no message

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

site_ansto/instrument/reflectometer/DMC2280/controller1.txt

@@ -0,0 +1,139 @@
+NO TE: PLATYPUS - CONTROLLER 1
+NO TE:
+NO TE: $Revision: 1.1 $
+NO TE: $Date: 2007-01-31 04:09:08 $
+NO TE: Author: Dan Bartlett
+NO TE: Last revision by: $Author: dbx $
+NO TE:
+NO TE: A-BEAM SHADE RAISE
+NO TE: B-COLLIMATOR TRANSLATE
+NO TE: C-COLLIMATOR TILT
+NO TE: D-BEAM ATTENUATOR
+NO TE: E-SLIT TOWER S3 RAISE
+NO TE: F-SLIT TOWER S4 RAISE
+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 137,157,202,131;' CONFIGURES IP ADDRESS
+AC 25000,25000,25000,25000,25000,25000,,;' SET ACELERATION
+DC 25000,25000,25000,25000,25000,25000,,;' SET DECELERATION
+SP 50000,25000,25000,25000,75000,75000,,;' 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;'IVO
+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;'SPARE
+SIH=0,25,13,0<-2>2;'SPARE
+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
+NO IF (_SPG>50000) AXES NOT USED, COMMENTED OUT
+NO SPG=50000
+NO ENDIF
+NO IF (_SPH>50000)
+NO SPH=50000
+NO ENDIF
+NO TE: TO CONTROL THE BRAKE ON BEAM SHADE RAISE AXIS
+IF (_MOA=0);'BEAM SHADE RAISE MOTOR IS ON
+CB 9;'RELAY ON = BRAKE COIL ENERGISED = BRAKE DISENGAGED
+ENDIF
+IF (_MOA=1);'BEAM SHADE MOTOR IS OFF
+SB 9;'RELAY OFF = BRAKE COIL DE-ENERGISED = BRAKE ENGAGED
+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 AXES NOT USED
+NO OLDDCH=_DCH
+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=150000;' DECEL FOR LIMIT HIT OCCURENCE
+STE
+ENDIF
+IF (_LFF = 0) | (_LRF = 0)
+DCF=150000;' 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 AXES NOT USED
+NO DCH=OLDDCH
+RE

site_ansto/instrument/reflectometer/DMC2280/controller2.txt

@@ -0,0 +1,139 @@
+NO TE: PLATYPUS - CONTROLLER 2
+NO TE:
+NO TE: $Revision: 1.1 $
+NO TE: $Date: 2007-01-31 04:09:08 $
+NO TE: Author: Dan Bartlett
+NO TE: Last revision by: $Author: dbx $
+NO TE:
+NO TE: A-SAMPLE TILT 1
+NO TE: B-SAMPLE TILT 2
+NO TE: C-SAMPLE TRANSLATION - LINEAR
+NO TE: D-SPARE
+NO TE: E-SAMPLE RAISE
+NO TE: F-SPARE
+NO TE: G-DETECTOR RAISE
+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 137,157,202,132;' CONFIGURES IP ADDRESS
+AC 25000,25000,25000,,100000,,50000,;' SET ACELERATION
+DC 25000,25000,25000,,100000,,50000,;' SET DECELERATION
+SP 50000,50000,50000,,200000,,150000,;' 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=0,25,13,0<-2>2;'SPARE
+SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIF=0,25,13,0<-2>2;'SPARE
+SIG=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIH=0,25,13,0<-2>2;'SPARE
+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
+NO IF (_SPD>50000) AXIS NOT USED, COMMENTED OUT
+NO SPD=50000
+NO ENDIF
+IF (_SPE>200000)
+SPE=200000
+ENDIF
+NO IF (_SPF>100000) AXIS NOT USED, COMMENTED OUT
+NO SPF=100000
+NO ENDIF
+IF (_SPG>150000)
+SPG=150000
+ENDIF
+NO IF (_SPH>50000) AXIS NOT USED, COMMENTED OUT
+NO SPH=50000
+NO ENDIF
+NO TE: TO CONTROL THE BRAKE ON DETECTOR RAISE AXIS
+IF (_MOG=0);'DETECTOR RAISE MOTOR IS ON
+CB 15;'RELAY ON = BRAKE COIL ENERGISED = BRAKE DISENGAGED
+ENDIF
+IF (_MOG=1);'DETECTOR RAISE MOTOR IS OFF
+SB 15;'RELAY OFF = BRAKE COIL DE-ENERGISED = BRAKE ENGAGED
+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
+NO OLDDCD=_DCD AXIS NOT USED
+OLDDCE=_DCE
+NO OLDDCF=_DCF AXIS NOT USED
+OLDDCG=_DCG
+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
+NO IF (_LFD = 0) | (_LRD = 0) AXIS NOT USED, COMMENTED OUT
+NO DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
+NO STD
+NO ENDIF
+IF (_LFE = 0) | (_LRE = 0)
+DCE=150000;' DECEL FOR LIMIT HIT OCCURENCE
+STE
+ENDIF
+NO IF (_LFF = 0) | (_LRF = 0) AXIS NOT USED, COMMENTED OUT
+NO DCF=150000;' DECEL FOR LIMIT HIT OCCURENCE
+NO STF
+NO ENDIF
+IF (_LFG = 0) | (_LRG = 0)
+DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
+STG
+ENDIF
+NO IF (_LFH = 0) | (_LRH = 0) AXIS NOT USED, COMMENTED OUT
+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
+NO DCD=OLDDCD AXIS NOT USED
+DCE=OLDDCE
+NO DCF=OLDDCF AXIS NOT USED
+DCG=OLDDCG
+NO DCH=OLDDCH AXIS NOT USED
+RE

site_ansto/instrument/reflectometer/DMC2280/controller3.txt

@@ -0,0 +1,147 @@
+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

site_ansto/instrument/reflectometer/DMC2280/controller4.txt

@@ -0,0 +1,147 @@
+NO TE: PLAYTPUS - CONTROLLER 4
+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 S3 LEFT BLADE
+NO TE: B-SLIT S3 RIGHT BLADE
+NO TE: C-SLIT S3 TOP BLADE
+NO TE: D-SLIT S3 BOTTOM BLADE
+NO TE: E-SLIT S4 LEFT BLADE
+NO TE: F-SLIT S4 RIGHT BLADE
+NO TE: G-SLIT S4 TOP BLADE
+NO TE: H-SLIT S4 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 137,157,202,134;' 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