no message

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

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