From b40ab5471055626774295ac8d1433ebe57440067 Mon Sep 17 00:00:00 2001
From: Dan Bartlett <dbx@ansto.gov.au>
Date: Wed, 31 Jan 2007 12:03:44 +1100
Subject: [PATCH] no message

r1413 | dbx | 2007-01-31 12:03:44 +1100 (Wed, 31 Jan 2007) | 2 lines
---
 .../instrument/hipd/DMC2280/controller1.txt   | 146 ++++++++++++++++++
 .../instrument/hipd/DMC2280/controller2.txt   | 141 +++++++++++++++++
 .../instrument/hipd/DMC2280/controller3.txt   | 138 +++++++++++++++++
 .../instrument/hipd/DMC2280/controller4.txt   | 117 ++++++++++++++
 .../instrument/hrpd/DMC2280/controller1.txt   | 113 ++++++++------
 .../instrument/hrpd/DMC2280/controller2.txt   | 135 ++++++++--------
 .../instrument/hrpd/DMC2280/controller3.txt   |  52 +++++--
 .../instrument/hrpd/DMC2280/controller4.txt   |  51 ++++--
 8 files changed, 754 insertions(+), 139 deletions(-)
 create mode 100644 site_ansto/instrument/hipd/DMC2280/controller1.txt
 create mode 100644 site_ansto/instrument/hipd/DMC2280/controller2.txt
 create mode 100644 site_ansto/instrument/hipd/DMC2280/controller3.txt
 create mode 100644 site_ansto/instrument/hipd/DMC2280/controller4.txt

diff --git a/site_ansto/instrument/hipd/DMC2280/controller1.txt b/site_ansto/instrument/hipd/DMC2280/controller1.txt
new file mode 100644
index 00000000..6a5fadcb
--- /dev/null
+++ b/site_ansto/instrument/hipd/DMC2280/controller1.txt
@@ -0,0 +1,146 @@
+NO TE: WOMBAT - CONTROLLER 1
+NO
+NO TE: A-MONOCHROMATOR UPPER TILT - TILT 1
+NO TE: B-MONOCHROMATOR LOWER TILT - TILT 2
+NO TE: C-MONOCHROMATOR UPPER TRANSLATION - LINEAR 1
+NO TE: D-MONOCHROMATOR LOWER TRANSLATION - LINEAR 2
+NO TE: E-MONOCHROMATOR ROTATION - ROTATE
+NO TE: F-FLIGHT TUBE ROTATE
+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 137,157,201,67;' CONFIGURES IP ADDRESS
+AC 25000,25000,25000,25000,50000,10000,25000,25000;' SET ACELERATION
+DC 25000,25000,25000,25000,50000,10000,25000,25000;' SET DECELERATION
+SP 25000,25000,25000,25000,25000,100000,25000,25000;' 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=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIF=1,25,25,0<-2>2;'HEIDENHAIN RCN226
+SIG=0,25,13,0<-2>2;'NOT USED
+SIH=0,25,13,0<-2>2;'NOT USED
+APDONE=0;' FIRST TIME THROUGH AIRPAD CONTROL NOT DONE
+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: CONTROLS THE AIRPAD SOLENOID VALVES
+IF (_MOF=0);'FLIGHT TUBE MOTOR IS ON
+SB 10;'SAMPLE STAGE AIR PAD OFF-SOLENOID OFF
+SB 12;'DRIVE WHEEL UP-SOLENOID OFF
+CB 9;'SAMPLE STAGE AIR PAD ON-SOLENOID ON
+CB 11;'DRIVE WHEEL DOWN-SOLENOID ON
+APDONE=0
+ENDIF
+IF (_MOF=1)&(APDONE=0);'FLIGHT TUBE MOTOR IS OFF
+SB 9;'SAMPLE STAGE AIR PAD ON-SOLENOID OFF
+SB 11;'DRIVE WHEEL DOWN-SOLENOID OFF
+CB 10;'SAMPLE STAGE AIR PAD OFF-SOLENOID ON
+CB 12;'DRIVE WHEEL UP-SOLENOID ON
+WT500;'WAIT 1/2 SEC
+SB 10;'SAMPLE STAGE AIR PAD OFF-SOLENOID OFF
+SB 12;'DRIVE WHEEL UP-SOLENOID OFF
+APDONE=1
+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 AXIS NOT USED
+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
+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 AXIS NOT USED
+NO DCH=OLDDCH AXIS NOT USED
+RE
\ No newline at end of file
diff --git a/site_ansto/instrument/hipd/DMC2280/controller2.txt b/site_ansto/instrument/hipd/DMC2280/controller2.txt
new file mode 100644
index 00000000..a78a87d7
--- /dev/null
+++ b/site_ansto/instrument/hipd/DMC2280/controller2.txt
@@ -0,0 +1,141 @@
+NO TE: WOMBAT - CONTROLLER 2
+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 ----------------------------------------
+#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 137,157,201,68;' CONFIGURES IP ADDRESS
+AC 25000,25000,25000,25000,50000,10000,25000,;' SET ACELERATION
+DC 25000,25000,25000,25000,50000,10000,25000,;' SET DECELERATION
+SP 25000,25000,25000,25000,25000,100000,25000,;' 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=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+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
+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>150000)
+SPF=150000
+ENDIF
+IF (_SPG>50000)
+SPG=50000
+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
+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
+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) AXES NOT USED, COMMENTED OUT
+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
+RE
\ No newline at end of file
diff --git a/site_ansto/instrument/hipd/DMC2280/controller3.txt b/site_ansto/instrument/hipd/DMC2280/controller3.txt
new file mode 100644
index 00000000..8196d4ff
--- /dev/null
+++ b/site_ansto/instrument/hipd/DMC2280/controller3.txt
@@ -0,0 +1,138 @@
+NO TE: WOMBAT - CONTROLLER 3
+NO TE:
+NO TE: A-MONOCHROMATOR FOCUS
+NO TE: B-MONOCHROMATOR FOCUS
+NO TE: C-SPARE
+NO TE: D-SPARE
+NO TE: E-SLIT 1 LEFT BLADE
+NO TE: F-SLIT 1 RIGHT BLADE
+NO TE: G-SLIT 1 TOP BLADE
+NO TE: H-SLIT 1 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 137,157,201,69;' CONFIGURES IP ADDRESS
+AC 12500,12500,,,60000,60000,60000,60000;' SET ACELERATION
+DC 12500,12500,,,60000,60000,60000,60000;' SET DECELERATION
+SP 25000,25000,,,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>50000)
+SPA=50000
+ENDIF
+IF (_SPB>50000)
+SPB=50000
+ENDIF
+NO IF (_SPC>50000) AXES NOT USED, COMMENTED OUT
+NO SPC=50000
+NO ENDIF
+NO IF (_SPD>50000)
+NO SPD=50000
+NO 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 ----------------------------------------
+#RES
+SB1
+CB1
+AI31
+IOBYTE1=_TI2
+IOBYTE2=_TI3
+IOBYTE2=(IOBYTE2&63)
+IOBYTE2=(IOBYTE2*256)
+FOCUS1=(IOBYTE1+IOBYTE2)
+SB1
+SB2
+CB2
+AI31
+IOBYTE3=_TI4
+IOBYTE4=_TI5
+IOBYTE4=(IOBYTE2&63)
+IOBYTE4=(IOBYTE2*256)
+FOCUS2=(IOBYTE3+IOBYTE4)
+SB2
+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 ((_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
+AMEFGH
+NO TE: DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH
+SHEFGH
+JG ,,,,-25000,-25000,-25000,-25000
+BGEFGH
+AMEFGH
+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
+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;'HOMING PROCEDURE HAS BEEN RUN
+#ENDHOME
+EN
\ No newline at end of file
diff --git a/site_ansto/instrument/hipd/DMC2280/controller4.txt b/site_ansto/instrument/hipd/DMC2280/controller4.txt
new file mode 100644
index 00000000..11aae86b
--- /dev/null
+++ b/site_ansto/instrument/hipd/DMC2280/controller4.txt
@@ -0,0 +1,117 @@
+NO TE: WOMBAT - CONTROLLER 4
+NO TE:
+NO TE: A-SPARE
+NO TE: B-SPARE
+NO TE: C-SPARE
+NO TE: D-SPARE
+NO TE: E-SLIT 1 LEFT BLADE
+NO TE: F-SLIT 1 RIGHT BLADE
+NO TE: G-SLIT 1 TOP BLADE
+NO TE: H-SLIT 1 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 137,157,201,70;' CONFIGURES IP ADDRESS
+AC ,,,,60000,60000,60000,60000;' SET ACELERATION
+DC ,,,,60000,60000,60000,60000;' SET DECELERATION
+SP ,,,,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
+NO IF (_SPA>50000) AXES NOT USED, COMMENTED OUT
+NO SPA=50000
+NO ENDIF
+NO IF (_SPB>50000)
+NO SPB=50000
+NO ENDIF
+NO IF (_SPC>50000)
+NO SPC=50000
+NO ENDIF
+NO IF (_SPD>50000)
+NO SPD=50000
+NO 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 ((_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
+AMEFGH
+NO TE: DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH
+SHEFGH
+JG ,,,,-25000,-25000,-25000,-25000
+BGEFGH
+AMEFGH
+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
+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;'HOMING PROCEDURE HAS BEEN RUN
+#ENDHOME
+EN
\ No newline at end of file
diff --git a/site_ansto/instrument/hrpd/DMC2280/controller1.txt b/site_ansto/instrument/hrpd/DMC2280/controller1.txt
index 51db1f66..4eeacf06 100644
--- a/site_ansto/instrument/hrpd/DMC2280/controller1.txt
+++ b/site_ansto/instrument/hrpd/DMC2280/controller1.txt
@@ -1,18 +1,16 @@
-#AUTO
-NO TE: $Revision: 1.4 $
-NO TE: $Date: 2006-11-02 21:23:39 $
-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: ECHIDNA - CONTROLLER 1
+NO TE: 
 NO TE: A-MONOCHROMATOR UPPER TILT (mphi) - TILT 1
 NO TE: B-MONOCHROMATOR LOWER TILT (mchi) - TILT 2
 NO TE: C-MONOCHROMATOR UPPER TRANSLATION (mz:nexus, mx:KDL) - LINEAR 1
 NO TE: D-MONOCHROMATOR LOWER TRANSLATION (mx:nexus, my:KDL) - LINEAR 2
-NO TE: E-MONOCHROMATOR ROTATION (mom) - ROTATE
-NO TE: F-FLIGHT TUBE ROTATE
+NO TE: E-MONOCHROMATOR ROTATION (mom)
+NO TE: F-FLIGHT TUBE ROTATION
 NO TE: G-PRIMARY COLLIMATOR 1
 NO TE: H-PRIMARY COLLIMATOR 2
+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
@@ -22,27 +20,54 @@ IA 137,157,201,3;' CONFIGURES IP ADDRESS
 AC 25000,25000,25000,25000,25000,10000,25000,25000;' SET ACELERATION
 DC 25000,25000,25000,25000,25000,10000,25000,25000;' SET DECELERATION
 SP 25000,25000,25000,25000,50000,100000,25000,25000;' 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
+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=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+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=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+APDONE=0;' FIRST TIME THROUGH AIRPAD CONTROL NOT DONE
+JS #THREAD0
 EN
-#SOLCTRL
+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
+IF (_SPG>50000)
+SPG=50000
+ENDIF
+IF (_SPH>50000)
+SPH=50000
+ENDIF
 NO TE: CONTROLS THE AIRPAD SOLENOID VALVES
 IF (_MOF=0);'FLIGHT TUBE MOTOR IS ON
 SB 10;'SAMPLE STAGE AIR PAD OFF-SOLENOID OFF
 SB 12;'DRIVE WHEEL UP-SOLENOID OFF
 CB 9;'SAMPLE STAGE AIR PAD ON-SOLENOID ON
 CB 11;'DRIVE WHEEL DOWN-SOLENOID ON
-DONE=0
+APDONE=0
 ENDIF
-IF (_MOF=1)&(DONE=0);'FLIGHT TUBE MOTOR IS OFF
+IF (_MOF=1)&(APDONE=0);'FLIGHT TUBE MOTOR IS OFF
 SB 9;'SAMPLE STAGE AIR PAD ON-SOLENOID OFF
 SB 11;'DRIVE WHEEL DOWN-SOLENOID OFF
 CB 10;'SAMPLE STAGE AIR PAD OFF-SOLENOID ON
@@ -50,13 +75,15 @@ CB 12;'DRIVE WHEEL UP-SOLENOID ON
 WT500;'WAIT 1/2 SEC
 SB 10;'SAMPLE STAGE AIR PAD OFF-SOLENOID OFF
 SB 12;'DRIVE WHEEL UP-SOLENOID OFF
-DONE=1
+APDONE=1
 ENDIF
-JP #SOLCTRL
+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
@@ -64,6 +91,7 @@ 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
@@ -77,59 +105,42 @@ OLDDCH=_DCH
 IF (_LFA = 0) | (_LRA = 0)
 DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
 STA
-AMA
-MOA
-DCA=OLDDCA;' RESET DECEL TO OLD VALUE
 ENDIF
 IF (_LFB = 0) | (_LRB = 0)
 DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE
 STB
-AMB
-MOB
-DCB=OLDDCB;' RESET DECEL TO OLD VALUE
 ENDIF
 IF (_LFC = 0) | (_LRC = 0)
 DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
 STC
-AMC
-MOC
-DCC=OLDDCC;' RESET DECEL TO OLD VALUE
 ENDIF
 IF (_LFD = 0) | (_LRD = 0)
 DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
 STD
-AMD
-MOD
-DCD=OLDDCD;' RESET DECEL TO OLD VALUE
 ENDIF
 IF (_LFE = 0) | (_LRE = 0)
 DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE
 STE
-AME
-MOE
-DCE=OLDDCE;' RESET DECEL TO OLD VALUE
 ENDIF
 IF (_LFF = 0) | (_LRF = 0)
 DCF=50000;' DECEL FOR LIMIT HIT OCCURENCE
 STF
-AMF
-MOF
-DCF=OLDDCF;' RESET DECEL TO OLD VALUE
 ENDIF
 IF (_LFG = 0) | (_LRG = 0)
 DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
 STG
-AMG
-MOG
-DCG=OLDDCG;' RESET DECEL TO OLD VALUE
 ENDIF
 IF (_LFH = 0) | (_LRH = 0)
 DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
 STH
-AMH
-MOH
-DCH=OLDDCH;' RESET DECEL TO OLD VALUE
 ENDIF
-RE
-
-
+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
+DCH=OLDDCH
+RE
\ No newline at end of file
diff --git a/site_ansto/instrument/hrpd/DMC2280/controller2.txt b/site_ansto/instrument/hrpd/DMC2280/controller2.txt
index 90bfceff..6682446e 100644
--- a/site_ansto/instrument/hrpd/DMC2280/controller2.txt
+++ b/site_ansto/instrument/hrpd/DMC2280/controller2.txt
@@ -1,57 +1,84 @@
-#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: ECHIDNA - CONTROLLER 2
 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
 NO TE: D-SAMPLE LOWER TRANSLATION (sx:nexus, sy:KDL) - LINEAR 2
-NO TE: E-SAMPLE ROTATION (som) - ROTATE
-NO TE: F-DETECTOR ROTATE
+NO TE: E-SAMPLE ROTATION (som)
+NO TE: F-DETECTOR ROTATION
 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 137,157,201,4;' 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
+AC 25000,25000,25000,25000,25000,15000,,;' SET ACELERATION
+DC 25000,25000,25000,25000,25000,15000,,;' SET DECELERATION
+SP 25000,25000,25000,25000,50000,150000,,;' 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=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
+SIF=1,25,25,0<-2>2;'HEIDENHAIN RCN226
+SIG=0,25,13,0<-2>2;'NOT USED
+SIH=0,25,13,0<-2>2;'NOT USED
+APDONE=0;' FIRST TIME THROUGH AIRPAD CONTROL NOT DONE
+JS #THREAD0
 EN
-#SOLCTRL
+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>150000)
+SPF=150000
+ENDIF
+NO IF (_SPG>50000) AXES NOT IN USE, COMMENTED OUT
+NO SPG=50000
+NO ENDIF
+NO IF (_SPH>50000)
+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
-DONE=0
+APDONE=0
 ENDIF
-IF (_MOF=1)&(DONE=0);'DETECTOR MOTOR IS OFF
+IF (_MOF=1)&(APDONE=0);'DETECTOR 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
-DONE=1
+APDONE=1
 ENDIF
-JP #SOLCTRL
+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
@@ -59,6 +86,7 @@ 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
@@ -72,59 +100,42 @@ OLDDCH=_DCH
 IF (_LFA = 0) | (_LRA = 0)
 DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
 STA
-AMA
-MOA
-DCA=OLDDCA;' RESET DECEL TO OLD VALUE
 ENDIF
 IF (_LFB = 0) | (_LRB = 0)
 DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE
 STB
-AMB
-MOB
-DCB=OLDDCB;' RESET DECEL TO OLD VALUE
 ENDIF
 IF (_LFC = 0) | (_LRC = 0)
 DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
 STC
-AMC
-MOC
-DCC=OLDDCC;' RESET DECEL TO OLD VALUE
 ENDIF
 IF (_LFD = 0) | (_LRD = 0)
 DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
 STD
-AMD
-MOD
-DCD=OLDDCD;' RESET DECEL TO OLD VALUE
 ENDIF
 IF (_LFE = 0) | (_LRE = 0)
 DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE
 STE
-AME
-MOE
-DCE=OLDDCE;' RESET DECEL TO OLD VALUE
 ENDIF
 IF (_LFF = 0) | (_LRF = 0)
-DCF=75000;' DECEL FOR LIMIT HIT OCCURENCE
+DCF=50000;' DECEL FOR LIMIT HIT OCCURENCE
 STF
-AMF
-MOF
-DCF=OLDDCF;' RESET DECEL TO OLD VALUE
 ENDIF
-IF (_LFG = 0) | (_LRG = 0)
-DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
-STG
-AMG
-MOG
-DCG=OLDDCG;' RESET DECEL TO OLD VALUE
-ENDIF
-IF (_LFH = 0) | (_LRH = 0)
-DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
-STH
-AMH
-MOH
-DCH=OLDDCH;' RESET DECEL TO OLD VALUE
-ENDIF
-RE
-
-
+NO IF (_LFG = 0) | (_LRG = 0) AXES NOT IN USE, 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 AXIS NOT IN USE, COMMENTED OUT
+NO DCH=OLDDCH AXIS NOT IN USE, COMMENTED OUT
+RE
\ No newline at end of file
diff --git a/site_ansto/instrument/hrpd/DMC2280/controller3.txt b/site_ansto/instrument/hrpd/DMC2280/controller3.txt
index 51dddb6e..740cc011 100644
--- a/site_ansto/instrument/hrpd/DMC2280/controller3.txt
+++ b/site_ansto/instrument/hrpd/DMC2280/controller3.txt
@@ -1,9 +1,4 @@
-#AUTO
-NO TE: $Revision: 1.5 $
-NO TE: $Date: 2006-11-02 02:49:04 $
-NO TE: Author: Dan Bartlett
-NO TE: Limit switch HOME routine added by Ferdi Franceschini
-NO TE: Last revision by: $Author: dbx $
+NO TE: ECHIDNA - CONTROLLER 3
 NO TE:
 NO TE: A-MONOCHROMATOR FOCUS
 NO TE: B-SPARE
@@ -13,6 +8,9 @@ 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)
+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
@@ -22,12 +20,39 @@ AC 12500,,,,60000,60000,60000,60000;' SET ACELERATION
 DC 12500,,,,60000,60000,60000,60000;' SET DECELERATION
 SP 25000,,,,30000,30000,30000,30000;' SET SPEED
 HOMERUN=0;' HOMING PROCEDURE HAS NOT BEEN RUN
-JS #LOOPER;' RUNS THE LOOPING PROCEDURE
+JS #THREAD0
 EN
-#LOOPER
-NO TE: ININT, LIMSWI ETC NEEDS A PROGRAM RUNNING TO WORK: JUST A LOOP
-JP#LOOPER
+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>25000)
+SPA=25000
+ENDIF
+NO IF (_SPB>50000) AXES NOT IN USE, COMMENTED OUT
+NO SPB=50000
+NO ENDIF
+NO IF (_SPC>50000)
+NO SPC=50000
+NO ENDIF
+NO IF (_SPD>50000)
+NO SPD=50000
+NO 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 ----------------------------------------
 #RES
 NO TE: PROCEDURE TO UPDATE THE RESOLVER FEEDBACK.
 NO TE: MUST BE EXCUTED EACH TIME FOR AN UPDATE
@@ -41,9 +66,11 @@ IOBYTE2=(IOBYTE2*256);' SHIFT REMAINING BITS 8 POSITIONS TO RIGHT
 FOCUS=(IOBYTE1+IOBYTE2);' ADD WORDS TOGETHER, READ FOCUS VARIABLE FOR DATA
 SB1
 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
@@ -51,6 +78,7 @@ STA,B,C,D,E,F,G,H
 AM
 MO
 RI
+NO ----------------------------------------
 #HOME
 IF (HOMERUN = 1)
 JP #ENDHOME
@@ -100,6 +128,4 @@ DP ,,,,0,0,0,0
 SP ,,,,30000,30000,30000,30000
 HOMERUN=1;'HOMING PROCEDURE HAS BEEN RUN
 #ENDHOME
-EN
-
-
+EN
\ No newline at end of file
diff --git a/site_ansto/instrument/hrpd/DMC2280/controller4.txt b/site_ansto/instrument/hrpd/DMC2280/controller4.txt
index 5e9b9d0c..4f42d319 100644
--- a/site_ansto/instrument/hrpd/DMC2280/controller4.txt
+++ b/site_ansto/instrument/hrpd/DMC2280/controller4.txt
@@ -1,9 +1,4 @@
-#AUTO
-NO TE: $Revision: 1.6 $
-NO TE: $Date: 2006-11-02 02:49:04 $
-NO TE: Author: Dan Bartlett
-NO TE: Limit switch HOME routine added by Ferdi Franceschini
-NO TE: Last revision by: $Author: dbx $
+NO TE: ECHIDNA - CONTROLLER 4
 NO TE:
 NO TE: A-SPARE
 NO TE: B-SPARE
@@ -13,6 +8,9 @@ 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)
+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
@@ -22,15 +20,43 @@ AC ,,,,60000,60000,60000,60000;' SET ACELERATION
 DC ,,,,60000,60000,60000,60000;' SET DECELERATION
 SP ,,,,30000,30000,30000,30000;' SET SPEED
 HOMERUN=0;' HOMING PROCEDURE HAS NOT BEEN RUN
-JS #LOOPER;'RUNS THE LOOPING PROCEDURE
+JS #THREAD0
 EN
-#LOOPER
-NO TE: ININT NEEDS A PROGRAM RUNNING TO WORK: JUST A LOOP
-JP#LOOPER
+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
+NO IF (_SPA>25000) AXES NOT IN USE, COMMENTED OUT
+NO SPA=25000
+NO ENDIF
+NO IF (_SPB>50000)
+NO SPB=50000
+NO ENDIF
+NO IF (_SPC>50000)
+NO SPC=50000
+NO ENDIF
+NO IF (_SPD>50000)
+NO SPD=50000
+NO 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
@@ -38,6 +64,7 @@ STA,B,C,D,E,F,G,H
 AM
 MO
 RI
+NO ----------------------------------------
 #HOME
 IF (HOMERUN = 1)
 JP #ENDHOME
@@ -87,6 +114,4 @@ DP ,,,,0,0,0,0
 SP ,,,,30000,30000,30000,30000
 HOMERUN=1
 #ENDHOME
-EN
-
-
+EN
\ No newline at end of file