no message

r1415 | dbx | 2007-01-31 15:09:08 +1100 (Wed, 31 Jan 2007) | 2 lines

site_ansto/instrument/reflectometer/DMC2280/controller3.txt

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+NO TE: PLAYTPUS - CONTROLLER 3
+NO TE:
+NO TE: $Revision: 1.1 $
+NO TE: $Date: 2007-01-31 04:09:08 $
+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 S1 LEFT BLADE
+NO TE: B-SLIT S1 RIGHT BLADE
+NO TE: C-SLIT S1 TOP BLADE
+NO TE: D-SLIT S1 BOTTOM BLADE
+NO TE: E-SLIT S2 LEFT BLADE
+NO TE: F-SLIT S2 RIGHT BLADE
+NO TE: G-SLIT S2 TOP BLADE
+NO TE: H-SLIT S2 BOTTOM BLADE
+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 137,157,202,133;' CONFIGURES IP ADDRESS
+AC 60000,60000,60000,60000,60000,60000,60000,60000;' SET ACELERATION
+DC 60000,60000,60000,60000,60000,60000,60000,60000;' SET DECELERATION
+SP 30000,30000,30000,30000,30000,30000,30000,30000;' SET SPEED
+HOMERUN=0;' HOMING PROCEDURE HAS NOT BEEN RUN
+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>30000)
+SPA=30000
+ENDIF
+IF (_SPB>30000)
+SPB=30000
+ENDIF
+IF (_SPC>30000)
+SPC=30000
+ENDIF
+IF (_SPD>30000)
+SPD=30000
+ENDIF
+IF (_SPE>30000)
+SPE=30000
+ENDIF
+IF (_SPF>30000)
+SPF=30000
+ENDIF
+IF (_SPG>30000)
+SPG=30000
+ENDIF
+IF (_SPH>30000)
+SPH=30000
+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 ----------------------------------------
+#HOME
+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
+AM ABCDEFGH
+NO TE: DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH
+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 80000,80000,80000,80000,80000,80000,80000,80000
+BG
+AM ABCDEFGH
+JG -5000,-5000,-5000,-5000,-5000,-5000,-5000,-5000
+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
+HOMERUN=1;'HOMING PROCEDURE HAS BEEN RUN
+#ENDHOME
+EN