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r1413 | dbx | 2007-01-31 12:03:44 +1100 (Wed, 31 Jan 2007) | 2 lines

site_ansto/instrument/hipd/DMC2280/controller1.txt

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+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