From a78a97796c646eebb1836b79a687e1465bffa49a Mon Sep 17 00:00:00 2001
From: Ferdi Franceschini <ffr@ansto.gov.au>
Date: Wed, 1 Nov 2006 17:04:09 +1100
Subject: [PATCH] Uploaded Dan's new controller prog.

r1222 | ffr | 2006-11-01 17:04:09 +1100 (Wed, 01 Nov 2006) | 2 lines
---
 .../instrument/hrpd/DMC2280/controller2.txt   | 87 +++++++++++--------
 .../instrument/hrpd/DMC2280/controller3.txt   | 71 ++++++++-------
 .../instrument/hrpd/DMC2280/controller4.txt   | 84 ++++++------------
 3 files changed, 122 insertions(+), 120 deletions(-)

diff --git a/site_ansto/instrument/hrpd/DMC2280/controller2.txt b/site_ansto/instrument/hrpd/DMC2280/controller2.txt
index 7e7a9578..90bfceff 100644
--- a/site_ansto/instrument/hrpd/DMC2280/controller2.txt
+++ b/site_ansto/instrument/hrpd/DMC2280/controller2.txt
@@ -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
 
diff --git a/site_ansto/instrument/hrpd/DMC2280/controller3.txt b/site_ansto/instrument/hrpd/DMC2280/controller3.txt
index 4e5ac406..2439d4b4 100644
--- a/site_ansto/instrument/hrpd/DMC2280/controller3.txt
+++ b/site_ansto/instrument/hrpd/DMC2280/controller3.txt
@@ -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
 
 
diff --git a/site_ansto/instrument/hrpd/DMC2280/controller4.txt b/site_ansto/instrument/hrpd/DMC2280/controller4.txt
index c4a8fa23..50535d28 100644
--- a/site_ansto/instrument/hrpd/DMC2280/controller4.txt
+++ b/site_ansto/instrument/hrpd/DMC2280/controller4.txt
@@ -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
 
+