRA = 0)
+DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STA
+ENDIF
+IF (_LFB = 0) | (_LRB = 0)
+DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STB
+ENDIF
+IF (_LFC = 0) | (_LRC = 0)
+DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STC
+ENDIF
+IF (_LFD = 0) | (_LRD = 0)
+DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STD
+ENDIF
+IF (_LFE = 0) | (_LRE = 0)
+DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STE
+ENDIF
+IF (_LFF = 0) | (_LRF = 0)
+DCF=50000;' DECEL FOR LIMIT HIT OCCURENCE
+STF
+ENDIF
+NO IF (_LFG = 0) | (_LRG = 0) COMMENTED OUT, AXIS NOT IN USE
+NO DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
+NO STG
+NO ENDIF
+NO IF (_LFH = 0) | (_LRH = 0)
+NO DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
+NO STH
+NO ENDIF
+AM ABCDEF;' AFTER ALL AXES STOPPED
+DCA=OLDDCA;' RESET DECEL TO OLD VALUE
+DCB=OLDDCB
+DCC=OLDDCC
+DCD=OLDDCD
+DCE=OLDDCE
+DCF=OLDDCF
+NO DCG=OLDDCG COMMENTED OUT, AXIS NOT IN USE
+NO DCH=OLDDCH COMMENTED OUT, AXIS NOT IN USE
+RE
\ No newline at end of file
diff --git a/site_ansto/instrument/rsd/DMC2280/controller3.txt b/site_ansto/instrument/rsd/DMC2280/controller3.txt
new file mode 100644
index 00000000..23dafe97
--- /dev/null
+++ b/site_ansto/instrument/rsd/DMC2280/controller3.txt
@@ -0,0 +1,89 @@
+NO TE: KOWARI - CONTROLLER 3
+NO TE:
+NO TE: $Revision: 1.1 $
+NO TE: $Date: 2007-03-20 03:10:55 $
+NO TE: Author: Dan Bartlett
+NO TE: Last revision by: $Author: dbx $
+NO TE:
+NO TE: A-MONOCHROMATOR FOCUS 1
+NO TE: B-MONOCHROMATOR FOCUS 1
+NO TE: C-SPARE
+NO TE: D-SPARE
+NO TE: E-SPARE
+NO TE: F-SPARE
+NO TE: G-SPARE
+NO TE: H-SPARE
+NO ----------------------------------------
+#AUTO
+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
+II 8,,,0;' CONFIGURES THE 8TH INPUT TO ACTIVATE THE #ININT ROUTINE
+IA 137,157,201,197;' CONFIGURES IP ADDRESS
+AC 12500,12500,,,,,,;' SET ACELERATION
+DC 12500,12500,,,,,,;' SET DECELERATION
+SP 25000,25000,,,,,,;' SET SPEED
+JS #THREAD0
+EN
+NO ----------------------------------------
+#THREAD0
+NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
+NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
+IF (_SPA>25000)
+SPA=25000
+ENDIF
+IF (_SPB>25000) AXES NOT IN USE, COMMENTED OUT
+SPB=25000
+ENDIF
+NO IF (_SPC>50000)
+NO SPC=50000
+NO ENDIF
+NO IF (_SPD>50000)
+NO SPD=50000
+NO ENDIF
+NO IF (_SPE>30000)
+NO SPE=30000
+NO ENDIF
+NO IF (_SPF>30000)
+NO SPF=30000
+NO ENDIF
+NO IF (_SPG>30000)
+NO SPG=30000
+NO ENDIF
+NO IF (_SPH>30000)
+NO SPH=30000
+NO ENDIF
+NO TE: PROCEDURE TO UPDATE THE RESOLVER FEEDBACK.
+NO TE: RESOLVER NUMBER 1
+CB1;' OUTPUT WITH FALLING EDGE TO TRIGGER EMPIRE RESOLVER BOX
+AI31;' LOCK DATA
+IOBYTE1=_TI2;' LOAD FIRST WORD
+IOBYTE2=_TI3;' LOAD SECOND WORD
+IOBYTE2=(IOBYTE2&63);' MASK OUT XBUSY BIT
+IOBYTE2=(IOBYTE2*256);' SHIFT REMAINING BITS 8 POSITIONS TO RIGHT
+DEA=(IOBYTE1+IOBYTE2);' ADD WORDS TOGETHER, LOAD INTO DEA, USE TPA FOR VALUE
+NO TE: RESOLVER NUMBER 2
+CB2;' OUTPUT WITH FALLING EDGE TO TRIGGER EMPIRE RESOLVER BOX
+AI32;' LOCK DATA
+IOBYTE3=_TI4;' LOAD FIRST WORD
+IOBYTE4=_TI5;' LOAD SECOND WORD
+IOBYTE4=(IOBYTE4&63);' MASK OUT XBUSY BIT
+IOBYTE4=(IOBYTE4*256);' SHIFT REMAINING BITS 8 POSITIONS TO RIGHT
+DEB=(IOBYTE3+IOBYTE4);' ADD WORDS TOGETHER, LOAD INTO DEB, USE TPB FOR VALUE
+SB1
+JP#THREAD0
+EN
+NO ----------------------------------------
+#TCPERR
+NO TE: EMPTY ROUTINE FOR A TCP ERROR
+RE
+NO ----------------------------------------
+#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
+AM
+MO
+RI
+NO ----------------------------------------
\ No newline at end of file
diff --git a/site_ansto/instrument/rsd/DMC2280/controller4.txt b/site_ansto/instrument/rsd/DMC2280/controller4.txt
new file mode 100644
index 00000000..ff72274f
--- /dev/null
+++ b/site_ansto/instrument/rsd/DMC2280/controller4.txt
@@ -0,0 +1,132 @@
+NO TE: KOWARI - CONTROLLER 4
+NO TE:
+NO TE: $Revision: 1.1 $
+NO TE: $Date: 2007-03-20 03:10:55 $
+NO TE: Author: Dan Bartlett
+NO TE: Last revision by: $Author: dbx $
+NO TE:
+NO TE: A-PRE SAMPLE COLLIMATOR X TRANSLATION
+NO TE: B-PRE SAMPLE COLLIMATOR Y TRANSLATION
+NO TE: C-PRE SAMPLE COLLIMATOR WIDTH
+NO TE: D-POST SAMPLE COLLIMATOR X TRANSLATION
+NO TE: E-POST SAMPLE COLLIMATOR Y TRANSLATION
+NO TE: F-POST SAMPLE COLLIMATOR WIDTH
+NO TE: G-SPARE
+NO TE: H-SPARE
+NO ----------------------------------------
+#AUTO
+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
+II 8,,,0;' CONFIGURES THE 8TH INPUT TO ACTIVATE THE #ININT ROUTINE
+OP 65280;' SETS OUTPUTS 9-16 ON = RELAYS OFF
+IA 137,157,201,198;' CONFIGURES IP ADDRESS
+AC 25000,25000,25000,25000,25000,25000,,;' SET ACELERATION
+DC 25000,25000,25000,25000,25000,25000,,;' SET DECELERATION
+SP 25000,25000,25000,25000,25000,25000,,;' SET SPEED
+SIA=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIB=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIC=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SID=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIF=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIG=0,25,13,0<-2>2;'NOT USED
+SIH=0,25,13,0<-2>2;'NOT USED
+JS #THREAD0
+EN
+NO ----------------------------------------
+#THREAD0
+NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
+NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
+IF (_SPA>50000)
+SPA=50000
+ENDIF
+IF (_SPB>50000)
+SPB=50000
+ENDIF
+IF (_SPC>50000)
+SPC=50000
+ENDIF
+IF (_SPD>50000)
+SPD=50000
+ENDIF
+IF (_SPE>50000)
+SPE=50000
+ENDIF
+IF (_SPF>50000)
+SPF=50000
+ENDIF
+NO IF (_SPG>50000) AXES NOT USED, COMMENTED OUT
+NO SPG=50000
+NO ENDIF
+NO IF (_SPH>50000)
+NO SPH=50000
+NO ENDIF
+JP #THREAD0
+EN
+NO ----------------------------------------
+#TCPERR
+NO TE: EMPTY ROUTINE FOR A TCP ERROR
+RE
+NO ----------------------------------------
+#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
+AM
+MO
+RI
+NO ----------------------------------------
+#LIMSWI
+NO TE: LIMIT SWITCH ROUTINE WHICH SHORTENS DECEL TIME WHEN A LIMIT IS HIT
+OLDDCA=_DCA;' REMEMBERS CURRENT DECEL
+OLDDCB=_DCB
+OLDDCC=_DCC
+OLDDCD=_DCD
+OLDDCE=_DCE
+OLDDCF=_DCF
+NO OLDDCG=_DCG AXIS NOT USED
+NO OLDDCH=_DCH AXIS NOT USED
+IF (_LFA = 0) | (_LRA = 0)
+DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STA
+ENDIF
+IF (_LFB = 0) | (_LRB = 0)
+DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STB
+ENDIF
+IF (_LFC = 0) | (_LRC = 0)
+DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STC
+ENDIF
+IF (_LFD = 0) | (_LRD = 0)
+DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STD
+ENDIF
+IF (_LFE = 0) | (_LRE = 0)
+DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STE
+ENDIF
+IF (_LFF = 0) | (_LRF = 0)
+DCF=50000;' DECEL FOR LIMIT HIT OCCURENCE
+STF
+ENDIF
+NO IF (_LFG = 0) | (_LRG = 0) AXES NOT USED, COMMENTED OUT
+NO DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
+NO STG
+NO ENDIF
+NO IF (_LFH = 0) | (_LRH = 0)
+NO DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
+NO STH
+NO ENDIF
+AM ABCDEFGH;' AFTER ALL AXES STOPPED
+DCA=OLDDCA;' RESET DECEL TO OLD VALUE
+DCB=OLDDCB
+DCC=OLDDCC
+DCD=OLDDCD
+DCE=OLDDCE
+DCF=OLDDCF
+NO DCG=OLDDCG AXIS NOT USED
+NO DCH=OLDDCH AXIS NOT USED
+RE