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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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71
site_ansto/instrument/hrpd/DMC2280/controller3.txt
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@@ -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