NEW CODE FOR KOWARI

r1688 | dbx | 2007-03-20 14:10:55 +1100 (Tue, 20 Mar 2007) | 2 lines

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 ----------------------------------------