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Uploaded Dan's new controller prog.

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r1222 | ffr | 2006-11-01 17:04:09 +1100 (Wed, 01 Nov 2006) | 2 lines
This commit is contained in:
Ferdi Franceschini
2006-11-01 17:04:09 +11:00
committed by Douglas Clowes
parent d382b49ecd
commit a78a97796c
3 changed files with 122 additions and 120 deletions
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87
site_ansto/instrument/hrpd/DMC2280/controller2.txt
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@@ -1,4 +1,10 @@
#AUTO
NO TE: $Revision: 1.2 $
NO TE: $Date: 2006-11-01 06:04:09 $
NO TE: Author: Dan Bartlett
NO TE: Limit switch HOME routine added by Ferdi Franceschini
NO TE: Last revision by: $Author: ffr $
NO TE:
NO TE: A-SAMPLE UPPER TILT (sphi) - TILT 1
NO TE: B-SAMPLE LOWER TILT (schi) - TILT 2
NO TE: C-SAMPLE UPPER TRANSLATION (sz:nexus, sx:KDL) - LINEAR 1
@@ -7,26 +13,28 @@ NO TE: E-SAMPLE ROTATION (som) - ROTATE
NO TE: F-DETECTOR ROTATE
NO TE: G-SPARE
NO TE: H-SPARE
MT-2,-2,-2,-2,-2,-2,-2,-2
MO
OP 65280
IA 137,157,201,67
CN 1
AC 25000,25000,25000,25000,25000,10000,25000,25000
DC 25000,25000,25000,25000,25000,10000,25000,25000
SP 25000,25000,25000,25000,25000,100000,25000,25000
SIA=1,25,13,0<-1>2
SIB=1,25,13,0<-1>2
SIC=1,25,13,0<-1>2
SID=1,25,13,0<-1>2
SIE=1,25,13,0<-1>2
SIF=1,25,25,0<-1>2
SIG=1,25,13,0<-1>2
SIH=1,25,13,0<-1>2
DONE=0
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 137,157,201,4;' CONFIGURES IP ADDRESS
AC 25000,25000,25000,25000,25000,15000,25000,25000;' SET ACELERATION
DC 25000,25000,25000,25000,25000,15000,25000,25000;' SET DECELERATION
SP 25000,25000,25000,25000,50000,150000,25000,25000;' SET SPEED
SIA=1,25,13,0<-1>2;'HEIDENHAIN ROQ425
SIB=1,25,13,0<-1>2;'HEIDENHAIN ROQ425
SIC=1,25,13,0<-1>2;'HEIDENHAIN ROQ425
SID=1,25,13,0<-1>2;'HEIDENHAIN ROQ425
SIE=1,25,13,0<-1>2;'HEIDENHAIN ROQ425
SIF=1,25,25,0<-1>2;'HEIDENHAIN RCN226
SIG=1,25,13,0<-1>2;'HEIDENHAIN ROQ425
SIH=1,25,13,0<-1>2;'HEIDENHAIN ROQ425
DONE=0;' FIRST TIME THROUGH AIRPAD CONTROL NOT DONE
JS #SOLCTRL
EN
#SOLCTRL
NO TE: CONTROLS THE AIRPAD SOLENOID VALVES
IF (_MOF=0);'DETECTOR MOTOR IS ON
SB 10;'DETECTOR AIR PAD OFF-SOLENOID OFF
CB 9;'DETECTOR AIR PAD ON-SOLENOID ON
@@ -35,16 +43,25 @@ ENDIF
IF (_MOF=1)&(DONE=0);'DETECTOR MOTOR IS OFF
SB 9;'DETECTOR AIR PAD ON-SOLENOID OFF
CB 10;'DETECTOR AIR PAD OFF-SOLENOID ON
WT500;'WAIT 0.5SEC
WT500;'WAIT 1/2 SEC
SB 10;'DETECTOR AIR PAD OFF-SOLENOID OFF
DONE=1
ENDIF
JP #SOLCTRL
EN
#TCPERR
NO TE: EMPTY ROUTINE FOR A TCP ERROR
RE
#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
#LIMSWI
OLDDCA=_DCA
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
@@ -53,60 +70,60 @@ OLDDCF=_DCF
OLDDCG=_DCG
OLDDCH=_DCH
IF (_LFA = 0) | (_LRA = 0)
DCA=100000
DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
STA
AMA
MOA
DCA=OLDDCA
DCA=OLDDCA;' RESET DECEL TO OLD VALUE
ENDIF
IF (_LFB = 0) | (_LRB = 0)
DCB=100000
DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE
STB
AMB
MOB
DCB=OLDDCB
DCB=OLDDCB;' RESET DECEL TO OLD VALUE
ENDIF
IF (_LFC = 0) | (_LRC = 0)
DCC=100000
DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
STC
AMC
MOC
DCC=OLDDCC
DCC=OLDDCC;' RESET DECEL TO OLD VALUE
ENDIF
IF (_LFD = 0) | (_LRD = 0)
DCD=100000
DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
STD
AMD
MOD
DCD=OLDDCD
DCD=OLDDCD;' RESET DECEL TO OLD VALUE
ENDIF
IF (_LFE = 0) | (_LRE = 0)
DCE=100000
DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE
STE
AME
MOE
DCE=OLDDCE
DCE=OLDDCE;' RESET DECEL TO OLD VALUE
ENDIF
IF (_LFF = 0) | (_LRF = 0)
DCF=30000
DCF=75000;' DECEL FOR LIMIT HIT OCCURENCE
STF
AMF
MOF
DCF=OLDDCF
DCF=OLDDCF;' RESET DECEL TO OLD VALUE
ENDIF
IF (_LFG = 0) | (_LRG = 0)
DCG=100000
DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
STG
AMG
MOG
DCG=OLDDCG
DCG=OLDDCG;' RESET DECEL TO OLD VALUE
ENDIF
IF (_LFH = 0) | (_LRH = 0)
DCH=100000
DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
STH
AMH
MOH
DCH=OLDDCH
DCH=OLDDCH;' RESET DECEL TO OLD VALUE
ENDIF
RE

71
site_ansto/instrument/hrpd/DMC2280/controller3.txt
View File

@@ -1,4 +1,10 @@
#AUTO
NO TE: $Revision: 1.4 $
NO TE: $Date: 2006-11-01 06:04:09 $
NO TE: Author: Dan Bartlett
NO TE: Limit switch HOME routine added by Ferdi Franceschini
NO TE: Last revision by: $Author: ffr $
NO TE:
NO TE: A-MONOCHROMATOR FOCUS
NO TE: B-SPARE
NO TE: C-SPARE
@@ -7,81 +13,88 @@ NO TE: E-SLIT 1 LEFT BLADE (ss1l)
NO TE: F-SLIT 1 RIGHT BLADE (ss1r)
NO TE: G-SLIT 1 TOP BLADE (ss1u)
NO TE: H-SLIT 1 BOTTOM BLADE (ss1d)
MT-2,-2,-2,-2,-2,-2,-2,-2
MO
CO 0
OP 65280
IA 137,157,201,68
CN 1
AC 25000,25000,25000,25000,10000,10000,10000,10000
DC 25000,25000,25000,25000,60000,60000,60000,60000
SP 25000,25000,25000,25000,30000,30000,30000,30000
HOMERUN=0
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 137,157,201,5;' CONFIGURES IP ADDRESS
AC 12500,,,,60000,60000,60000,60000;' SET ACELERATION
DC 12500,,,,60000,60000,60000,60000;' SET DECELERATION
SP 25000,,,,30000,30000,30000,30000;' SET SPEED
JS #HOME;' RUNS SLIT HOMING PROCEDURE AFTER CONTROLLER RESTART
JS #LOOPER;' RUNS THE LOOPING PROCEDURE
EN
#LOOPER
NO TE: ININT, LIMSWI ETC NEEDS A PROGRAM RUNNING TO WORK: JUST A LOOP
JP#LOOPER
EN
#RES
NO TE: PROCEDURE TO UPDATE THE RESOLVER FEEDBACK.
NO TE: MUST BE EXCUTED EACH TIME FOR AN UPDATE
SB1
CB1
AI31
IOBYTE1=_TI2
IOBYTE2=_TI3
IOBYTE2=(IOBYTE2&63)
IOBYTE2=(IOBYTE2*256)
FOCUS=(IOBYTE1+IOBYTE2)
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
FOCUS=(IOBYTE1+IOBYTE2);' ADD WORDS TOGETHER, READ FOCUS VARIABLE FOR DATA
SB1
EN
#TCPERR
NO TE: EMPTY ROUTINE FOR A TCP ERROR
RE
#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
#HOME
IF (HOMERUN = 1)
JP #ENDHOME
ENDIF
NOTE Move slit forward 10mm if it is against the reverse limit switch
NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF ((_TSE & 4) = 0)
SHE
PRE=200000
BGE
ENDIF
NOTE Move slit forward 10mm if it is against the reverse limit switch
NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF ((_TSF & 4) = 0)
SHF
PRF=200000
BGF
ENDIF
NOTE Move slit forward 10mm if it is against the reverse limit switch
NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF ((_TSG & 4) = 0)
SHG
PRG=200000
BGG
ENDIF
NOTE Move slit forward 10mm if it is against the reverse limit switch
NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF ((_TSH & 4) = 0)
SHH
PRH=200000
BGH
ENDIF
AMEFGH
NOTE Drive all slits into reverse limit switch
NO TE: DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH
SHEFGH
JG ,,,,-25000,-25000,-25000,-25000
BGEFGH
AMEFGH
NOTE Move away from switches by 2mm and drive back slowly
NO TE: MOVE AWAY FROM SWITCHES BY 2MM AND DRIVE BACK SLOWLY
PR ,,,,80000,80000,80000,80000
BGEFGH
AMEFGH
JG,,,,-5000,-5000,-5000,-5000
BGEFGH
AMEFGH
NOTE Move forward from switch by 2mm and set zero
NO TE: MOVE FORWARD FROM SWITCH BY 2MM AND SET ZERO
PR ,,,,40000,40000,40000,40000
BGEFGH
AMEFGH
DP ,,,,0,0,0,0
SP ,,,,30000,30000,30000,30000
HOMERUN=1
#ENDHOME
EN

84
site_ansto/instrument/hrpd/DMC2280/controller4.txt
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@@ -1,6 +1,6 @@
#AUTO
NO TE: $Revision: 1.4 $
NO TE: $Date: 2006-11-01 01:43:46 $
NO TE: $Revision: 1.5 $
NO TE: $Date: 2006-11-01 06:04:09 $
NO TE: Author: Dan Bartlett
NO TE: Limit switch HOME routine added by Ferdi Franceschini
NO TE: Last revision by: $Author: ffr $
@@ -9,107 +9,79 @@ NO TE: A-SPARE
NO TE: B-SPARE
NO TE: C-SPARE
NO TE: D-SPARE
NO TE: E-SLIT 2 LEFT BLADE (ss2l)
NO TE: F-SLIT 2 RIGHT BLADE (ss2r)
NO TE: G-SLIT 2 TOP BLADE (ss2u)
NO TE: H-SLIT 2 BOTTOM BLADE (ss2d)
NO TE: E-SLIT 1 LEFT BLADE (ss1l)
NO TE: F-SLIT 1 RIGHT BLADE (ss1r)
NO TE: G-SLIT 1 TOP BLADE (ss1u)
NO TE: H-SLIT 1 BOTTOM BLADE (ss1d)
MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
MO
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 137,157,201,6;' CONFIGURES IP ADDRESS
CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
AC 25000,25000,25000,25000,10000,10000,10000,10000
DC 25000,25000,25000,25000,40000,40000,40000,40000
SP 25000,25000,25000,25000,30000,30000,30000,30000
HOMERUN=0
AC ,,,,60000,60000,60000,60000;' SET ACELERATION
DC ,,,,60000,60000,60000,60000;' SET DECELERATION
SP ,,,,30000,30000,30000,30000;' SET SPEED
JS #HOME;' RUNS SLIT HOMING PROCEDURE AFTER CONTROLLER RESTART
JS #LOOPER;'RUNS THE LOOPING PROCEDURE
EN
#LOOPER
NO TE: ININT NEEDS A PROGRAM RUNNING TO WORK: JUST A LOOP
JP#LOOPER
EN
#TCPERR
NO TE: EMPTY ROUTINE FOR A TCP ERROR
RE
#ININT
STA,B,C,D,F,G,H
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
#LIMSWI
OLDDCA=_DCA
OLDDCB=_DCB
OLDDCC=_DCC
OLDDCD=_DCD
IF (_LFA = 0) | (_LRA = 0)
DCA=100000
STA
AMA
DCA=OLDDCA
ENDIF
IF (_LFB = 0) | (_LRB = 0)
DCB=100000
STB
AMB
DCB=OLDDCB
ENDIF
IF (_LFC = 0) | (_LRC = 0)
DCC=100000
STC
AMC
DCC=OLDDCC
ENDIF
IF (_LFD = 0) | (_LRD = 0)
DCD=100000
STD
AMD
DCD=OLDDCD
ENDIF
RE
#HOME
IF (HOMERUN = 1)
JP #ENDHOME
ENDIF
NOTE Move slit forward 10mm if it is against the reverse limit switch
NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF ((_TSE & 4) = 0)
SHE
PRE=200000
BGE
ENDIF
NOTE Move slit forward 10mm if it is against the reverse limit switch
NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF ((_TSF & 4) = 0)
SHF
PRF=200000
BGF
ENDIF
NOTE Move slit forward 10mm if it is against the reverse limit switch
NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF ((_TSG & 4) = 0)
SHG
PRG=200000
BGG
ENDIF
NOTE Move slit forward 10mm if it is against the reverse limit switch
NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
IF ((_TSH & 4) = 0)
SHH
PRH=200000
BGH
ENDIF
AMEFGH
NOTE Drive all slits into reverse limit switch
NO TE: DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH
SHEFGH
JG ,,,,-25000,-25000,-25000,-25000
BGEFGH
AMEFGH
NOTE Move away from switches by 2mm and drive back slowly
NO TE: MOVE AWAY FROM SWITCHES BY 2MM AND DRIVE BACK SLOWLY
PR ,,,,80000,80000,80000,80000
BGEFGH
AMEFGH
JG ,,,,-5000,-5000,-5000,-5000
JG,,,,-5000,-5000,-5000,-5000
BGEFGH
AMEFGH
NOTE Move forward from switch by 2mm and set zero
NO TE: MOVE FORWARD FROM SWITCH BY 2MM AND SET ZERO
PR ,,,,40000,40000,40000,40000
BGEFGH
AMEFGH
DP ,,,,0,0,0,0
SP ,,,,30000,30000,30000,30000
HOMERUN=1
#ENDHOME
EN