NEW CODE FOR KOWARI
r1688 | dbx | 2007-03-20 14:10:55 +1100 (Tue, 20 Mar 2007) | 2 lines
This commit is contained in:
Dan Bartlett
committed by
Douglas Clowes
Douglas Clowes
parent
bc4813b4ba
commit
94f3ef8ce6
161
site_ansto/instrument/rsd/DMC2280/controller1.txt
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161
site_ansto/instrument/rsd/DMC2280/controller1.txt
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@@ -0,0 +1,161 @@
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NO TE: KOWARI - CONTROLLER 1
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NO TE:
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NO TE: $Revision: 1.1 $
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NO TE: $Date: 2007-03-20 03:10:55 $
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NO TE: Author: Dan Bartlett
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NO TE: Last revision by: $Author: dbx $
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NO TE:
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NO TE: A-MONOCHROMATOR UPPER TILT
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NO TE: B-MONOCHROMATOR LOWER TILT
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NO TE: C-MONOCHROMATOR UPPER TRANSLATION
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NO TE: D-MONOCHROMATOR LOWER TRANSLATION
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NO TE: E-MONOCHROMATOR ROTATION
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NO TE: F-FLIGHT TUBE ROTATION
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NO TE: G-SPARE
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NO TE: H-SPARE
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NO ----------------------------------------
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#AUTO
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NO TE: THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
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MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
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MO;' FIRST TIME MOTOR OFF
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CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
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II 8,,,0;' CONFIGURES THE 8TH INPUT TO ACTIVATE THE #ININT ROUTINE
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OP 65280;' SETS OUTPUTS 9-16 ON = RELAYS OFF
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IA 137,157,201,195;' CONFIGURES IP ADDRESS
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AC 25000,25000,25000,25000,25000,10000,,;' SET ACELERATION
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DC 25000,25000,25000,25000,25000,10000,,;' SET DECELERATION
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SP 25000,25000,25000,25000,50000,100000,,;' SET SPEED
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SIA=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SIB=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SIC=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SID=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SIF=1,25,25,0<-2>2;'HEIDENHAIN RCN226
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SIG=O,25,13,0<-2>2;'NOT USED
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SIH=O,25,13,0<-2>2;'NOT USED
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APDONE=0;' FIRST TIME THROUGH AIRPAD CONTROL NOT DONE
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JS #THREAD0
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EN
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NO ----------------------------------------
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#THREAD0
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NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
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NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
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IF (_SPA>50000)
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SPA=50000
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ENDIF
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IF (_SPB>50000)
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SPB=50000
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ENDIF
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IF (_SPC>50000)
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SPC=50000
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ENDIF
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IF (_SPD>50000)
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SPD=50000
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ENDIF
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IF (_SPE>50000)
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SPE=50000
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ENDIF
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IF (_SPF>100000)
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SPF=100000
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ENDIF
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IF (_SPG>50000)
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SPG=50000
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ENDIF
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IF (_SPH>50000)
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SPH=50000
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ENDIF
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NO TE: CONTROLS THE AIRPAD SOLENOID VALVES
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NO TE: THE APDONE BIT IS USED SO THAT THE CODE ONLY RUNS WHEN THE
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NO TE: STATE OF FTUBE CHANGES - THE DELAYS ARENT RUNNING EVERY CYCLE
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NO TE: IN THE 2ND IF, THE OFF-SOLENOIDS ARENT HELD ENERGISED IN CASE THE
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NO TE: VALVE MANUAL OVER RIDE IS NEEDED.
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IF (_MOF=0)&(APDONE=0);'REQUESTING FLIGHT TUBE BE MOVABLE
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WT500;' WAIT FOR MOTOR TO STABILISE
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SB 12;' DRIVE WHEEL UP-SOLENOID OFF
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CB 11;' DRIVE WHEEL DOWN-SOLENOID ON
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WT1000;' WAIT FOR DRIVE WHEEL TO LOWER
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SB 10;' SAMPLE STAGE AIR PAD OFF-SOLENOID OFF
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CB 9;' SAMPLE STAGE AIR PAD ON-SOLENOID ON
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APDONE=1
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ENDIF
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IF (_MOF=1)&(APDONE=1);'FLIGHT TUBE MOTION FINISHED
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SHF;' FOLLOWING STEPS MUST BE RUN BEFORE MOTOR CAN BE TURNED OFF
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WT1000;' WAIT FOR FLIGHT TUBE TO SETTLE
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SB 9;' SAMPLE STAGE AIR PAD ON-SOLENOID OFF
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CB 10;' SAMPLE STAGE AIR PAD OFF-SOLENOID ON
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WT500;
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SB 10;' SAMPLE STAGE AIR PAD OFF-SOLENOID OFF
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SB 11;' DRIVE WHEEL DOWN-SOLENOID OFF
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CB 12;' DRIVE WHEEL UP-SOLENOID ON
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WT500;' WAIT 1/2 SEC
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SB 12;' DRIVE WHEEL UP-SOLENOID OFF
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MOF;' TURN MOTOR OFF
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APDONE=0
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ENDIF
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JP #THREAD0
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EN
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NO ----------------------------------------
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#TCPERR
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NO TE: EMPTY ROUTINE FOR A TCP ERROR
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RE
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NO ----------------------------------------
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#ININT
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NO TE: INTERUPT ROUTINE TO STOP ALL AXES
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NO TE: WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
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STA,B,C,D,E,F,G,H
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AM
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MO
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RI
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NO ----------------------------------------
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#LIMSWI
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NO TE: LIMIT SWITCH ROUTINE WHICH SHORTENS DECEL TIME WHEN A LIMIT IS HIT
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OLDDCA=_DCA;' REMEMBERS CURRENT DECEL
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OLDDCB=_DCB
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OLDDCC=_DCC
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OLDDCD=_DCD
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OLDDCE=_DCE
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OLDDCF=_DCF
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NO OLDDCG=_DCG COMMENTED OUT, AXIS NOT IN USE
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NO OLDDCH=_DCH COMMENTED OUT, AXIS NOT IN USE
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IF (_LFA = 0) | (_LRA = 0)
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DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STA
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ENDIF
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IF (_LFB = 0) | (_LRB = 0)
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DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STB
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ENDIF
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IF (_LFC = 0) | (_LRC = 0)
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DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STC
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ENDIF
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IF (_LFD = 0) | (_LRD = 0)
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DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STD
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ENDIF
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IF (_LFE = 0) | (_LRE = 0)
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DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STE
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ENDIF
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IF (_LFF = 0) | (_LRF = 0)
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DCF=50000;' DECEL FOR LIMIT HIT OCCURENCE
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STF
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ENDIF
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NO IF (_LFG = 0) | (_LRG = 0) COMMENTED OUT, AXIS NOT IN USE
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NO DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
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NO STG
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NO ENDIF
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NO IF (_LFH = 0) | (_LRH = 0)
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NO DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
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NO STH
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NO ENDIF
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AM ABCDEF;' AFTER ALL AXES STOPPED
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DCA=OLDDCA;' RESET DECEL TO OLD VALUE
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DCB=OLDDCB
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DCC=OLDDCC
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DCD=OLDDCD
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DCE=OLDDCE
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DCF=OLDDCF
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NO DCG=OLDDCG COMMENTED OUT, AXIS NOT IN USE
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NO DCH=OLDDCH COMMENTED OUT, AXIS NOT IN USE
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RE
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146
site_ansto/instrument/rsd/DMC2280/controller2.txt
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146
site_ansto/instrument/rsd/DMC2280/controller2.txt
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@@ -0,0 +1,146 @@
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NO TE: KOWARI - CONTROLLER 2
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NO TE:
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NO TE: $Revision: 1.1 $
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NO TE: $Date: 2007-03-20 03:10:55 $
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NO TE: Author: Dan Bartlett
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NO TE: Last revision by: $Author: dbx $
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NO TE:
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NO TE: A-SAMPLE RAISE FIRST SECTION
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NO TE: B-SAMPLE RAISE SECOND SECTION
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NO TE: C-SAMPLE UPPER TRANSLATION
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NO TE: D-SAMPLE LOWER TRANSLATION
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NO TE: E-SAMPLE ROTATE
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NO TE: F-DETECTOR ROTATE
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NO TE: G-SPARE
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NO TE: H-SPARE
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NO ----------------------------------------
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#AUTO
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||||||
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NO TE: THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
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||||||
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MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
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MO;' FIRST TIME MOTOR OFF
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CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
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||||||
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II 8,,,0;' CONFIGURES THE 8TH INPUT TO ACTIVATE THE #ININT ROUTINE
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OP 65280;' SETS OUTPUTS 9-16 ON = RELAYS OFF
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IA 137,157,201,196;' CONFIGURES IP ADDRESS
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AC 25000,25000,25000,25000,25000,25000,,;' SET ACELERATION
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DC 25000,25000,25000,25000,25000,25000,,;' SET DECELERATION
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SP 25000,25000,25000,25000,25000,25000,,;' SET SPEED
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SIA=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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||||||
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SIB=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SIC=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SID=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SIF=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SIG=O,25,13,0<-2>2;'NOT USED
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SIH=O,25,13,0<-2>2;'NOT USED
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APDONE=0;' FIRST TIME THROUGH AIRPAD CONTROL NOT DONE
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JS #THREAD0
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EN
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NO ----------------------------------------
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#THREAD0
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NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
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NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
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IF (_SPA>50000)
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SPA=50000
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ENDIF
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IF (_SPB>50000)
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SPB=50000
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ENDIF
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IF (_SPC>50000)
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SPC=50000
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ENDIF
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IF (_SPD>50000)
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SPD=50000
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ENDIF
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IF (_SPE>50000)
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SPE=50000
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ENDIF
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IF (_SPF>100000)
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SPF=100000
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ENDIF
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IF (_SPG>50000)
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SPG=50000
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ENDIF
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IF (_SPH>50000)
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SPH=50000
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ENDIF
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NO TE: CONTROLS THE AIRPAD SOLENOID VALVES
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IF (_MOF=0);'DETECTOR ROTATE MOTOR IS ON
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SB 10;'DETECTOR AIR PAD OFF-SOLENOID OFF
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CB 9;'DETECTOR AIR PAD ON-SOLENOID ON
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APDONE=0
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ENDIF
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IF (_MOF=1)&(APDONE=0);'DETECTOR ROTATE MOTOR IS OFF
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SB 9;'DETECTOR AIR PAD ON-SOLENOID OFF
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CB 10;'DETECTOR AIR PAD OFF-SOLENOID ON
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WT500;'WAIT 1/2 SEC
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SB 10;'DETECTOR AIR PAD OFF-SOLENOID OFF
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APDONE=1
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ENDIF
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JP #THREAD0
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EN
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NO ----------------------------------------
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#TCPERR
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NO TE: EMPTY ROUTINE FOR A TCP ERROR
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RE
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NO ----------------------------------------
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#ININT
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NO TE: INTERUPT ROUTINE TO STOP ALL AXES
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||||||
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NO TE: WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
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||||||
|
STA,B,C,D,E,F,G,H
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||||||
|
AM
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||||||
|
MO
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||||||
|
RI
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||||||
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NO ----------------------------------------
|
||||||
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#LIMSWI
|
||||||
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NO TE: LIMIT SWITCH ROUTINE WHICH SHORTENS DECEL TIME WHEN A LIMIT IS HIT
|
||||||
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OLDDCA=_DCA;' REMEMBERS CURRENT DECEL
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OLDDCB=_DCB
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OLDDCC=_DCC
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OLDDCD=_DCD
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OLDDCE=_DCE
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OLDDCF=_DCF
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NO OLDDCG=_DCG COMMENTED OUT, AXIS NOT IN USE
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NO OLDDCH=_DCH COMMENTED OUT, AXIS NOT IN USE
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IF (_LFA = 0) | (_LRA = 0)
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||||||
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DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
|
||||||
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STA
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ENDIF
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IF (_LFB = 0) | (_LRB = 0)
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DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STB
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ENDIF
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IF (_LFC = 0) | (_LRC = 0)
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||||||
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DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
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||||||
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STC
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||||||
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ENDIF
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||||||
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IF (_LFD = 0) | (_LRD = 0)
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||||||
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DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
|
||||||
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STD
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||||||
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ENDIF
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||||||
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IF (_LFE = 0) | (_LRE = 0)
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||||||
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DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE
|
||||||
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STE
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||||||
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ENDIF
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IF (_LFF = 0) | (_LRF = 0)
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||||||
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DCF=50000;' DECEL FOR LIMIT HIT OCCURENCE
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||||||
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STF
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ENDIF
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||||||
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NO IF (_LFG = 0) | (_LRG = 0) COMMENTED OUT, AXIS NOT IN USE
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||||||
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NO DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
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||||||
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NO STG
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||||||
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NO ENDIF
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||||||
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NO IF (_LFH = 0) | (_LRH = 0)
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||||||
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NO DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
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||||||
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NO STH
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||||||
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NO ENDIF
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||||||
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AM ABCDEF;' AFTER ALL AXES STOPPED
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||||||
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DCA=OLDDCA;' RESET DECEL TO OLD VALUE
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||||||
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DCB=OLDDCB
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DCC=OLDDCC
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DCD=OLDDCD
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DCE=OLDDCE
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DCF=OLDDCF
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||||||
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NO DCG=OLDDCG COMMENTED OUT, AXIS NOT IN USE
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||||||
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NO DCH=OLDDCH COMMENTED OUT, AXIS NOT IN USE
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||||||
|
RE
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89
site_ansto/instrument/rsd/DMC2280/controller3.txt
Normal file
89
site_ansto/instrument/rsd/DMC2280/controller3.txt
Normal file
@@ -0,0 +1,89 @@
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NO TE: KOWARI - CONTROLLER 3
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NO TE:
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NO TE: $Revision: 1.1 $
|
||||||
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NO TE: $Date: 2007-03-20 03:10:55 $
|
||||||
|
NO TE: Author: Dan Bartlett
|
||||||
|
NO TE: Last revision by: $Author: dbx $
|
||||||
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NO TE:
|
||||||
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NO TE: A-MONOCHROMATOR FOCUS 1
|
||||||
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NO TE: B-MONOCHROMATOR FOCUS 1
|
||||||
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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 ----------------------------------------
|
||||||
132
site_ansto/instrument/rsd/DMC2280/controller4.txt
Normal file
132
site_ansto/instrument/rsd/DMC2280/controller4.txt
Normal file
@@ -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
|
||||||
Reference in New Issue
Block a user