no message

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

site_ansto/instrument/hipd/DMC2280/controller3.txt

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+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