Interim iteration
r2383 | dcl | 2008-03-05 15:25:32 +1100 (Wed, 05 Mar 2008) | 2 lines
This commit is contained in:
Douglas Clowes
@@ -1,21 +1,25 @@
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NO TE: WOMBAT - CONTROLLER 1
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NO TE:
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NO TE: $Revision: 1.7 $
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NO TE: $Date: 2007-05-03 06:52:51 $
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NO TE: Author: Dan Bartlett
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NO TE: Last revision by: $Author: dbx $
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NO TE:
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NO TE: A-MONOCHROMATOR UPPER TILT - TILT 1
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NO TE: B-MONOCHROMATOR LOWER TILT - TILT 2
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NO TE: C-MONOCHROMATOR UPPER TRANSLATION - LINEAR 1
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NO TE: D-MONOCHROMATOR LOWER TRANSLATION - LINEAR 2
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NO TE: E-MONOCHROMATOR ROTATION - ROTATE
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NO TE: F-FLIGHT TUBE ROTATE
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NO TE: G-SPARE
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NO TE: H-SPARE
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NO ----------------------------------------
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' WOMBAT - CONTROLLER 1
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'
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' $Revision: 1.8 $
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' $Date: 2008-03-05 04:25:02 $
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' Author: Dan Bartlett
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' Airpad control added by Doug Clowes
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' Last revision by: $Author: dcl $
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'
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' A-MONOCHROMATOR UPPER TILT
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' B-MONOCHROMATOR LOWER TILT
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' C-MONOCHROMATOR UPPER TRANSLATION
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' D-MONOCHROMATOR LOWER TRANSLATION
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' E-MONOCHROMATOR ROTATION
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' F-FLIGHT TUBE ROTATION
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' G-SPARE
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' H-SPARE
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'
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'
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'-----------------------------------------------------------------------
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#AUTO
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NO TE: THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
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' THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
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'
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MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
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MO;' FIRST TIME MOTOR OFF
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CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
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@@ -33,14 +37,171 @@ SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SIF=1,25,25,0<-2>2;'HEIDENHAIN RCN226
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SIG=0,25,13,0<-2>2;'NOT USED
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SIH=0,25,13,0<-2>2;'NOT USED
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APDONE=0;' FIRST TIME THROUGH AIRPAD CONTROL NOT DONE
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FTUBE=0;' FLIGHT TUBE OFF
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' FIRST TIME THROUGH RESET AIRPAD CONTROL
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REQF=0
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RSPF=0
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' FIRST TIME THROUGH RESET HALT CONTROL
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HLTA=0
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HLTB=0
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HLTC=0
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HLTD=0
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HLTE=0
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HLTF=0
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' HLTG=0
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' HLTH=0
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' FIRST TIME THROUGH RESET LIMIT CONTROL
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LSAHIT=0
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LSBHIT=0
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LSCHIT=0
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LSDHIT=0
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LSEHIT=0
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LSFHIT=0
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' LSGHIT=0
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' LSHHIT=0
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JS #THREAD0
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EN
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NO ----------------------------------------
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'
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'
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'-----------------------------------------------------------------------
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#THREAD0
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NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
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NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
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' MAIN THREAD
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' THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
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'
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JS #CHKDCEL
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JS #AIRPAD
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JS #CHKSPD
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JP #THREAD0
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EN
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'
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'
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'-----------------------------------------------------------------------
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#CHKDCEL
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'ROUTINE TO CHECK DECELERATION AFTER A LIMIT HIT
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'
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IF (LSAHIT=1)&(_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
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DCA=OLDDCA;' RESET DECEL TO OLD VALUE
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IF (HLTA=1)
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MOA
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HLTA=0
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ENDIF
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LSAHIT=0
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ENDIF
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IF (LSBHIT=1)&(_BGB=0)
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DCB=OLDDCB
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IF (HLTB=1)
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MOB
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HLTB=0
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ENDIF
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LSBHIT=0
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ENDIF
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IF (LSCHIT=1)&(_BGC=0)
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DCC=OLDDCC
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IF (HLTC=1)
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MOC
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HLTC=0
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ENDIF
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LSCHIT=0
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ENDIF
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IF (LSDHIT=1)&(_BGD=0)
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DCD=OLDDCD
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IF (HLTD=1)
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MOD
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HLTD=0
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ENDIF
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LSDHIT=0
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ENDIF
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IF (LSEHIT=1)&(_BGE=0)
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DCE=OLDDCE
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IF (HLTE=1)
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MOE
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HLTE=0
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ENDIF
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LSEHIT=0
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ENDIF
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IF (LSFHIT=1)&(_BGF=0)
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DCF=OLDDCF
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IF (HLTF=1)
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MOF
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HLTF=0
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ENDIF;'
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LSFHIT=0
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ENDIF
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' IF (LSGHIT=1)&(_BGG=0)
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' DCG=OLDDCG
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' IF (HLTG=1)
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' MOG
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' HLTG=0
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' ENDIF
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' LSGHIT=0
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' ENDIF
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' IF (LSHHIT=1)&(_BGH=0)
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' DCH=OLDDCH
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' IF (HLTH=1)
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' MOH
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' HLTH=0
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' ENDIF
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' LSHHIT=0
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' ENDIF
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JS #SETDCEL,((HLTA=1)&(LSAHIT=0))
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JS #SETDCEL,((HLTB=1)&(LSBHIT=0))
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JS #SETDCEL,((HLTC=1)&(LSCHIT=0))
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JS #SETDCEL,((HLTD=1)&(LSDHIT=0))
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JS #SETDCEL,((HLTE=1)&(LSEHIT=0))
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JS #SETDCEL,((HLTF=1)&(LSFHIT=0))
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' JS #SETDCEL,((HLTG=1)&(LSGHIT=0))
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' JS #SETDCEL,((HLTH=1)&(LSHHIT=0))
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EN
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'
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'
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'-----------------------------------------------------------------------
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#AIRPAD
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' ROUTINE TO CONTROL THE AIRPADS
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' SET REQF=1 TO MAKE FLIGHT TUBE AVAILABLE FOR MOVE
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' THE RSPF BIT IS USED SO THAT THE CODE ONLY RUNS WHEN THE
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' STATE OF FTUBE CHANGES - THE DELAYS ARENT RUNNING EVERY CYCLE
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' IN THE 2ND IF, THE OFF-SOLENOIDS ARENT HELD ENERGISED IN CASE THE
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' VALVE MANUAL OVER RIDE IS NEEDED.
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'
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' FOLLOW SHF/MOF COMMANDS ENTERED MANUALLY
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IF (_MOF=0)&(RSPF=0);'FLIGHT TUBE MOTOR IS ON BUT AIR IS OFF
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REQF=1
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ENDIF
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IF (_MOF=1)&(RSPF=1);'FLIGHT TUBE MOTOR IS OFF BUT AIR IS ON
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SHF;' FOLLOWING STEPS MUST BE RUN BEFORE MOTOR CAN BE TURNED OFF
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REQF=0
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ENDIF
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'
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IF (REQF=1)&(RSPF=0);'REQUESTING FLIGHT TUBE BE MOVABLE
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SHF;' TURN MOTOR ON
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WT500;' WAIT FOR MOTOR TO STABILISE
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SB 12;' DRIVE WHEEL UP-SOLENOID OFF
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CB 11;' DRIVE WHEEL DOWN-SOLENOID ON
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WT1000;' WAIT FOR DRIVE WHEEL TO LOWER
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SB 10;' SAMPLE STAGE AIR PAD OFF-SOLENOID OFF
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CB 9;' SAMPLE STAGE AIR PAD ON-SOLENOID ON
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WT1000;
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RSPF=1
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ENDIF
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IF (REQF=0)&(RSPF=1);'FLIGHT TUBE MOTION FINISHED
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WT1000;' WAIT FOR FLIGHT TUBE TO SETTLE
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SB 9;' SAMPLE STAGE AIR PAD ON-SOLENOID OFF
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CB 10;' SAMPLE STAGE AIR PAD OFF-SOLENOID ON
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WT500;
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SB 10;' SAMPLE STAGE AIR PAD OFF-SOLENOID OFF
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SB 11;' DRIVE WHEEL DOWN-SOLENOID OFF
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CB 12;' DRIVE WHEEL UP-SOLENOID ON
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WT500;' WAIT 1/2 SEC
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SB 12;' DRIVE WHEEL UP-SOLENOID OFF
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MOF;' TURN MOTOR OFF
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RSPF=0
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ENDIF
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EN
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'
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'
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'-----------------------------------------------------------------------
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#CHKSPD
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' ROUTINE TO CHECK IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
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'
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IF (_SPA>50000)
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SPA=50000
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ENDIF
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@@ -59,105 +220,125 @@ ENDIF
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IF (_SPF>75000)
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SPF=75000
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ENDIF
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NO IF (_SPG>50000) AXES NOT USED, COMMENTED OUT
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NO SPG=50000
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NO ENDIF
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NO IF (_SPH>50000)
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NO SPH=50000
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NO ENDIF
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NO TE: CONTROLS THE AIRPAD SOLENOID VALVES
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NO TE: SET FTUBE=1 TO MAKE FLIGHT TUBE AVAILABLE FOR MOVE
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NO TE: THE APDONE BIT IS USED SO THAT THE CODE ONLY RUNS WHEN THE
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NO TE: STATE OF FTUBE CHANGES - THE DELAYS ARENT RUNNING EVERY CYCLE
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NO TE: IN THE 2ND IF, THE OFF-SOLENOIDS ARENT HELD ENERGISED IN CASE THE
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NO TE: VALVE MANUAL OVER RIDE IS NEEDED.
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IF (FTUBE=1)&(APDONE=0);'REQUESTING FLIGHT TUBE BE MOVABLE
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SHF;' TURN MOTOR ON
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WT500;' WAIT FOR MOTOR TO STABILISE
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SB 12;' DRIVE WHEEL UP-SOLENOID OFF
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CB 11;' DRIVE WHEEL DOWN-SOLENOID ON
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WT1000;' WAIT FOR DRIVE WHEEL TO LOWER
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SB 10;' SAMPLE STAGE AIR PAD OFF-SOLENOID OFF
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CB 9;' SAMPLE STAGE AIR PAD ON-SOLENOID ON
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APDONE=1
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ENDIF
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IF (FTUBE=0)&(APDONE=1);'FLIGHT TUBE MOTION FINISHED
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WT1000;' WAIT FOR FLIGHT TUBE TO SETTLE
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SB 9;' SAMPLE STAGE AIR PAD ON-SOLENOID OFF
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CB 10;' SAMPLE STAGE AIR PAD OFF-SOLENOID ON
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WT500;
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SB 10;' SAMPLE STAGE AIR PAD OFF-SOLENOID OFF
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SB 11;' DRIVE WHEEL DOWN-SOLENOID OFF
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CB 12;' DRIVE WHEEL UP-SOLENOID ON
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WT500;' WAIT 1/2 SEC
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SB 12;' DRIVE WHEEL UP-SOLENOID OFF
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MOF;' TURN MOTOR OFF
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APDONE=0
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ENDIF
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JP #THREAD0
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' IF (_SPG>50000)
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' SPG=50000
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' ENDIF
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' IF (_SPH>50000)
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' SPH=50000
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' ENDIF
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EN
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NO ----------------------------------------
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'
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'
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'-----------------------------------------------------------------------
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#TCPERR
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NO TE: EMPTY ROUTINE FOR A TCP ERROR
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' EMPTY ROUTINE FOR A TCP ERROR
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'
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RE
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NO ----------------------------------------
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'
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'
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'-----------------------------------------------------------------------
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#CMDERR
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'ROUTINE TO HANDLE COMMAND ERRORS
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'
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ZS0
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EN1
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'
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'
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'-----------------------------------------------------------------------
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#ININT
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NO TE: INTERUPT ROUTINE TO STOP ALL AXES
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NO TE: WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
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' INTERUPT ROUTINE TO STOP ALL AXES
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' WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
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'
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STA,B,C,D,E,F,G,H
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AM
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MO
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HLTA=1
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HLTB=1
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HLTC=1
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HLTD=1
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HLTE=1
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HLTF=1
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' HLTG=1
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' HLTH=1
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JS #SETDCEL
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RI
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NO ----------------------------------------
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'
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'
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'-----------------------------------------------------------------------
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#LIMSWI
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NO TE: LIMIT SWITCH ROUTINE WHICH SHORTENS DECEL TIME WHEN A LIMIT IS HIT
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OLDDCA=_DCA;' REMEMBERS CURRENT DECEL
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OLDDCB=_DCB
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OLDDCC=_DCC
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OLDDCD=_DCD
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OLDDCE=_DCE
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OLDDCF=_DCF
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NO OLDDCG=_DCG AXIS NOT USED
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NO OLDDCH=_DCH AXIS NOT USED
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IF (_LFA = 0) | (_LRA = 0)
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DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STA
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ENDIF
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IF (_LFB = 0) | (_LRB = 0)
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DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STB
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ENDIF
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IF (_LFC = 0) | (_LRC = 0)
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DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STC
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ENDIF
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IF (_LFD = 0) | (_LRD = 0)
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DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STD
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ENDIF
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IF (_LFE = 0) | (_LRE = 0)
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DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STE
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ENDIF
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IF (_LFF = 0) | (_LRF = 0)
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DCF=50000;' DECEL FOR LIMIT HIT OCCURENCE
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STF
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ENDIF
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NO IF (_LFG = 0) | (_LRG = 0) AXES NOT USED, COMMENTED OUT
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NO DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
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NO STG
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NO ENDIF
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NO IF (_LFH = 0) | (_LRH = 0)
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NO DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
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NO STH
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NO ENDIF
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AM ABCDEFGH;' AFTER ALL AXES STOPPED
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DCA=OLDDCA;' RESET DECEL TO OLD VALUE
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DCB=OLDDCB
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DCC=OLDDCC
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DCD=OLDDCD
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DCE=OLDDCE
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DCF=OLDDCF
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NO DCG=OLDDCG AXIS NOT USED
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NO DCH=OLDDCH AXIS NOT USED
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'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
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'
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JS #SETDCEL
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RE
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'
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'-----------------------------------------------------------------------
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#SETDCEL
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'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
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'
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IF (_LFA=0)|(_LRA=0)|(HLTA=1);'LIMIT HIT
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IF (LSAHIT=0)&(_BGA=1);'STILL MOVING, FIRST TIME
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OLDDCA=_DCA;'REMEMBER OLD DECEL VALUE
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STA
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DCA=100000;'INCREASE DECEL VALUE FOR RAPID STOP
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LSAHIT=1
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ENDIF
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ENDIF
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IF (_LFB=0)|(_LRB=0)|(HLTB=1)
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IF (LSBHIT=0)&(_BGB=1)
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OLDDCB=_DCB
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STB
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DCB=100000
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LSBHIT=1
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ENDIF
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ENDIF
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IF (_LFC=0)|(_LRC=0)|(HLTC=1)
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IF (LSCHIT=0)&(_BGC=1)
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OLDDCC=_DCC
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STC
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DCC=100000
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LSCHIT=1
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ENDIF
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ENDIF
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IF (_LFD=0)|(_LRD=0)|(HLTD=1)
|
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IF (LSDHIT=0)&(_BGD=1)
|
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OLDDCD=_DCD
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STD
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DCD=100000
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LSDHIT=1
|
||||
ENDIF
|
||||
ENDIF
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IF (_LFE=0)|(_LRE=0)|(HLTE=1)
|
||||
IF (LSEHIT=0)&(_BGE=1)
|
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OLDDCE=_DCE
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||||
STE
|
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DCE=100000
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LSEHIT=1
|
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ENDIF
|
||||
ENDIF
|
||||
IF (_LFF=0)|(_LRF=0)|(HLTF=1)
|
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IF (LSFHIT=0)&(_BGF=1)
|
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OLDDCF=_DCF
|
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STF
|
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DCF=50000
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LSFHIT=1
|
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ENDIF
|
||||
ENDIF
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||||
' IF (_LFG=0)|(_LRG=0)|(HLTG=1)
|
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' IF (LSGHIT=0)&(_BGG=1)
|
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' OLDDCG=_DCG
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' STG
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' DCG=100000
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' LSGHIT=1
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' ENDIF
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||||
' ENDIF
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' IF (_LFH=0)|(_LRH=0)|(HLTH=1)
|
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' IF (LSHHIT=0)&(_BGH=1)
|
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' OLDDCH=_DCH
|
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' STH
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' DCH=100000
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' LSHHIT=1
|
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' ENDIF
|
||||
' ENDIF
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||||
EN
|
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'
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||||
'
|
||||
'-----------------------------------------------------------------------
|
||||
|
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@@ -1,21 +1,25 @@
|
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NO TE: WOMBAT - CONTROLLER 2
|
||||
NO TE:
|
||||
NO TE: $Revision: 1.4 $
|
||||
NO TE: $Date: 2008-02-26 22:47:54 $
|
||||
NO TE: Author: Dan Bartlett
|
||||
NO TE: Last revision by: $Author: dcl $
|
||||
NO TE:
|
||||
NO TE: A-SAMPLE UPPER TILT
|
||||
NO TE: B-SAMPLE LOWER TILT
|
||||
NO TE: C-SAMPLE UPPER LINEAR
|
||||
NO TE: D-SAMPLE LOWER LINEAR
|
||||
NO TE: E-SAMPLE ROTATE
|
||||
NO TE: F-DETECTOR ROTATE
|
||||
NO TE: G-OSCILLATING COLLIMATOR
|
||||
NO TE: H-SPARE
|
||||
NO ----------------------------------------
|
||||
' WOMBAT - CONTROLLER 2
|
||||
'
|
||||
' $Revision: 1.5 $
|
||||
' $Date: 2008-03-05 04:25:32 $
|
||||
' Author: Dan Bartlett
|
||||
' Airpad control added by Doug Clowes
|
||||
' Last revision by: $Author: dcl $
|
||||
'
|
||||
' A-SAMPLE UPPER TILT
|
||||
' B-SAMPLE LOWER TILT
|
||||
' C-SAMPLE UPPER LINEAR
|
||||
' D-SAMPLE LOWER LINEAR
|
||||
' E-SAMPLE ROTATE
|
||||
' F-DETECTOR ROTATE
|
||||
' G-OSCILLATING COLLIMATOR
|
||||
' H-SPARE
|
||||
'
|
||||
'
|
||||
'-----------------------------------------------------------------------
|
||||
#AUTO
|
||||
NO TE: THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
|
||||
' 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
|
||||
@@ -33,13 +37,164 @@ SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
|
||||
SIF=1,25,25,0<-2>2;'HEIDENHAIN RCN226
|
||||
SIG=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
|
||||
SIH=0,25,13,0<-2>2;'NOT USED
|
||||
APDONE=0;' FIRST TIME THROUGH AIRPAD CONTROL NOT DONE
|
||||
' FIRST TIME THROUGH RESET AIRPAD CONTROL
|
||||
REQF=0
|
||||
RSPF=0
|
||||
' FIRST TIME THROUGH RESET HALT CONTROL
|
||||
HLTA=0
|
||||
HLTB=0
|
||||
HLTC=0
|
||||
HLTD=0
|
||||
HLTE=0
|
||||
HLTF=0
|
||||
HLTG=0
|
||||
' HLTH=0
|
||||
' FIRST TIME THROUGH RESET LIMIT CONTROL
|
||||
LSAHIT=0
|
||||
LSBHIT=0
|
||||
LSCHIT=0
|
||||
LSDHIT=0
|
||||
LSEHIT=0
|
||||
LSFHIT=0
|
||||
LSGHIT=0
|
||||
' LSHHIT=0
|
||||
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
|
||||
' MAIN THREAD
|
||||
' THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
|
||||
'
|
||||
JS #CHKDCEL
|
||||
JS #AIRPAD
|
||||
JS #CHKSPD
|
||||
JP #THREAD0
|
||||
EN
|
||||
'
|
||||
'
|
||||
'-----------------------------------------------------------------------
|
||||
#CHKDCEL
|
||||
'ROUTINE TO CHECK DECELERATION AFTER A LIMIT HIT
|
||||
'
|
||||
IF (LSAHIT=1)&(_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
|
||||
DCA=OLDDCA;' RESET DECEL TO OLD VALUE
|
||||
IF (HLTA=1)
|
||||
MOA
|
||||
HLTA=0
|
||||
ENDIF
|
||||
LSAHIT=0
|
||||
ENDIF
|
||||
IF (LSBHIT=1)&(_BGB=0)
|
||||
DCB=OLDDCB
|
||||
IF (HLTB=1)
|
||||
MOB
|
||||
HLTB=0
|
||||
ENDIF
|
||||
LSBHIT=0
|
||||
ENDIF
|
||||
IF (LSCHIT=1)&(_BGC=0)
|
||||
DCC=OLDDCC
|
||||
IF (HLTC=1)
|
||||
MOC
|
||||
HLTC=0
|
||||
ENDIF
|
||||
LSCHIT=0
|
||||
ENDIF
|
||||
IF (LSDHIT=1)&(_BGD=0)
|
||||
DCD=OLDDCD
|
||||
IF (HLTD=1)
|
||||
MOD
|
||||
HLTD=0
|
||||
ENDIF
|
||||
LSDHIT=0
|
||||
ENDIF
|
||||
IF (LSEHIT=1)&(_BGE=0)
|
||||
DCE=OLDDCE
|
||||
IF (HLTE=1)
|
||||
MOE
|
||||
HLTE=0
|
||||
ENDIF
|
||||
LSEHIT=0
|
||||
ENDIF
|
||||
IF (LSFHIT=1)&(_BGF=0)
|
||||
DCF=OLDDCF
|
||||
IF (HLTF=1)
|
||||
MOF
|
||||
HLTF=0
|
||||
ENDIF;'
|
||||
LSFHIT=0
|
||||
ENDIF
|
||||
IF (LSGHIT=1)&(_BGG=0)
|
||||
DCG=OLDDCG
|
||||
IF (HLTG=1)
|
||||
MOG
|
||||
HLTG=0
|
||||
ENDIF
|
||||
LSGHIT=0
|
||||
ENDIF
|
||||
' IF (LSHHIT=1)&(_BGH=0)
|
||||
' DCH=OLDDCH
|
||||
' IF (HLTH=1)
|
||||
' MOH
|
||||
' HLTH=0
|
||||
' ENDIF
|
||||
' LSHHIT=0
|
||||
' ENDIF
|
||||
JS #SETDCEL,((HLTA=1)&(LSAHIT=0))
|
||||
JS #SETDCEL,((HLTB=1)&(LSBHIT=0))
|
||||
JS #SETDCEL,((HLTC=1)&(LSCHIT=0))
|
||||
JS #SETDCEL,((HLTD=1)&(LSDHIT=0))
|
||||
JS #SETDCEL,((HLTE=1)&(LSEHIT=0))
|
||||
JS #SETDCEL,((HLTF=1)&(LSFHIT=0))
|
||||
JS #SETDCEL,((HLTG=1)&(LSGHIT=0))
|
||||
' JS #SETDCEL,((HLTH=1)&(LSHHIT=0))
|
||||
EN
|
||||
'
|
||||
'
|
||||
'-----------------------------------------------------------------------
|
||||
#AIRPAD
|
||||
' ROUTINE TO CONTROL THE AIRPADS
|
||||
' SET REQF=1 TO MAKE FLIGHT TUBE AVAILABLE FOR MOVE
|
||||
' THE RSPF BIT IS USED SO THAT THE CODE ONLY RUNS WHEN THE
|
||||
' STATE OF FTUBE CHANGES - THE DELAYS ARENT RUNNING EVERY CYCLE
|
||||
' IN THE 2ND IF, THE OFF-SOLENOIDS ARENT HELD ENERGISED IN CASE THE
|
||||
' VALVE MANUAL OVER RIDE IS NEEDED.
|
||||
'
|
||||
' FOLLOW SHF/MOF COMMANDS ENTERED MANUALLY
|
||||
IF (_MOF=0)&(RSPF=0);'FLIGHT TUBE MOTOR IS ON BUT AIR IS OFF
|
||||
REQF=1
|
||||
ENDIF
|
||||
IF (_MOF=1)&(RSPF=1);'FLIGHT TUBE MOTOR IS OFF BUT AIR IS ON
|
||||
SHF;' FOLLOWING STEPS MUST BE RUN BEFORE MOTOR CAN BE TURNED OFF
|
||||
REQF=0
|
||||
ENDIF
|
||||
'
|
||||
IF (REQF=1)&(RSPF=0);'REQUESTING FLIGHT TUBE BE MOVABLE
|
||||
SHF;' TURN MOTOR ON
|
||||
WT500;' WAIT FOR MOTOR TO STABILISE
|
||||
SB 10;' DETECTOR AIR PAD OFF-SOLENOID OFF
|
||||
CB 9;' DETECTOR AIR PAD ON-SOLENOID ON
|
||||
WT1000;
|
||||
RSPF=1
|
||||
ENDIF
|
||||
IF (REQF=0)&(RSPF=1);'FLIGHT TUBE MOTION FINISHED
|
||||
WT1000;' WAIT FOR FLIGHT TUBE TO SETTLE
|
||||
SB 9;' DETECTOR AIR PAD ON-SOLENOID OFF
|
||||
CB 10;' DETECTOR AIR PAD OFF-SOLENOID ON
|
||||
WT500;
|
||||
SB 10;' DETECTOR AIR PAD OFF-SOLENOID OFF
|
||||
MOF;' TURN MOTOR OFF
|
||||
RSPF=0
|
||||
ENDIF
|
||||
EN
|
||||
'
|
||||
'
|
||||
'-----------------------------------------------------------------------
|
||||
#CHKSPD
|
||||
' ROUTINE TO CHECK IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
|
||||
'
|
||||
IF (_SPA>50000)
|
||||
SPA=50000
|
||||
ENDIF
|
||||
@@ -61,95 +216,129 @@ ENDIF
|
||||
IF (_SPG>500000)
|
||||
SPG=500000
|
||||
ENDIF
|
||||
NO IF (_SPH>50000) AXIS NOT USED, COMMENTED OUT
|
||||
NO SPH=50000
|
||||
NO ENDIF
|
||||
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
|
||||
APDONE=0
|
||||
ENDIF
|
||||
IF (_MOF=1)&(APDONE=0);'FLIGHT TUBE MOTOR IS OFF
|
||||
SB 9;'DETECTOR AIR PAD ON-SOLENOID OFF
|
||||
CB 10;'DETECTOR AIR PAD OFF-SOLENOID ON
|
||||
WT500;'WAIT 1/2 SEC
|
||||
SB 10;'DETECTOR AIR PAD OFF-SOLENOID OFF
|
||||
APDONE=1
|
||||
ENDIF
|
||||
JP #THREAD0
|
||||
' IF (_SPH>50000)
|
||||
' SPH=50000
|
||||
' ENDIF
|
||||
EN
|
||||
NO ----------------------------------------
|
||||
'
|
||||
'
|
||||
'-----------------------------------------------------------------------
|
||||
#TCPERR
|
||||
NO TE: EMPTY ROUTINE FOR A TCP ERROR
|
||||
' EMPTY ROUTINE FOR A TCP ERROR
|
||||
'
|
||||
RE
|
||||
NO ----------------------------------------
|
||||
'
|
||||
'
|
||||
'-----------------------------------------------------------------------
|
||||
#CMDERR
|
||||
'ROUTINE TO HANDLE COMMAND ERRORS
|
||||
'
|
||||
ZS0
|
||||
EN1
|
||||
'
|
||||
'
|
||||
'-----------------------------------------------------------------------
|
||||
#ININT
|
||||
NO TE: INTERUPT ROUTINE TO STOP ALL AXES
|
||||
NO TE: WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
|
||||
' INTERUPT ROUTINE TO STOP ALL AXES
|
||||
' WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
|
||||
'
|
||||
STA,B,C,D,E,F,G,H
|
||||
AM
|
||||
MO
|
||||
HLTA=1
|
||||
HLTB=1
|
||||
HLTC=1
|
||||
HLTD=1
|
||||
HLTE=1
|
||||
HLTF=1
|
||||
HLTG=1
|
||||
' HLTH=1
|
||||
JS #SETDCEL
|
||||
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
|
||||
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
|
||||
IF (_LFD = 0) | (_LRD = 0)
|
||||
DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
|
||||
STD
|
||||
ENDIF
|
||||
IF (_LFE = 0) | (_LRE = 0)
|
||||
DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE
|
||||
STE
|
||||
ENDIF
|
||||
IF (_LFF = 0) | (_LRF = 0)
|
||||
DCF=50000;' DECEL FOR LIMIT HIT OCCURENCE
|
||||
STF
|
||||
ENDIF
|
||||
IF (_LFG = 0) | (_LRG = 0)
|
||||
DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
|
||||
STG
|
||||
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
|
||||
DCG=OLDDCG
|
||||
NO DCH=OLDDCH AXIS NOT USED
|
||||
'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
|
||||
'
|
||||
JS #SETDCEL
|
||||
RE
|
||||
NO ----------------------------------------
|
||||
'
|
||||
'-----------------------------------------------------------------------
|
||||
#SETDCEL
|
||||
'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
|
||||
'
|
||||
IF (_LFA=0)|(_LRA=0)|(HLTA=1);'LIMIT HIT
|
||||
IF (LSAHIT=0)&(_BGA=1);'STILL MOVING, FIRST TIME
|
||||
OLDDCA=_DCA;'REMEMBER OLD DECEL VALUE
|
||||
STA
|
||||
DCA=100000;'INCREASE DECEL VALUE FOR RAPID STOP
|
||||
LSAHIT=1
|
||||
ENDIF
|
||||
ENDIF
|
||||
IF (_LFB=0)|(_LRB=0)|(HLTB=1)
|
||||
IF (LSBHIT=0)&(_BGB=1)
|
||||
OLDDCB=_DCB
|
||||
STB
|
||||
DCB=100000
|
||||
LSBHIT=1
|
||||
ENDIF
|
||||
ENDIF
|
||||
IF (_LFC=0)|(_LRC=0)|(HLTC=1)
|
||||
IF (LSCHIT=0)&(_BGC=1)
|
||||
OLDDCC=_DCC
|
||||
STC
|
||||
DCC=100000
|
||||
LSCHIT=1
|
||||
ENDIF
|
||||
ENDIF
|
||||
IF (_LFD=0)|(_LRD=0)|(HLTD=1)
|
||||
IF (LSDHIT=0)&(_BGD=1)
|
||||
OLDDCD=_DCD
|
||||
STD
|
||||
DCD=100000
|
||||
LSDHIT=1
|
||||
ENDIF
|
||||
ENDIF
|
||||
IF (_LFE=0)|(_LRE=0)|(HLTE=1)
|
||||
IF (LSEHIT=0)&(_BGE=1)
|
||||
OLDDCE=_DCE
|
||||
STE
|
||||
DCE=100000
|
||||
LSEHIT=1
|
||||
ENDIF
|
||||
ENDIF
|
||||
IF (_LFF=0)|(_LRF=0)|(HLTF=1)
|
||||
IF (LSFHIT=0)&(_BGF=1)
|
||||
OLDDCF=_DCF
|
||||
STF
|
||||
DCF=50000
|
||||
LSFHIT=1
|
||||
ENDIF
|
||||
ENDIF
|
||||
IF (_LFG=0)|(_LRG=0)|(HLTG=1)
|
||||
IF (LSGHIT=0)&(_BGG=1)
|
||||
OLDDCG=_DCG
|
||||
STG
|
||||
DCG=100000
|
||||
LSGHIT=1
|
||||
ENDIF
|
||||
ENDIF
|
||||
' IF (_LFH=0)|(_LRH=0)|(HLTH=1)
|
||||
' IF (LSHHIT=0)&(_BGH=1)
|
||||
' OLDDCH=_DCH
|
||||
' STH
|
||||
' DCH=100000
|
||||
' LSHHIT=1
|
||||
' ENDIF
|
||||
' ENDIF
|
||||
EN
|
||||
'
|
||||
'
|
||||
'-----------------------------------------------------------------------
|
||||
#OSC
|
||||
NO TE: THIS PROGRAM OSCILATES THE COLLIMATOR
|
||||
NO TE: IT MUST BE RUN IN THREAD 1
|
||||
' THIS PROGRAM OSCILATES THE COLLIMATOR
|
||||
' IT MUST BE RUN IN THREAD 1
|
||||
XQ #ACCVETO,2
|
||||
NO TE: STARTS THE VETO PROGRAM IN THREAD 2
|
||||
' STARTS THE VETO PROGRAM IN THREAD 2
|
||||
#STRT
|
||||
STRTPOS=7744139;' STARTING ENCODER POSITION
|
||||
SHG
|
||||
@@ -160,7 +349,7 @@ PRG=(_TPG - STRTPOS)/204.8*25000
|
||||
BGG
|
||||
AMG
|
||||
JP #STRT,(_TPG<>STRTPOS)
|
||||
NO TE: JUMP TO #STRT UNTIL TABLE IS IN POSITION
|
||||
' JUMP TO #STRT UNTIL TABLE IS IN POSITION
|
||||
SPG=500000
|
||||
ACG=750000
|
||||
DCG=750000
|
||||
@@ -173,17 +362,16 @@ BGG
|
||||
AMG
|
||||
JP #LOOP
|
||||
EN
|
||||
NO ----------------------------------------
|
||||
' ----------------------------------------
|
||||
#ACCVETO
|
||||
NO TE: THIS PROGRAM MONITORS THE VELOCITY OF THE OSCILATING COLLIMATOR
|
||||
NO TE: AND SENDS A VETO SIGNAL TO THE DAE WHEN VELOCITY IS CONSTANT
|
||||
NO TE: IT IS CALLED BY #OSC AND IS RUN IN THREAD 2
|
||||
' THIS PROGRAM MONITORS THE VELOCITY OF THE OSCILATING COLLIMATOR
|
||||
' AND SENDS A VETO SIGNAL TO THE DAE WHEN VELOCITY IS CONSTANT
|
||||
' IT IS CALLED BY #OSC AND IS RUN IN THREAD 2
|
||||
IF (_TVG=_SPG)
|
||||
SB1
|
||||
ELSE
|
||||
CB1
|
||||
ENDIF
|
||||
JP #ACCVETO,(_XQ1<>-1)
|
||||
NO TE: JUMP BACK TO START UNLESS #OSC IS NOT RUNNING
|
||||
' JUMP BACK TO START UNLESS #OSC IS NOT RUNNING
|
||||
EN
|
||||
NO ----------------------------------------
|
||||
|
||||
Reference in New Issue
Block a user