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r1413 | dbx | 2007-01-31 12:03:44 +1100 (Wed, 31 Jan 2007) | 2 lines
This commit is contained in:
Dan Bartlett
2007-01-31 12:03:44 +11:00
committed by Douglas Clowes
parent 720dc7a6d5
commit b40ab54710
8 changed files with 754 additions and 139 deletions
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113
site_ansto/instrument/hrpd/DMC2280/controller1.txt
View File

@@ -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

135
site_ansto/instrument/hrpd/DMC2280/controller2.txt
View File

@@ -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

52
site_ansto/instrument/hrpd/DMC2280/controller3.txt
View File

@@ -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

51
site_ansto/instrument/hrpd/DMC2280/controller4.txt
View File

@@ -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