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Content downloaded from GALIL controllers before conversion to SICS

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r3292 | dcl | 2011-11-28 14:23:41 +1100 (Mon, 28 Nov 2011) | 1 line
This commit is contained in:
Douglas Clowes
2011-11-28 14:23:41 +11:00
parent 1bb2e24df8
commit baf2206efe
6 changed files with 2018 additions and 2016 deletions
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1262
site_ansto/instrument/tas/DMC2280/controller1.txt
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700
site_ansto/instrument/tas/DMC2280/controller2.txt
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@@ -1,349 +1,351 @@
'TAIPAN - CONTROLLER 2
'
'$Revision:$
'$Date:$
'Author: Daniel Bartlett
'Last revision by: $author:$
'
'A-SAMPLE TRANSLATION - TILT 1
'B-SAMPLE TRANSLATION - TILT 2
'C-SAMPLE TRANSLATION - LINEAR 1
'D-SAMPLE TRANSLATION - LINEAR 2
'E-SAMPLE TRANSLATION - ROTATE
'F-DETECTOR + ANALYSER ROTATE _TPF=2771351 ON BEAM CL
'G-ANALYSER FOCUS 1
'H-ANALYSER FOCUS 2
'
'
'--------------------------------------------------------------------------
#AUTO
'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;'ALL MOTORS OFF
CN 1;'CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
II 6,8,,0;' CONFIGURES THE 6TH, 7TH & 8TH INPUT TO ACTIVATE #ININT ROUTINE
OP 65281;' SETS OUTPUTS 9-16 ON = RELAYS OFF
IA 137,157,203,132;' CONFIGURES IP ADDRESS
AC 25000,25000,25000,25000,25000,25000,12500,12500;' SET ACELERATION
DC 25000,25000,25000,25000,25000,25000,12500,12500;' SET DECELERATION
SP 25000,25000,25000,25000,25000,100000,12500,12500;' SET SPEED
SIA=0;'TURN OFF CLOCK PULSES TO ALLOW ENCODER TO INITIALISE
SIB=0
SIC=0
SID=0
SIE=0
SIF=0
SIG=0
SIH=0
WT1000;'WAIT FOR ENCODER TO INITIALISE
SIA=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - SAMPLE TILT 1
SIB=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - SAMPLE TILT 2
SIC=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - SAMPLE TRANS 1
SID=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - SAMPLE TRANS 2
SIE=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - SAMPLE ROTATE
SIF=1,25,25,0<-13>2;'HEIDENHAIN RCN226 - DETECTOR + ANALYSER ROTATE
SIG=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - ANALYSER FOCUS 1
SIH=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - ANALYSER FOCUS 2
LSAHIT=0;' INITIALISE THE BIT SET AFTER A LIMIT IS HIT
LSBHIT=0
LSCHIT=0
LSDHIT=0
LSEHIT=0
LSFHIT=0
LSGHIT=0
LSHHIT=0
APFDONE=0;' INITIALISE THE BIT FOR AXIS F AIRPAD CONTROL
JS #THREAD0
EN
'
'
'--------------------------------------------------------------------------
#THREAD0
'THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
'
JS #CHKDCEL
JS #AIRPAD
JS #CHKSPD
JS #BEAMSTP
JP #THREAD0
EN
'
'
'--------------------------------------------------------------------------
#CHKDCEL
'ROUTINE TO RESET DECELERATIONS AFTER A LIMIT HIT
'
IF (LSAHIT=1)&(_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
DCA=OLDDCA;' RESET DECEL TO OLD VALUE
LSAHIT=0
ENDIF
'
IF (LSBHIT=1)&(_BGB=0)
DCB=OLDDCB
LSBHIT=0
ENDIF
'
IF (LSCHIT=1)&(_BGC=0)
DCC=OLDDCC
LSCHIT=0
ENDIF
'
IF (LSDHIT=1)&(_BGD=0)
DCD=OLDDCD
LSDHIT=0
ENDIF
'
IF (LSEHIT=1)&(_BGE=0)
DCE=OLDDCE
LSEHIT=0
ENDIF
'
IF (LSFHIT=1)&(_BGF=0)
DCF=OLDDCF
LSFHIT=0
ENDIF
'
IF (LSGHIT=1)&(_BGG=0)
DCG=OLDDCG
LSGHIT=0
ENDIF
'
IF (LSHHIT=1)&(_BGH=0)
DCH=OLDDCH
LSHHIT=0
ENDIF
EN
'
'
'--------------------------------------------------------------------------
#AIRPAD
'ROUTINE TO CONTROL AIRPADS
'
'CONTROLS THE AIRPAD SOLENOID VALVES FOR ANALYSER STAGE
IF (_MOF=0);'ANALYSER MOTOR IS ON
SB 10;'ANALYSER AIR PAD OFF-SOLENOID OFF
CB 9;'ANALYSER AIR PAD ON-SOLENOID ON
APFDONE=0
ENDIF
IF (_MOF=1)&(APFDONE=0);'ANALYSER MOTOR IS OFF
SB 9;'ANALYSER AIR PAD ON-SOLENOID OFF
CB 10;'ANALYSER AIR PAD OFF-SOLENOID ON
WT500;'WAIT 1/2 SEC
SB 10;'ANALYSER AIR PAD OFF-SOLENOID OFF
APFDONE=1
ENDIF
'
'
'--------------------------------------------------------------------------
#CHKSPD
'ROUTINE TO CHECK THE SPEED OF THE AXES IS NOT GREATER THAN MAX 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>25000)
SPG=25000
ENDIF
'
IF (_SPH>25000)
SPH=25000
ENDIF
EN
'
'
'--------------------------------------------------------------------------
#BEAMSTP
'
'THIS ROUTINE CONTROLS THE POSITION OF THE BEAMSTOP
'IF THE ANALYSER IS WITHIN THE RANGE SPECIFIED THEN THE BEAMSTOP IS DOWN
'TO AVOID COLLISIONS WITH SLITS AND OTHER EQUIPMENT
'
IF (_XQ1=-1)
'#BSCHECK NOT RUNNING
XQ #BSCHECK,1
ENDIF
IF (_TPF>9665152)&(_TPF<14370000)
'IF (_TPF>9665152)&(_TPF<13168731)
'IF (_TPF>12554353)&(_TPF<15923500)
'IF (_TPF>12554353)&(_TPF<15809209)
'ANALYSER WITHIN RANGE, BEAMSTOP NEEDS TO BE DOWN
SB11;'TURN OFF SOLENOID VALVE
ELSE
CB11;'TURN ON SOLENOID VALVE
ENDIF
EN
'
'
'--------------------------------------------------------------------------
#BSCHECK
'THIS ROUTINE CHECKS THE POSITION OF THE BEAMSTOP AND REPORTS ERRORS
'TO THE SAFETY AND INTERLOCK SYSTEM
'
'IN[13]=1 TOP LIMIT ACTUATED
'IN[14]=1 BOTTOM LIMIT ACTUATED
IF ((_OP0&1024)=0)
'RELAY 11 HAS BEEN ENABLED THEREFORE THE BEAMSTOP SHOULD BE UP
WT1500;'DELAY TO ALLOW BEAMSTOP TO MOVE
IF ((@IN[13]=1)&(@IN[14]=0))
'BEAMSTOP UP AND NOT DOWN
CB16;'SEND ALL-OK TO SIS
ELSE
SB16;'SEND ERROR BIT TO SIS
ENDIF
ENDIF
'
IF ((_OP0&1024)<>0)
'RELAY 11 HAS BEEN DISABLED THEREFORE THE BEAMSTOP SHOULD BE DOWN
WT1500;'DELAY TO ALLOW BEAMSTOP TO MOVE
IF ((@IN[13]=0)&(@IN[14]=1))
'BEAMSTOP DOWN AND NOT UP
CB16;'SEND ALL-OK TO SIS
ELSE
SB16;'SEND ERROR BIT TO SIS
ENDIF
ENDIF
'
JP #BSCHECK
EN
'
'--------------------------------------------------------------------------
#TCPERR
'EMPTY TCP ERROR ROUTINE
'
RE
'
'
'--------------------------------------------------------------------------
#ININT
'INTERUPT ROUTINE
'TO STOP ALL AXES WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
'TO STOP AXIS F WHEN LIGHT CURTAINS BROKEN BUT TO ALLOW MOVEMENT AWAY
'
IF @IN[8]=0
'SAFETY INTERLOCK SYSTEM ALL AXES SLOWDOWN
CN-1;'RECONFIGURES LIMITS. RESULT:ALL LIMITS SEEN AS HIT. WILL RUN #LIMSWI
WT250
CN1;'SETS LIMITS BACK TO NORMAL
JP #ENININT
ENDIF
'
IF @IN[6]=0
'LOW ANGLE LIGHT CURTAIN BROKEN
IF _TVF>0
'AXIS HEADING TOWARDS LIGHT CURTAIN
STF
ENDIF
ENDIF
'
IF @IN[7]=0
'HIGH ANGLE LIGHT CURTAIN BROKEN
IF _TVF<0
'AXIS HEADING TOWARDS LIGHT CURTAIN
STF
ENDIF
ENDIF
'
#ENININT
RI
'
'
'--------------------------------------------------------------------------
#CMDERR
'ROUTINE TO HANDLE COMMAND ERRORS
'
ZS0
EN1
'
'
'--------------------------------------------------------------------------
#LIMSWI
'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
'
IF (_LFA=0)|(_LRA=0);'LIMIT HIT
IF (LSAHIT=0)&(_BGA=1);'STILL MOVING, FIRST TIME
OLDDCA=_DCA;'REMEMBER OLD DECEL VALUE
DCA=100000;'INCREASE DECEL VALUE FOR RAPID STOP
LSAHIT=1
ENDIF
ENDIF
'
IF (_LFB=0)|(_LRB=0)
IF (LSBHIT=0)&(_BGB=1)
OLDDCB=_DCB
DCB=100000
LSBHIT=1
ENDIF
ENDIF
'
IF (_LFC=0)|(_LRC=0)
IF (LSCHIT=0)&(_BGC=1)
OLDDCC=_DCC
DCC=100000
LSCHIT=1
ENDIF
ENDIF
'
IF (_LFD=0)|(_LRD=0)
IF (LSDHIT=0)&(_BGD=1)
OLDDCD=_DCD
DCD=100000
LSDHIT=1
ENDIF
ENDIF
'
IF (_LFE=0)|(_LRE=0)
IF (LSEHIT=0)&(_BGE=1)
OLDDCE=_DCE
DCE=200000
LSEHIT=1
ENDIF
ENDIF
'
IF (_LFF=0)|(_LRF=0)
IF (LSFHIT=0)&(_BGF=1)
OLDDCF=_DCF
DCF=100000
LSFHIT=1
ENDIF
ENDIF
'
IF (_LFG=0)|(_LRG=0)
IF (LSGHIT=0)&(_BGG=1)
OLDDCG=_DCG
DCG=200000
LSGHIT=1
ENDIF
ENDIF
'
IF (_LFH=0)|(_LRH=0)
IF (LSHHIT=0)&(_BGH=1)
OLDDCH=_DCH
DCH=200000
LSHHIT=1
ENDIF
ENDIF
RE
'
'
'TAIPAN - CONTROLLER 2
'
'$Revision:$
'$Date:$
'Author: Daniel Bartlett
'Last revision by: $author:$
'
'A-SAMPLE TRANSLATION - TILT 1
'B-SAMPLE TRANSLATION - TILT 2
'C-SAMPLE TRANSLATION - LINEAR 1
'D-SAMPLE TRANSLATION - LINEAR 2
'E-SAMPLE TRANSLATION - ROTATE
'F-DETECTOR + ANALYSER ROTATE _TPF=2771351 ON BEAM CL
'G-ANALYSER FOCUS 1
'H-ANALYSER FOCUS 2
'
'
'--------------------------------------------------------------------------
#AUTO
'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;'ALL MOTORS OFF
CN 1;'CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
II 6,8,,0;' CONFIGURES THE 6TH, 7TH & 8TH INPUT TO ACTIVATE #ININT ROUTINE
OP 65281;' SETS OUTPUTS 9-16 ON = RELAYS OFF
IA 137,157,203,132;' CONFIGURES IP ADDRESS
AC 25000,25000,25000,25000,25000,25000,12500,12500;' SET ACELERATION
DC 25000,25000,25000,25000,25000,25000,12500,12500;' SET DECELERATION
SP 25000,25000,25000,25000,25000,100000,12500,12500;' SET SPEED
SIA=0;'TURN OFF CLOCK PULSES TO ALLOW ENCODER TO INITIALISE
SIB=0
SIC=0
SID=0
SIE=0
SIF=0
SIG=0
SIH=0
WT1000;'WAIT FOR ENCODER TO INITIALISE
SIA=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - SAMPLE TILT 1
SIB=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - SAMPLE TILT 2
SIC=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - SAMPLE TRANS 1
SID=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - SAMPLE TRANS 2
SIE=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - SAMPLE ROTATE
SIF=1,25,25,0<-13>2;'HEIDENHAIN RCN226 - DETECTOR + ANALYSER ROTATE
SIG=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - ANALYSER FOCUS 1
SIH=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - ANALYSER FOCUS 2
LSAHIT=0;' INITIALISE THE BIT SET AFTER A LIMIT IS HIT
LSBHIT=0
LSCHIT=0
LSDHIT=0
LSEHIT=0
LSFHIT=0
LSGHIT=0
LSHHIT=0
APFDONE=0;' INITIALISE THE BIT FOR AXIS F AIRPAD CONTROL
JS #THREAD0
EN
'
'
'--------------------------------------------------------------------------
#THREAD0
'THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
'
JS #CHKDCEL
JS #AIRPAD
JS #CHKSPD
JS #BEAMSTP
JP #THREAD0
EN
'
'
'--------------------------------------------------------------------------
#CHKDCEL
'ROUTINE TO RESET DECELERATIONS AFTER A LIMIT HIT
'
IF (LSAHIT=1)&(_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
DCA=OLDDCA;' RESET DECEL TO OLD VALUE
LSAHIT=0
ENDIF
'
IF (LSBHIT=1)&(_BGB=0)
DCB=OLDDCB
LSBHIT=0
ENDIF
'
IF (LSCHIT=1)&(_BGC=0)
DCC=OLDDCC
LSCHIT=0
ENDIF
'
IF (LSDHIT=1)&(_BGD=0)
DCD=OLDDCD
LSDHIT=0
ENDIF
'
IF (LSEHIT=1)&(_BGE=0)
DCE=OLDDCE
LSEHIT=0
ENDIF
'
IF (LSFHIT=1)&(_BGF=0)
DCF=OLDDCF
LSFHIT=0
ENDIF
'
IF (LSGHIT=1)&(_BGG=0)
DCG=OLDDCG
LSGHIT=0
ENDIF
'
IF (LSHHIT=1)&(_BGH=0)
DCH=OLDDCH
LSHHIT=0
ENDIF
EN
'
'
'--------------------------------------------------------------------------
#AIRPAD
'ROUTINE TO CONTROL AIRPADS
'
'CONTROLS THE AIRPAD SOLENOID VALVES FOR ANALYSER STAGE
IF (_MOF=0);'ANALYSER MOTOR IS ON
SB 10;'ANALYSER AIR PAD OFF-SOLENOID OFF
CB 9;'ANALYSER AIR PAD ON-SOLENOID ON
APFDONE=0
ENDIF
IF (_MOF=1)&(APFDONE=0);'ANALYSER MOTOR IS OFF
SB 9;'ANALYSER AIR PAD ON-SOLENOID OFF
CB 10;'ANALYSER AIR PAD OFF-SOLENOID ON
WT500;'WAIT 1/2 SEC
SB 10;'ANALYSER AIR PAD OFF-SOLENOID OFF
APFDONE=1
ENDIF
'
'
'--------------------------------------------------------------------------
#CHKSPD
'ROUTINE TO CHECK THE SPEED OF THE AXES IS NOT GREATER THAN MAX 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>25000)
SPG=25000
ENDIF
'
IF (_SPH>25000)
SPH=25000
ENDIF
EN
'
'
'--------------------------------------------------------------------------
#BEAMSTP
'
'THIS ROUTINE CONTROLS THE POSITION OF THE BEAMSTOP
'IF THE ANALYSER IS WITHIN THE RANGE SPECIFIED THEN THE BEAMSTOP IS DOWN
'TO AVOID COLLISIONS WITH SLITS AND OTHER EQUIPMENT
'
IF (_XQ1=-1)
'#BSCHECK NOT RUNNING
XQ #BSCHECK,1
ENDIF
IF (_TPF>9800000)&(_TPF<13300000)
'IF (_TPF>9800000)&(_TPF<14123000)
'IF (_TPF>9665152)&(_TPF<14123000)
'IF (_TPF>9665152)&(_TPF<13168731)
'IF (_TPF>12554353)&(_TPF<15923500)
'IF (_TPF>12554353)&(_TPF<15809209)
'ANALYSER WITHIN RANGE, BEAMSTOP NEEDS TO BE DOWN
SB11;'TURN OFF SOLENOID VALVE
ELSE
CB11;'TURN ON SOLENOID VALVE
ENDIF
EN
'
'
'--------------------------------------------------------------------------
#BSCHECK
'THIS ROUTINE CHECKS THE POSITION OF THE BEAMSTOP AND REPORTS ERRORS
'TO THE SAFETY AND INTERLOCK SYSTEM
'
'IN[13]=1 TOP LIMIT ACTUATED
'IN[14]=1 BOTTOM LIMIT ACTUATED
IF ((_OP0&1024)=0)
'RELAY 11 HAS BEEN ENABLED THEREFORE THE BEAMSTOP SHOULD BE UP
WT1500;'DELAY TO ALLOW BEAMSTOP TO MOVE
IF ((@IN[13]=1)&(@IN[14]=0))
'BEAMSTOP UP AND NOT DOWN
CB16;'SEND ALL-OK TO SIS
ELSE
SB16;'SEND ERROR BIT TO SIS
ENDIF
ENDIF
'
IF ((_OP0&1024)<>0)
'RELAY 11 HAS BEEN DISABLED THEREFORE THE BEAMSTOP SHOULD BE DOWN
WT1500;'DELAY TO ALLOW BEAMSTOP TO MOVE
IF ((@IN[13]=0)&(@IN[14]=1))
'BEAMSTOP DOWN AND NOT UP
CB16;'SEND ALL-OK TO SIS
ELSE
SB16;'SEND ERROR BIT TO SIS
ENDIF
ENDIF
'
JP #BSCHECK
EN
'
'--------------------------------------------------------------------------
#TCPERR
'EMPTY TCP ERROR ROUTINE
'
RE
'
'
'--------------------------------------------------------------------------
#ININT
'INTERUPT ROUTINE
'TO STOP ALL AXES WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
'TO STOP AXIS F WHEN LIGHT CURTAINS BROKEN BUT TO ALLOW MOVEMENT AWAY
'
IF @IN[8]=0
'SAFETY INTERLOCK SYSTEM ALL AXES SLOWDOWN
CN-1;'RECONFIGURES LIMITS. RESULT:ALL LIMITS SEEN AS HIT. WILL RUN #LIMSWI
WT250
CN1;'SETS LIMITS BACK TO NORMAL
JP #ENININT
ENDIF
'
IF @IN[6]=0
'LOW ANGLE LIGHT CURTAIN BROKEN
IF _TVF>0
'AXIS HEADING TOWARDS LIGHT CURTAIN
STF
ENDIF
ENDIF
'
IF @IN[7]=0
'HIGH ANGLE LIGHT CURTAIN BROKEN
IF _TVF<0
'AXIS HEADING TOWARDS LIGHT CURTAIN
STF
ENDIF
ENDIF
'
#ENININT
RI
'
'
'--------------------------------------------------------------------------
#CMDERR
'ROUTINE TO HANDLE COMMAND ERRORS
'
ZS0
EN1
'
'
'--------------------------------------------------------------------------
#LIMSWI
'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
'
IF (_LFA=0)|(_LRA=0);'LIMIT HIT
IF (LSAHIT=0)&(_BGA=1);'STILL MOVING, FIRST TIME
OLDDCA=_DCA;'REMEMBER OLD DECEL VALUE
DCA=100000;'INCREASE DECEL VALUE FOR RAPID STOP
LSAHIT=1
ENDIF
ENDIF
'
IF (_LFB=0)|(_LRB=0)
IF (LSBHIT=0)&(_BGB=1)
OLDDCB=_DCB
DCB=100000
LSBHIT=1
ENDIF
ENDIF
'
IF (_LFC=0)|(_LRC=0)
IF (LSCHIT=0)&(_BGC=1)
OLDDCC=_DCC
DCC=100000
LSCHIT=1
ENDIF
ENDIF
'
IF (_LFD=0)|(_LRD=0)
IF (LSDHIT=0)&(_BGD=1)
OLDDCD=_DCD
DCD=100000
LSDHIT=1
ENDIF
ENDIF
'
IF (_LFE=0)|(_LRE=0)
IF (LSEHIT=0)&(_BGE=1)
OLDDCE=_DCE
DCE=200000
LSEHIT=1
ENDIF
ENDIF
'
IF (_LFF=0)|(_LRF=0)
IF (LSFHIT=0)&(_BGF=1)
OLDDCF=_DCF
DCF=100000
LSFHIT=1
ENDIF
ENDIF
'
IF (_LFG=0)|(_LRG=0)
IF (LSGHIT=0)&(_BGG=1)
OLDDCG=_DCG
DCG=200000
LSGHIT=1
ENDIF
ENDIF
'
IF (_LFH=0)|(_LRH=0)
IF (LSHHIT=0)&(_BGH=1)
OLDDCH=_DCH
DCH=200000
LSHHIT=1
ENDIF
ENDIF
RE
'
'

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site_ansto/instrument/tas/DMC2280/controller3.txt
View File

@@ -1,250 +1,250 @@
'TAIPAN - CONTROLLER 3
'
'$Revision:$
'$Date:$
'Author: Daniel Bartlett
'Last revision by: $author:$
'
'A-MONOCHROMATOR 1 HORIZONTAL FOCUS
'B-MONOCHROMATOR 1 VERTICAL FOCUS
'C-MONOCHROMATOR 2 HORIZONTAL FOCUS
'D-MONOCHROMATOR 2 VERTICAL FOCUS
'E-MONOCHROMATOR ROTATE
'F-SPARE
'G-SPARE
'H-SPARE
'
'
'4096 COUNTS / 2 DEGREES
'2048 COUNTS / DEGREE
'PG 00 DEGREES = 16034863
'PG 45 DEGREES = 16127023
'--------------------------------------------------------------------------
#AUTO
'THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
'
MT-2,-2,-2,-2,-2.5,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER, E REVERSED
MO;'ALL MOTORS 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 137,157,203,133;' CONFIGURES IP ADDRESS
AC 6000,6000,6000,6000,25000,,,;' SET ACELERATION
DC 6000,6000,6000,6000,25000,,,;' SET DECELERATION
SP 12500,12500,50000,12500,100000,,,;' SET SPEED
SIA=0;'TURN OFF CLOCK PULSES TO ALLOW ENCODER TO INITIALISE
SIB=0
SIC=0
SID=0
SIE=0
SIF=0
SIG=0
SIH=0
WT1000;'WAIT FOR ENCODER TO INITIALISE
SIA=1,24,12,0<-11>1;'RESOLVER VIA VEGA 2790 BOARD
SIB=1,24,12,0<-11>1;'RESOLVER VIA VEGA 2790 BOARD
SIC=1,24,12,0<-11>1;'RESOLVER VIA VEGA 2790 BOARD
SID=1,24,12,0<-11>1;'RESOLVER VIA VEGA 2790 BOARD
SIE=1,24,12,0<-11>1;'RESOLVER VIA VEGA 2790 BOARD
LSAHIT=0;' INITIALISE THE BIT SET AFTER A LIMIT IS HIT
LSBHIT=0
LSCHIT=0
LSDHIT=0
LSEHIT=0
'LSFHIT=0
'LSGHIT=0
'LSHHIT=0
JS #THREAD0
EN
'
'
'--------------------------------------------------------------------------
#THREAD0
'THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
'
JW #CHKDCEL
JS #CHKSPD
JP #THREAD0
EN
'
'
'--------------------------------------------------------------------------
#CHKDCEL
'ROUTINE TO RESET DECELERATIONS AFTER A LIMIT HIT
'
IF ((LSAHIT=1)&(_BGA=0));'WHEN MOTION STOPS AFTER A LIMIT HIT
DCA=OLDDCA;' RESET DECEL TO OLD VALUE
LSAHIT=0
ENDIF
'
IF ((LSBHIT=1)&(_BGB=0))
DCB=OLDDCB
LSBHIT=0
ENDIF
'
IF ((LSCHIT=1)&(_BGC=0))
DCC=OLDDCC
LSCHIT=0
ENDIF
'
IF ((LSDHIT=1)&(_BGD=0))
DCD=OLDDCD
LSDHIT=0
ENDIF
'
IF ((LSEHIT=1)&(_BGE=0))
DCE=OLDDCE
LSEHIT=0
ENDIF
'
'IF ((LSFHIT=1)&(_BGF=0))
'DCF=OLDDCF
'LSFHIT=0
'ENDIF
'
'IF ((LSGHIT=1)&(_BGG=0))
'DCG=OLDDCG
'LSGHIT=0
'ENDIF
'
'IF ((LSHHIT=1)&(_BGH=0))
'DCH=OLDDCH
'LSHHIT=0
'ENDIF
'EN
'
'
'--------------------------------------------------------------------------
#CHKSPD
'ROUTINE TO CHECK THE SPEED OF THE AXES IS NOT GREATER THAN MAX ALLOWED
'
IF (_SPA>25000)
SPA=25000
ENDIF
'
IF (_SPB>25000)
SPB=25000
ENDIF
'
IF (_SPC>25000)
SPC=25000
ENDIF
'
IF (_SPD>25000)
SPD=25000
ENDIF
'
IF (_SPE>100000)
SPE=100000
ENDIF
'
'IF (_SPF>100000)
'SPF=100000
'ENDIF
'
'IF (_SPG>50000)
'SPG=50000
'ENDIF
'
'IF (_SPH>100000)
'SPH=100000
'ENDIF
'EN
'
'
'--------------------------------------------------------------------------
#TCPERR
'EMPTY TCP ERROR ROUTINE
'
RE
'
'
'--------------------------------------------------------------------------
#ININT
'INTERUPT ROUTINE TO STOP ALL AXES
'WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
'
CN-1;' RECONFIGURES LIMITS. RESULT:ALL LIMITS SEEN AS HIT. WILL RUN #LIMSWI
WT250
CN1;' SETS LIMITS BACK TO NORMAL
RI
'
'
'--------------------------------------------------------------------------
#CMDERR
'ROUTINE TO HANDLE COMMAND ERRORS
'
ZS0
EN1
'
'
'--------------------------------------------------------------------------
#LIMSWI
'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
'
IF ((_LFA=0)|(_LRA=0));'LIMIT HIT
IF ((LSAHIT=0)&(_BGA=1));'STILL MOVING, FIRST TIME
OLDDCA=_DCA;'REMEMBER OLD DECEL VALUE
DCA=100000;'INCREASE DECEL VALUE FOR RAPID STOP
LSAHIT=1
ENDIF
ENDIF
'
IF ((_LFB=0)|(_LRB=0))
IF ((LSBHIT=0)&(_BGB=1))
OLDDCB=_DCB
DCB=100000
LSBHIT=1
ENDIF
ENDIF
'
IF ((_LFC=0)|(_LRC=0))
IF ((LSCHIT=0)&(_BGC=1))
OLDDCC=_DCC
DCC=100000
LSCHIT=1
ENDIF
ENDIF
'
IF ((_LFD=0)|(_LRD=0))
IF ((LSDHIT=0)&(_BGD=1))
OLDDCD=_DCD
DCD=100000
LSDHIT=1
ENDIF
ENDIF
'
IF ((_LFE=0)|(_LRE=0))
IF ((LSEHIT=0)&(_BGE=1))
OLDDCE=_DCE
DCE=200000
LSEHIT=1
ENDIF
ENDIF
'
'IF ((_LFF=0)|(_LRF=0))
'IF ((LSFHIT=0)&(_BGF=1))
'OLDDCF=_DCF
'DCF=200000
'LSFHIT=1
'ENDIF
'ENDIF
'
'IF ((_LFG=0)|(_LRG=0))
'IF ((LSGHIT=0)&(_BGG=1))
'OLDDCG=_DCG
'DCG=200000
'LSGHIT=1
'ENDIF
'ENDIF
'
'IF ((_LFH=0)|(_LRH=0))
'IF ((LSHHIT=0)&(_BGH=1))
'OLDDCH=_DCH
'DCH=200000
'LSHHIT=1
'ENDIF
'ENDIF
RE
'
'
'TAIPAN - CONTROLLER 3
'
'$Revision:$
'$Date:$
'Author: Daniel Bartlett
'Last revision by: $author:$
'
'A-MONOCHROMATOR 1 HORIZONTAL FOCUS
'B-MONOCHROMATOR 1 VERTICAL FOCUS
'C-MONOCHROMATOR 2 HORIZONTAL FOCUS
'D-MONOCHROMATOR 2 VERTICAL FOCUS
'E-MONOCHROMATOR ROTATE
'F-SPARE
'G-SPARE
'H-SPARE
'
'
'4096 COUNTS / 2 DEGREES
'2048 COUNTS / DEGREE
'PG 00 DEGREES = 16034863
'PG 45 DEGREES = 16127023
'--------------------------------------------------------------------------
#AUTO
'THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
'
MT-2,-2,-2,-2,-2.5,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER, E REVERSED
MO;'ALL MOTORS 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 137,157,203,133;' CONFIGURES IP ADDRESS
AC 6000,6000,6000,6000,25000,,,;' SET ACELERATION
DC 6000,6000,6000,6000,25000,,,;' SET DECELERATION
SP 12500,12500,50000,12500,100000,,,;' SET SPEED
SIA=0;'TURN OFF CLOCK PULSES TO ALLOW ENCODER TO INITIALISE
SIB=0
SIC=0
SID=0
SIE=0
SIF=0
SIG=0
SIH=0
WT1000;'WAIT FOR ENCODER TO INITIALISE
SIA=1,24,12,0<-11>1;'RESOLVER VIA VEGA 2790 BOARD
SIB=1,24,12,0<-11>1;'RESOLVER VIA VEGA 2790 BOARD
SIC=1,24,12,0<-11>1;'RESOLVER VIA VEGA 2790 BOARD
SID=1,24,12,0<-11>1;'RESOLVER VIA VEGA 2790 BOARD
SIE=1,24,12,0<-11>1;'RESOLVER VIA VEGA 2790 BOARD
LSAHIT=0;' INITIALISE THE BIT SET AFTER A LIMIT IS HIT
LSBHIT=0
LSCHIT=0
LSDHIT=0
LSEHIT=0
'LSFHIT=0
'LSGHIT=0
'LSHHIT=0
JS #THREAD0
EN
'
'
'--------------------------------------------------------------------------
#THREAD0
'THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
'
JS #CHKDCEL
JS #CHKSPD
JP #THREAD0
EN
'
'
'--------------------------------------------------------------------------
#CHKDCEL
'ROUTINE TO RESET DECELERATIONS AFTER A LIMIT HIT
'
IF ((LSAHIT=1)&(_BGA=0));'WHEN MOTION STOPS AFTER A LIMIT HIT
DCA=OLDDCA;' RESET DECEL TO OLD VALUE
LSAHIT=0
ENDIF
'
IF ((LSBHIT=1)&(_BGB=0))
DCB=OLDDCB
LSBHIT=0
ENDIF
'
IF ((LSCHIT=1)&(_BGC=0))
DCC=OLDDCC
LSCHIT=0
ENDIF
'
IF ((LSDHIT=1)&(_BGD=0))
DCD=OLDDCD
LSDHIT=0
ENDIF
'
IF ((LSEHIT=1)&(_BGE=0))
DCE=OLDDCE
LSEHIT=0
ENDIF
'
'IF ((LSFHIT=1)&(_BGF=0))
'DCF=OLDDCF
'LSFHIT=0
'ENDIF
'
'IF ((LSGHIT=1)&(_BGG=0))
'DCG=OLDDCG
'LSGHIT=0
'ENDIF
'
'IF ((LSHHIT=1)&(_BGH=0))
'DCH=OLDDCH
'LSHHIT=0
'ENDIF
'EN
'
'
'--------------------------------------------------------------------------
#CHKSPD
'ROUTINE TO CHECK THE SPEED OF THE AXES IS NOT GREATER THAN MAX ALLOWED
'
IF (_SPA>25000)
SPA=25000
ENDIF
'
IF (_SPB>25000)
SPB=25000
ENDIF
'
IF (_SPC>25000)
SPC=25000
ENDIF
'
IF (_SPD>25000)
SPD=25000
ENDIF
'
IF (_SPE>100000)
SPE=100000
ENDIF
'
'IF (_SPF>100000)
'SPF=100000
'ENDIF
'
'IF (_SPG>50000)
'SPG=50000
'ENDIF
'
'IF (_SPH>100000)
'SPH=100000
'ENDIF
'EN
'
'
'--------------------------------------------------------------------------
#TCPERR
'EMPTY TCP ERROR ROUTINE
'
RE
'
'
'--------------------------------------------------------------------------
#ININT
'INTERUPT ROUTINE TO STOP ALL AXES
'WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
'
CN-1;' RECONFIGURES LIMITS. RESULT:ALL LIMITS SEEN AS HIT. WILL RUN #LIMSWI
WT250
CN1;' SETS LIMITS BACK TO NORMAL
RI
'
'
'--------------------------------------------------------------------------
#CMDERR
'ROUTINE TO HANDLE COMMAND ERRORS
'
ZS0
EN1
'
'
'--------------------------------------------------------------------------
#LIMSWI
'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
'
IF ((_LFA=0)|(_LRA=0));'LIMIT HIT
IF ((LSAHIT=0)&(_BGA=1));'STILL MOVING, FIRST TIME
OLDDCA=_DCA;'REMEMBER OLD DECEL VALUE
DCA=100000;'INCREASE DECEL VALUE FOR RAPID STOP
LSAHIT=1
ENDIF
ENDIF
'
IF ((_LFB=0)|(_LRB=0))
IF ((LSBHIT=0)&(_BGB=1))
OLDDCB=_DCB
DCB=100000
LSBHIT=1
ENDIF
ENDIF
'
IF ((_LFC=0)|(_LRC=0))
IF ((LSCHIT=0)&(_BGC=1))
OLDDCC=_DCC
DCC=100000
LSCHIT=1
ENDIF
ENDIF
'
IF ((_LFD=0)|(_LRD=0))
IF ((LSDHIT=0)&(_BGD=1))
OLDDCD=_DCD
DCD=100000
LSDHIT=1
ENDIF
ENDIF
'
IF ((_LFE=0)|(_LRE=0))
IF ((LSEHIT=0)&(_BGE=1))
OLDDCE=_DCE
DCE=200000
LSEHIT=1
ENDIF
ENDIF
'
'IF ((_LFF=0)|(_LRF=0))
'IF ((LSFHIT=0)&(_BGF=1))
'OLDDCF=_DCF
'DCF=200000
'LSFHIT=1
'ENDIF
'ENDIF
'
'IF ((_LFG=0)|(_LRG=0))
'IF ((LSGHIT=0)&(_BGG=1))
'OLDDCG=_DCG
'DCG=200000
'LSGHIT=1
'ENDIF
'ENDIF
'
'IF ((_LFH=0)|(_LRH=0))
'IF ((LSHHIT=0)&(_BGH=1))
'OLDDCH=_DCH
'DCH=200000
'LSHHIT=1
'ENDIF
'ENDIF
RE
'
'

570
site_ansto/instrument/tas/DMC2280/controller4.txt
View File

@@ -1,285 +1,285 @@
'TAIPAN - CONTROLLER 4
'
'$Revision:$
'$Date:$
'Author: Daniel Bartlett
'Last revision by: $author:$
'
'A-ANALYSER TILT 1
'B-ANALYSER TILT 2
'C-ANALYSER TRANSLATE
'D-ANALYSER ROTATE LFD@24724763 LRD@25454179
'E-VIRTUAL SOURCE LEFT, +VE OPEN, 6mm/TURN
'F-VIRTUAL SOURCE RIGHT, -VE OPEN, 6mm/TURN
'G-FILTER ROTATE
'H-PRIMARY COLLIMATOR TRANSLATE
'
'
'--------------------------------------------------------------------------
#AUTO
'THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
'
MT-2,-2,-2,-2.5,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
MO;'ALL MOTORS 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 137,157,203,134;'CONFIGURES IP ADDRESS
AC 25000,25000,25000,25000,25000,25000,25000,25000;'SET ACELERATION
DC 25000,25000,25000,25000,25000,25000,25000,25000;'SET DECELERATION
SP 25000,25000,25000,25000,12500,12500,25000,12500;'SET SPEED
SIA=0;'TURN OFF CLOCK PULSES TO ALLOW ENCODER TO INITIALISE
SIB=0
SIC=0
SID=0
SIE=0
SIF=0
SIG=0
SIH=0
WT1000;'WAIT FOR ENCODER TO INITIALISE
SIA=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
SIB=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
SIC=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
SID=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
SIE=1,24,12,0<-10>1;'RESOLVER VIA VEGA 2790 BOARD
SIF=1,24,12,0<-10>1;'RESOLVER VIA VEGA 2790 BOARD
SIG=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
SIH=1,24,12,0<-10>1;'RESOLVER VIA VEGA 2790 BOARD
LSAHIT=0;'INITIALISE THE BIT SET AFTER A LIMIT IS HIT
LSBHIT=0
LSCHIT=0
LSDHIT=0
LSEHIT=0
LSFHIT=0
LSGHIT=0
LSHHIT=0
JS #THREAD0
EN
'
'
'--------------------------------------------------------------------------
#THREAD0
'THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
'
JS #CHKDCEL
JS #CHKSPD
JP #THREAD0
EN
'
'
'--------------------------------------------------------------------------
#VSLMOVE
'ROUTINE TO MOVE THE VIRTUAL SOURCE RIGHT USING A CLOSED LOOP SSI POSITION
'
'E AXIS
'TPE AT LIMIT 16752106
'TPE AT BEAM CL 16773946
'
DBAND1=2
PRE=-25000*((VSLPOS-_TPE)/4096);'CALC STEPS TO DESTINATION
SHE
BGE
AME
JP #VSLMOVE, (@ABS[VSLPOS-_TPE]>DBAND1)
'JUMP BACK FOR MORE TRIES IF OUTSIDE DEADBAND1
EN
'
'
'-----------------------------------------------------------------------------
#VSRMOVE
'ROUTINE TO MOVE THE VIRTUAL SOURCE RIGHT USING A CLOSED LOOP SSI POSITION
'
'F AXIS
'TPF AT LIMIT 16775162
'TPF AT BEAM CL 16756735
'
DBAND2=2
PRF=-25000*((VSRPOS-_TPF)/4096);'CALC STEPS TO DESTINATION
SHF
BGF
AMF
JP #VSRMOVE, (@ABS[VSRPOS-_TPF]>DBAND2)
'JUMP BACK FOR MORE TRIES IF OUTSIDE DEADBAND2
EN
'
'
'-----------------------------------------------------------------------------
#CHKDCEL
'ROUTINE TO RESET DECELERATIONS AFTER A LIMIT HIT
'
IF ((LSAHIT=1)&(_BGA=0));'WHEN MOTION STOPS AFTER A LIMIT HIT
DCA=OLDDCA;'RESET DECEL TO OLD VALUE
LSAHIT=0
ENDIF
'
IF ((LSBHIT=1)&(_BGB=0))
DCB=OLDDCB
LSBHIT=0
ENDIF
'
IF ((LSCHIT=1)&(_BGC=0))
DCC=OLDDCC
LSCHIT=0
ENDIF
'
IF ((LSDHIT=1)&(_BGD=0))
DCD=OLDDCD
LSDHIT=0
ENDIF
'
IF ((LSEHIT=1)&(_BGE=0))
DCE=OLDDCE
LSEHIT=0
ENDIF
'
IF ((LSFHIT=1)&(_BGF=0))
DCF=OLDDCF
LSFHIT=0
ENDIF
'
IF ((LSGHIT=1)&(_BGG=0))
DCG=OLDDCG
LSGHIT=0
ENDIF
'
IF ((LSHHIT=1)&(_BGH=0))
DCH=OLDDCH
LSHHIT=0
ENDIF
EN
'
'
'--------------------------------------------------------------------------
#CHKSPD
'ROUTINE TO CHECK THE SPEED OF THE AXES IS NOT GREATER THAN MAX ALLOWED
'
IF (_SPA>50000)
SPA=50000
ENDIF
'
IF (_SPB>50000)
SPB=50000
ENDIF
'
IF (_SPC>50000)
SPC=50000
ENDIF
'
IF (_SPD>100000)
SPD=100000
ENDIF
'
IF (_SPE>12500)
SPE=12500
ENDIF
'
IF (_SPF>12500)
SPF=12500
ENDIF
'
IF (_SPG>50000)
SPG=50000
ENDIF
'
IF (_SPH>12500)
SPH=12500
ENDIF
EN
'
'
'--------------------------------------------------------------------------
#TCPERR
'EMPTY TCP ERROR ROUTINE
'
RE
'
'
'--------------------------------------------------------------------------
#ININT
'INTERUPT ROUTINE TO STOP ALL AXES
'WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
'
CN-1;'RECONFIGURES LIMITS. RESULT:ALL LIMITS SEEN AS HIT. WILL RUN #LIMSWI
WT250
CN1;'SETS LIMITS BACK TO NORMAL
RI
'
'
'--------------------------------------------------------------------------
#CMDERR
'ROUTINE TO HANDLE COMMAND ERRORS
'
ZS0
EN1
'
'
'--------------------------------------------------------------------------
#LIMSWI
'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
'
IF ((_LFA=0)|(_LRA=0));'LIMIT HIT
IF ((LSAHIT=0)&(_BGA=1));'STILL MOVING, FIRST TIME
OLDDCA=_DCA;'REMEMBER OLD DECEL VALUE
DCA=100000;'INCREASE DECEL VALUE FOR RAPID STOP
LSAHIT=1
ENDIF
ENDIF
'
IF ((_LFB=0)|(_LRB=0))
IF ((LSBHIT=0)&(_BGB=1))
OLDDCB=_DCB
DCB=100000
LSBHIT=1
ENDIF
ENDIF
'
IF ((_LFC=0)|(_LRC=0))
IF ((LSCHIT=0)&(_BGC=1))
OLDDCC=_DCC
DCC=100000
LSCHIT=1
ENDIF
ENDIF
'
IF ((_LFD=0)|(_LRD=0))
IF ((LSDHIT=0)&(_BGD=1))
OLDDCD=_DCD
DCD=100000
LSDHIT=1
ENDIF
ENDIF
'
IF ((_LFE=0)|(_LRE=0))
IF ((LSEHIT=0)&(_BGE=1))
OLDDCE=_DCE
DCE=50000
LSEHIT=1
ENDIF
ENDIF
'
IF ((_LFF=0)|(_LRF=0))
IF ((LSFHIT=0)&(_BGF=1))
OLDDCF=_DCF
DCF=50000
LSFHIT=1
ENDIF
ENDIF
'
IF ((_LFG=0)|(_LRG=0))
IF ((LSGHIT=0)&(_BGG=1))
OLDDCG=_DCG
DCG=100000
LSGHIT=1
ENDIF
ENDIF
'
IF ((_LFH=0)|(_LRH=0))
IF ((LSHHIT=0)&(_BGH=1))
OLDDCH=_DCH
DCH=100000
LSHHIT=1
ENDIF
ENDIF
RE
'
'
'TAIPAN - CONTROLLER 4
'
'$Revision:$
'$Date:$
'Author: Daniel Bartlett
'Last revision by: $author:$
'
'A-ANALYSER TILT 1
'B-ANALYSER TILT 2
'C-ANALYSER TRANSLATE
'D-ANALYSER ROTATE LFD@24724763 LRD@25454179
'E-VIRTUAL SOURCE LEFT, +VE OPEN, 6mm/TURN
'F-VIRTUAL SOURCE RIGHT, -VE OPEN, 6mm/TURN
'G-FILTER ROTATE
'H-PRIMARY COLLIMATOR TRANSLATE
'
'
'--------------------------------------------------------------------------
#AUTO
'THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
'
MT-2,-2,-2,-2.5,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
MO;'ALL MOTORS 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 137,157,203,134;'CONFIGURES IP ADDRESS
AC 25000,25000,25000,25000,25000,25000,25000,25000;'SET ACELERATION
DC 25000,25000,25000,25000,25000,25000,25000,25000;'SET DECELERATION
SP 25000,25000,25000,25000,12500,12500,25000,12500;'SET SPEED
SIA=0;'TURN OFF CLOCK PULSES TO ALLOW ENCODER TO INITIALISE
SIB=0
SIC=0
SID=0
SIE=0
SIF=0
SIG=0
SIH=0
WT1000;'WAIT FOR ENCODER TO INITIALISE
SIA=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
SIB=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
SIC=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
SID=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
SIE=1,24,12,0<-10>1;'RESOLVER VIA VEGA 2790 BOARD
SIF=1,24,12,0<-10>1;'RESOLVER VIA VEGA 2790 BOARD
SIG=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
SIH=1,24,12,0<-10>1;'RESOLVER VIA VEGA 2790 BOARD
LSAHIT=0;'INITIALISE THE BIT SET AFTER A LIMIT IS HIT
LSBHIT=0
LSCHIT=0
LSDHIT=0
LSEHIT=0
LSFHIT=0
LSGHIT=0
LSHHIT=0
JS #THREAD0
EN
'
'
'--------------------------------------------------------------------------
#THREAD0
'THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
'
JS #CHKDCEL
JS #CHKSPD
JP #THREAD0
EN
'
'
'--------------------------------------------------------------------------
#VSLMOVE
'ROUTINE TO MOVE THE VIRTUAL SOURCE RIGHT USING A CLOSED LOOP SSI POSITION
'
'E AXIS
'TPE AT LIMIT 16752106
'TPE AT BEAM CL 16773946
'
DBAND1=2
PRE=-25000*((VSLPOS-_TPE)/4096);'CALC STEPS TO DESTINATION
SHE
BGE
AME
JP #VSLMOVE, (@ABS[VSLPOS-_TPE]>DBAND1)
'JUMP BACK FOR MORE TRIES IF OUTSIDE DEADBAND1
EN
'
'
'-----------------------------------------------------------------------------
#VSRMOVE
'ROUTINE TO MOVE THE VIRTUAL SOURCE RIGHT USING A CLOSED LOOP SSI POSITION
'
'F AXIS
'TPF AT LIMIT 16775162
'TPF AT BEAM CL 16756735
'
DBAND2=2
PRF=-25000*((VSRPOS-_TPF)/4096);'CALC STEPS TO DESTINATION
SHF
BGF
AMF
JP #VSRMOVE, (@ABS[VSRPOS-_TPF]>DBAND2)
'JUMP BACK FOR MORE TRIES IF OUTSIDE DEADBAND2
EN
'
'
'-----------------------------------------------------------------------------
#CHKDCEL
'ROUTINE TO RESET DECELERATIONS AFTER A LIMIT HIT
'
IF ((LSAHIT=1)&(_BGA=0));'WHEN MOTION STOPS AFTER A LIMIT HIT
DCA=OLDDCA;'RESET DECEL TO OLD VALUE
LSAHIT=0
ENDIF
'
IF ((LSBHIT=1)&(_BGB=0))
DCB=OLDDCB
LSBHIT=0
ENDIF
'
IF ((LSCHIT=1)&(_BGC=0))
DCC=OLDDCC
LSCHIT=0
ENDIF
'
IF ((LSDHIT=1)&(_BGD=0))
DCD=OLDDCD
LSDHIT=0
ENDIF
'
IF ((LSEHIT=1)&(_BGE=0))
DCE=OLDDCE
LSEHIT=0
ENDIF
'
IF ((LSFHIT=1)&(_BGF=0))
DCF=OLDDCF
LSFHIT=0
ENDIF
'
IF ((LSGHIT=1)&(_BGG=0))
DCG=OLDDCG
LSGHIT=0
ENDIF
'
IF ((LSHHIT=1)&(_BGH=0))
DCH=OLDDCH
LSHHIT=0
ENDIF
EN
'
'
'--------------------------------------------------------------------------
#CHKSPD
'ROUTINE TO CHECK THE SPEED OF THE AXES IS NOT GREATER THAN MAX ALLOWED
'
IF (_SPA>50000)
SPA=50000
ENDIF
'
IF (_SPB>50000)
SPB=50000
ENDIF
'
IF (_SPC>50000)
SPC=50000
ENDIF
'
IF (_SPD>100000)
SPD=100000
ENDIF
'
IF (_SPE>12500)
SPE=12500
ENDIF
'
IF (_SPF>12500)
SPF=12500
ENDIF
'
IF (_SPG>50000)
SPG=50000
ENDIF
'
IF (_SPH>12500)
SPH=12500
ENDIF
EN
'
'
'--------------------------------------------------------------------------
#TCPERR
'EMPTY TCP ERROR ROUTINE
'
RE
'
'
'--------------------------------------------------------------------------
#ININT
'INTERUPT ROUTINE TO STOP ALL AXES
'WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
'
CN-1;'RECONFIGURES LIMITS. RESULT:ALL LIMITS SEEN AS HIT. WILL RUN #LIMSWI
WT250
CN1;'SETS LIMITS BACK TO NORMAL
RI
'
'
'--------------------------------------------------------------------------
#CMDERR
'ROUTINE TO HANDLE COMMAND ERRORS
'
ZS0
EN1
'
'
'--------------------------------------------------------------------------
#LIMSWI
'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
'
IF ((_LFA=0)|(_LRA=0));'LIMIT HIT
IF ((LSAHIT=0)&(_BGA=1));'STILL MOVING, FIRST TIME
OLDDCA=_DCA;'REMEMBER OLD DECEL VALUE
DCA=100000;'INCREASE DECEL VALUE FOR RAPID STOP
LSAHIT=1
ENDIF
ENDIF
'
IF ((_LFB=0)|(_LRB=0))
IF ((LSBHIT=0)&(_BGB=1))
OLDDCB=_DCB
DCB=100000
LSBHIT=1
ENDIF
ENDIF
'
IF ((_LFC=0)|(_LRC=0))
IF ((LSCHIT=0)&(_BGC=1))
OLDDCC=_DCC
DCC=100000
LSCHIT=1
ENDIF
ENDIF
'
IF ((_LFD=0)|(_LRD=0))
IF ((LSDHIT=0)&(_BGD=1))
OLDDCD=_DCD
DCD=100000
LSDHIT=1
ENDIF
ENDIF
'
IF ((_LFE=0)|(_LRE=0))
IF ((LSEHIT=0)&(_BGE=1))
OLDDCE=_DCE
DCE=50000
LSEHIT=1
ENDIF
ENDIF
'
IF ((_LFF=0)|(_LRF=0))
IF ((LSFHIT=0)&(_BGF=1))
OLDDCF=_DCF
DCF=50000
LSFHIT=1
ENDIF
ENDIF
'
IF ((_LFG=0)|(_LRG=0))
IF ((LSGHIT=0)&(_BGG=1))
OLDDCG=_DCG
DCG=100000
LSGHIT=1
ENDIF
ENDIF
'
IF ((_LFH=0)|(_LRH=0))
IF ((LSHHIT=0)&(_BGH=1))
OLDDCH=_DCH
DCH=100000
LSHHIT=1
ENDIF
ENDIF
RE
'
'

150
site_ansto/instrument/tas/DMC2280/controller5.txt
View File

@@ -1,75 +1,75 @@
'TAIPAN - CONTROLLER 5
'
'$Revision:$
'$Date$
'Author: Dan Bartlett
'Last revision by: $Author:$
'
'A-SECONDARY SHUTTER, +VE OPEN, 6mm/TURN
'ONE AXIS CONTROLLER ONLY
'
'
'-----------------------------------------------------------------------------
#AUTO
NO TE: THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
'
MO;'MOTOR OFF
SIA=1,24,12,0<-2>1;'RESOLVER VIA VEGA 2790 BOARD
MTA=-2;'CONFIGURES AXIS AS STEPPER
CN 1;' CONFIGURES LIMIT SWITCH TO ACCEPT NC CONTACTS
IA 137,157,203,135;' CONFIGURES IP ADDRESS
ACA=100000;' SET ACELERATION
DCA=100000;' SET DECELERATION
SPA=50000;' SET SPEED
JS #THREAD0
EN
'
'
'-----------------------------------------------------------------------------
#THREAD0
'CONTROLS THE SECONDARY SHUTTER
'
'INPUT 5=SECONDARY SHUTTER CLOSE SIGNAL 1
'INPUT 6=SECONDARY SHUTTER CLOSE SIGNAL 2
'INPUT 7=SECONDARY SHUTTER OPEN SIGNAL 1
'INPUT 8=SECONDARY SHUTTER OPEN SIGNAL 2
IF ((@IN[5]=1)&(@IN[6]=1)&(@IN[7]=0)&(@IN[8]=0)&(_BGA=0)&(_LFA=1))
'INPUTS 5&6 INACTIVE(1) & INPUT 7&8 ACTIVE(0) & NOT MOVING & NOT ALREADY OPEN
'SECONDARY SHUTTER COMMANDED TO OPEN
JGA=50000;' JOG OPEN AT 12mm/s
SHA;' TURN ON MOTOR
BGA;' DRIVE SHUTTER OPEN
ENDIF
IF (((@IN[7]=1)|(@IN[8]=1))&(_LRA=1))
'EITHER OF INPUTS 7 OR 8 INACTIVE(1) & NOT ALREADY CLOSED
'SECONDARY SHUTTER COMMANDED TO CLOSE
STA;' STOP ANY MOTION
MCA;' AFTER MOTION IS STOPPED
JGA=-50000;' JOG CLOSED AT 12mm/s
SHA;' TURN ON MOTOR
BGA;' DRIVE SHUTTER CLOSED
MCA
ENDIF
IF (((_LFA=0)|(_LRA=0))&(_BGA=0))
'AT EITHER LIMIT AND NOT MOVING
MOA;' TURN OFF MOTOR
ENDIF
JP #THREAD0
EN
'
'
'-----------------------------------------------------------------------------
#TCPERR
'EMPTY TCP ERROR ROUTINE
'
RE
'
'
'-----------------------------------------------------------------------------
#CMDERR
'ROUTINE TO HANDLE COMMAND ERRORS
'
ZS0
EN1
'
'
'TAIPAN - CONTROLLER 5
'
'$Revision:$
'$Date$
'Author: Dan Bartlett
'Last revision by: $Author:$
'
'A-SECONDARY SHUTTER, +VE OPEN, 6mm/TURN
'ONE AXIS CONTROLLER ONLY
'
'
'-----------------------------------------------------------------------------
#AUTO
NO TE: THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
'
MO;'MOTOR OFF
SIA=1,24,12,0<-2>1;'RESOLVER VIA VEGA 2790 BOARD
MTA=-2;'CONFIGURES AXIS AS STEPPER
CN 1;' CONFIGURES LIMIT SWITCH TO ACCEPT NC CONTACTS
IA 137,157,203,135;' CONFIGURES IP ADDRESS
ACA=100000;' SET ACELERATION
DCA=100000;' SET DECELERATION
SPA=50000;' SET SPEED
JS #THREAD0
EN
'
'
'-----------------------------------------------------------------------------
#THREAD0
'CONTROLS THE SECONDARY SHUTTER
'
'INPUT 5=SECONDARY SHUTTER CLOSE SIGNAL 1
'INPUT 6=SECONDARY SHUTTER CLOSE SIGNAL 2
'INPUT 7=SECONDARY SHUTTER OPEN SIGNAL 1
'INPUT 8=SECONDARY SHUTTER OPEN SIGNAL 2
IF ((@IN[5]=1)&(@IN[6]=1)&(@IN[7]=0)&(@IN[8]=0)&(_BGA=0)&(_LFA=1))
'INPUTS 5&6 INACTIVE(1) & INPUT 7&8 ACTIVE(0) & NOT MOVING & NOT ALREADY OPEN
'SECONDARY SHUTTER COMMANDED TO OPEN
JGA=50000;' JOG OPEN AT 12mm/s
SHA;' TURN ON MOTOR
BGA;' DRIVE SHUTTER OPEN
ENDIF
IF (((@IN[7]=1)|(@IN[8]=1))&(_LRA=1))
'EITHER OF INPUTS 7 OR 8 INACTIVE(1) & NOT ALREADY CLOSED
'SECONDARY SHUTTER COMMANDED TO CLOSE
STA;' STOP ANY MOTION
MCA;' AFTER MOTION IS STOPPED
JGA=-50000;' JOG CLOSED AT 12mm/s
SHA;' TURN ON MOTOR
BGA;' DRIVE SHUTTER CLOSED
MCA
ENDIF
IF (((_LFA=0)|(_LRA=0))&(_BGA=0))
'AT EITHER LIMIT AND NOT MOVING
MOA;' TURN OFF MOTOR
ENDIF
JP #THREAD0
EN
'
'
'-----------------------------------------------------------------------------
#TCPERR
'EMPTY TCP ERROR ROUTINE
'
RE
'
'
'-----------------------------------------------------------------------------
#CMDERR
'ROUTINE TO HANDLE COMMAND ERRORS
'
ZS0
EN1
'
'

852
site_ansto/instrument/tas/DMC2280/controller6.txt
View File

@@ -1,426 +1,426 @@
'TAIPAN - CONTROLLER 6
'
'AUTHOR - DANIEL BARTLETT
'DATE - 23.02.2011
'
'A-SLIT S1 LEFT BLADE
'B-SLIT S1 RIGHT BLADE
'C-SLIT S1 TOP BLADE
'D-SLIT S1 BOTTOM BLADE
'E-SLIT S2 LEFT BLADE
'F-SLIT S2 RIGHT BLADE
'G-SLIT S2 TOP BLADE
'H-SLIT S2 BOTTOM BLADE
'
'
'-----------------------------------------------------------------------------
#AUTO
'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;'ALL MOTORS OFF
CN1;'CONFIGURES LIMIT SWITCHES. NC CONTACTS USE CN1. NO CONTACT USE CN-1
II 8,,,0;'CONFIGURES THE 8TH INPUT TO ACTIVATE THE #ININT ROUTINE
OP 65281;'SETS OUTPUTS 9-16 ON = RELAYS OFF
IA 137,157,203,136;'CONFIGURES IP ADDRESS
AC 60416,60416,60416,60416,60416,60416,60416,60416;' SET ACELERATION
DC 60416,60416,60416,60416,60416,60416,60416,60416;' SET DECELERATION
SP 30000,30000,30000,30000,30000,30000,30000,30000;' SET SPEED
SIA=0;'TURN OFF CLOCK PULSES TO ALLOW ENCODER TO INITIALISE
SIB=0
SIC=0
SID=0
SIE=0
SIF=0
SIG=0
SIH=0
WT1000;'WAIT FOR ENCODER TO INITIALISE
'SIA=1,25,13,0<-26>2;'HEIDENHAIN ROQ425
'SIA=1,25,25,0<-26>2;'HEIDENHAIN RCN226
'SIA=1,25,12,-1<-26>1;'VEGA RESOLVER TO SSI CONVERTER
'SIA=1,25,13,0<-26>1;'IVO GXM2H
'SIA=1,25,13,0<-26>2;'KUEBLER 5863
'SIA=1,31,13,0<26>2;'IVO STRING PULL, 31 BIT CONTROLLER REQUIRED
'SIA=1,24,18,6<-26>2;'IVO PLATYPUS COLLIMATION TILT
'SIA=1,15,15,0<-26>2;'GURLEY 15BIT
LSAHIT=0;'INITIALISE THE BIT SET AFTER A LIMIT IS HIT
LSBHIT=0
LSCHIT=0
LSDHIT=0
LSEHIT=0
LSFHIT=0
LSGHIT=0
LSHHIT=0
S1HOMED=0;'SLIT S1 NOT HOMED
S2HOMED=0;'SLIT S2 NOT HOMED
JS #THREAD0
EN
'
'
'-----------------------------------------------------------------------------
#THREAD0
'THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
'
JS #CHKDCEL
JS #CHKSPD
JP #THREAD0
EN
'
'
'-----------------------------------------------------------------------------
#CHKDCEL
'ROUTINE TO RESET DECELERATIONS AFTER A LIMIT HIT
'
IF (LSAHIT=1)&(_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
DCA=OLDDCA;'RESET DECEL TO OLD VALUE
LSAHIT=0
ENDIF
'
IF (LSBHIT=1)&(_BGB=0)
DCB=OLDDCB
LSBHIT=0
ENDIF
'
IF (LSCHIT=1)&(_BGC=0)
DCC=OLDDCC
LSCHIT=0
ENDIF
'
IF (LSDHIT=1)&(_BGD=0)
DCD=OLDDCD
LSDHIT=0
ENDIF
'
IF (LSEHIT=1)&(_BGE=0)
DCE=OLDDCE
LSEHIT=0
ENDIF
'
IF (LSFHIT=1)&(_BGF=0)
DCF=OLDDCF
LSFHIT=0
ENDIF
'
IF (LSGHIT=1)&(_BGG=0)
DCG=OLDDCG
LSGHIT=0
ENDIF
'
IF (LSHHIT=1)&(_BGH=0)
DCH=OLDDCH
LSHHIT=0
ENDIF
EN
'
'
'-----------------------------------------------------------------------------
#CHKSPD
'ROUTINE TO CHECK THE SPEED OF THE AXES IS NOT GREATER THAN MAX ALLOWED
'
IF (_SPA>30000)
SPA=30000
ENDIF
'
IF (_SPB>30000)
SPB=30000
ENDIF
'
IF (_SPC>30000)
SPC=30000
ENDIF
'
IF (_SPD>30000)
SPD=30000
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
EN
'
'
'-----------------------------------------------------------------------------
#TCPERR
'EMPTY TCP ERROR ROUTINE
'
RE
'
'
'-----------------------------------------------------------------------------
#ININT
'INTERUPT ROUTINE TO STOP ALL AXES
'WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
CN-1;'RECONFIGURES LIMITS. RESULT:ALL LIMITS SEEN AS HIT. WILL RUN #LIMSWI
WT250
CN1;'SETS LIMITS BACK TO NORMAL
RI
'
'
'-----------------------------------------------------------------------------
#CMDERR
'ROUTINE TO HANDLE COMMAND ERRORS
'
ZS0
EN1
'
'
'-----------------------------------------------------------------------------
#LIMSWI
'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
'
IF (_LFA=0)|(_LRA=0);'LIMIT HIT
IF (LSAHIT=0)&(_BGA=1);'STILL MOVING, FIRST TIME
OLDDCA=_DCA;'REMEMBER OLD DECEL VALUE
DCA=100000;'INCREASE DECEL VALUE FOR RAPID STOP
LSAHIT=1
ENDIF
ENDIF
'
IF (_LFB=0)|(_LRB=0)
IF (LSBHIT=0)&(_BGB=1)
OLDDCB=_DCB
DCB=60000
LSBHIT=1
ENDIF
ENDIF
'
IF (_LFC=0)|(_LRC=0)
IF (LSCHIT=0)&(_BGC=1)
OLDDCC=_DCC
DCC=60000
LSCHIT=1
ENDIF
ENDIF
'
IF (_LFD=0)|(_LRD=0)
IF (LSDHIT=0)&(_BGD=1)
OLDDCD=_DCD
DCD=60000
LSDHIT=1
ENDIF
ENDIF
'
IF (_LFE=0)|(_LRE=0)
IF (LSEHIT=0)&(_BGE=1)
OLDDCE=_DCE
DCE=60000
LSEHIT=1
ENDIF
ENDIF
'
IF (_LFF=0)|(_LRF=0)
IF (LSFHIT=0)&(_BGF=1)
OLDDCF=_DCF
DCF=60000
LSFHIT=1
ENDIF
ENDIF
'
IF (_LFG=0)|(_LRG=0)
IF (LSGHIT=0)&(_BGG=1)
OLDDCG=_DCG
DCG=60000
LSGHIT=1
ENDIF
ENDIF
'
IF (_LFH=0)|(_LRH=0)
IF (LSHHIT=0)&(_BGH=1)
OLDDCH=_DCH
DCH=60000
LSHHIT=1
ENDIF
ENDIF
RE
'
'
'-----------------------------------------------------------------------------
#MOVE
'THIS ROUTINE IS USED TO MOVE AN AXIS WITH A SSI ENCODER
'USING A MOVE-CHECK-CORRECT METHOD
'THE FOLLOWING VARIABLES MUST BE INITIALISED FIRST
'~a=0 TO 7 SETS THE MOTOR, 0=A AXIS 1=B AXIS ETC
'~b=0 TO 7 SETS THE ENCODER, 0=1ST SSI CHANNEL 1=2ND CHANNEL ETC
'TRIES= MAXIMUM NUMBER OF TRIES
'POS=DESIRED ENCODER POSITION
'
'~a=0:~b=0:TRIES=5:POS=12345678:XQ #MOVE,1
'
DBAND=3
SH~a
WT500;'WAIT TO STABILISE
IF (_BG~a=1);'MOVING, FORCE STOP. PRA WHEN MOVING CAUSES THREAD CRASH
ST~a
MC~a
ENDIF
TEMP=_TP~b;'SET TEMPORARY VARIABLE
PR~a=2500
IF (_LF~a=0);'ALREADY ON LIMIT
MG "Forward limit actuated" {EA}
MG "Ratio not calculated" {EA}
JP #MOVEEND
ENDIF
BG~a;'PERFORM A SMALL MOVE TO DETERMIN MOTOR:ENCODER RATIO
MC~a
WT500;'WAIT TO STABILISE
IF (TEMP=_TP~b);'FAILED TO MOVE
MG "No movement detected" {EA}
MG "Ratio not calculated" {EA}
JP #MOVEEND
ENDIF
RATIO=(TEMP-_TP~b)*10;'SETS ENCODER/MOTOR RATIO
'
#LOOP
IF (_BG~a=1);'MOVING, FORCE STOP. PRA WHEN MOVING CAUSES THREAD CRASH
ST~a
MC~a
ENDIF
PR~a=25000*((_TP~b-POS)/RATIO);'CALC STEPS TO DESTINATION
IF ((_PR~a>0)&(_LF~a=0));'IF POSITIVE MOVE AND ALREADY ON LIMIT
MG "Forward limit actuated" {EA}
MG "Positive move aborted" {EA}
JP #MOVEEND
ENDIF
IF ((_PR~a<0)&(_LR~a=0));'IF NEGATIVE MOVE AND ALREADY ON LIMIT
MG "Reverse limit actuated" {EA}
MG "Negative move aborted" {EA}
JP #MOVEEND
ENDIF
IF (_BG~a=1);'ALREADY MOVING
ST~a
MC~a
ENDIF
SH~a
BG~a
MC~a;'WAIT FOR MOTION TO COMPLETE
TRIES=TRIES-1;'INCREMENT ATTEMPT COUNTER
MG "Attempts to go: " {N} {EA}
MG TRIES {F1.0} {EA}
JP #LOOP, ((@ABS[_TP~b-POS]>DBAND)&(TRIES>0))
'HAVE ANOTHER GO IF OUTSIDE DEAD BAND AND NOT TOO MANY ATTEMPTS
#MOVEEND
MG "TARGET :" {N} {EA}
MG POS {F8.0} {EA}
MG "POSITION :" {N} {EA}
MG _TP~b {F8.0} {EA}
MG "Program ends" {EA}
EN
'
'
'-----------------------------------------------------------------------------
#HOMES1
'THIS ROUTINE HOMES THE S1 SLIT PACKAGE
'
IF (S1HOMED=1);'ALREADY HOMED
JP #ENDS1
ENDIF
'
IF (_LFA=0)&(_LRA=0)
'BOTH LIMITS ACTUATED. SLIT PACKAGE PROBABLY NOT PLUGGED IN.
JP #ENDS1
ENDIF
'
SHABCD;'TURN ON THE MOTORS
SP 30000,30000,30000,30000,,,,;'SET SPEED
IF (_LRA=0);'ON THE REVERSE LIMIT SWITCH
PRA=250*161/2*10;'MOVE AWAY 10mm
BGA
ENDIF
'
IF (_LRB=0);'ON THE REVERSE LIMIT SWITCH
PRB=250*161/2*10;'MOVE AWAY 10mm
BGB
ENDIF
'
IF (_LRC=0);'ON THE REVERSE LIMIT SWITCH
PRC=250*161/2*10;'MOVE AWAY 10mm
BGC
ENDIF
'
IF (_LRD=0);'ON THE REVERSE LIMIT SWITCH
PRD=250*161/2*10;'MOVE AWAY 10mm
BGD
ENDIF
'
MCABCD;'WAIT FOR MOTION TO BE COMPLETE
JG -30000,-30000,-30000,-30000,,,,;'JOG INTO REVERSE LIMIT
BGABCD
MCABCD
PR 80500,80500,80500,80500,,,,;'MOVE AWAY 4MM
BGABCD
MCABCD
JG -5000,-5000,-5000,-5000,,,,;'JOG SLOWLY INTO LIMITS
BGABCD
MCABCD
DP 0,0,0,0,,,,;'DEFINE HOME POSITION
SP 30000,30000,30000,30000,,,,;'SET SPEED BACK TO NORMAL
S1HOMED=1;'HOMING OF SLIT S1 COMPLETE
#ENDS1
EN
'
'
'-----------------------------------------------------------------------------
#HOMES2
'THIS ROUTINE HOMES THE S2 SLIT PACKAGE
'
IF (S2HOMED=1);'ALREADY HOMED
JP #ENDS2
ENDIF
'
IF (_LFE=0)&(_LRE=0)
'BOTH LIMITS ACTUATED. SLIT PACKAGE PROBABLY NOT PLUGGED IN.
JP #ENDS2
ENDIF
'
SHEFGH;'TURN ON THE MOTORS
SP ,,,,30000,30000,30000,30000;'SET SPEED
IF (_LRE=0);'ON THE REVERSE LIMIT SWITCH
PRE=250*161/2*10;'MOVE AWAY 10mm
BGE
ENDIF
'
IF (_LRF=0);'ON THE REVERSE LIMIT SWITCH
PRF=250*161/2*10;'MOVE AWAY 10mm
BGF
ENDIF
'
IF (_LRG=0);'ON THE REVERSE LIMIT SWITCH
PRG=250*161/2*10;'MOVE AWAY 10mm
BGG
ENDIF
'
IF (_LRH=0);'ON THE REVERSE LIMIT SWITCH
PRH=250*161/2*10;'MOVE AWAY 10mm
BGH
ENDIF
'
MCEFGH;'WAIT FOR MOTION TO BE COMPLETE
JG ,,,,-30000,-30000,-30000,-30000;'JOG INTO REVERSE LIMIT
BGEFGH
MCEFGH
PR ,,,,80500,80500,80500,80500;'MOVE AWAY 4MM
BGEFGH
MCEFGH
JG ,,,,-5000,-5000,-5000,-5000;'JOG SLOWLY INTO LIMITS
BGEFGH
MCEFGH
DP ,,,,0,0,0,0;'DEFINE HOME POSITION
SP ,,,,30000,30000,30000,30000;'SET SPEED BACK TO NORMAL
S2HOMED=1;'HOMING OF SLIT S1 COMPLETE
#ENDS2
EN
'
'
'-----------------------------------------------------------------------------
'TAIPAN - CONTROLLER 6
'
'AUTHOR - DANIEL BARTLETT
'DATE - 23.02.2011
'
'A-SLIT S1 LEFT BLADE
'B-SLIT S1 RIGHT BLADE
'C-SLIT S1 TOP BLADE
'D-SLIT S1 BOTTOM BLADE
'E-SLIT S2 LEFT BLADE
'F-SLIT S2 RIGHT BLADE
'G-SLIT S2 TOP BLADE
'H-SLIT S2 BOTTOM BLADE
'
'
'-----------------------------------------------------------------------------
#AUTO
'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;'ALL MOTORS OFF
CN1;'CONFIGURES LIMIT SWITCHES. NC CONTACTS USE CN1. NO CONTACT USE CN-1
II 8,,,0;'CONFIGURES THE 8TH INPUT TO ACTIVATE THE #ININT ROUTINE
OP 65281;'SETS OUTPUTS 9-16 ON = RELAYS OFF
IA 137,157,203,136;'CONFIGURES IP ADDRESS
AC 60416,60416,60416,60416,60416,60416,60416,60416;' SET ACELERATION
DC 60416,60416,60416,60416,60416,60416,60416,60416;' SET DECELERATION
SP 30000,30000,30000,30000,30000,30000,30000,30000;' SET SPEED
SIA=0;'TURN OFF CLOCK PULSES TO ALLOW ENCODER TO INITIALISE
SIB=0
SIC=0
SID=0
SIE=0
SIF=0
SIG=0
SIH=0
WT1000;'WAIT FOR ENCODER TO INITIALISE
'SIA=1,25,13,0<-26>2;'HEIDENHAIN ROQ425
'SIA=1,25,25,0<-26>2;'HEIDENHAIN RCN226
'SIA=1,25,12,-1<-26>1;'VEGA RESOLVER TO SSI CONVERTER
'SIA=1,25,13,0<-26>1;'IVO GXM2H
'SIA=1,25,13,0<-26>2;'KUEBLER 5863
'SIA=1,31,13,0<26>2;'IVO STRING PULL, 31 BIT CONTROLLER REQUIRED
'SIA=1,24,18,6<-26>2;'IVO PLATYPUS COLLIMATION TILT
'SIA=1,15,15,0<-26>2;'GURLEY 15BIT
LSAHIT=0;'INITIALISE THE BIT SET AFTER A LIMIT IS HIT
LSBHIT=0
LSCHIT=0
LSDHIT=0
LSEHIT=0
LSFHIT=0
LSGHIT=0
LSHHIT=0
S1HOMED=0;'SLIT S1 NOT HOMED
S2HOMED=0;'SLIT S2 NOT HOMED
JS #THREAD0
EN
'
'
'-----------------------------------------------------------------------------
#THREAD0
'THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
'
JS #CHKDCEL
JS #CHKSPD
JP #THREAD0
EN
'
'
'-----------------------------------------------------------------------------
#CHKDCEL
'ROUTINE TO RESET DECELERATIONS AFTER A LIMIT HIT
'
IF (LSAHIT=1)&(_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
DCA=OLDDCA;'RESET DECEL TO OLD VALUE
LSAHIT=0
ENDIF
'
IF (LSBHIT=1)&(_BGB=0)
DCB=OLDDCB
LSBHIT=0
ENDIF
'
IF (LSCHIT=1)&(_BGC=0)
DCC=OLDDCC
LSCHIT=0
ENDIF
'
IF (LSDHIT=1)&(_BGD=0)
DCD=OLDDCD
LSDHIT=0
ENDIF
'
IF (LSEHIT=1)&(_BGE=0)
DCE=OLDDCE
LSEHIT=0
ENDIF
'
IF (LSFHIT=1)&(_BGF=0)
DCF=OLDDCF
LSFHIT=0
ENDIF
'
IF (LSGHIT=1)&(_BGG=0)
DCG=OLDDCG
LSGHIT=0
ENDIF
'
IF (LSHHIT=1)&(_BGH=0)
DCH=OLDDCH
LSHHIT=0
ENDIF
EN
'
'
'-----------------------------------------------------------------------------
#CHKSPD
'ROUTINE TO CHECK THE SPEED OF THE AXES IS NOT GREATER THAN MAX ALLOWED
'
IF (_SPA>30000)
SPA=30000
ENDIF
'
IF (_SPB>30000)
SPB=30000
ENDIF
'
IF (_SPC>30000)
SPC=30000
ENDIF
'
IF (_SPD>30000)
SPD=30000
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
EN
'
'
'-----------------------------------------------------------------------------
#TCPERR
'EMPTY TCP ERROR ROUTINE
'
RE
'
'
'-----------------------------------------------------------------------------
#ININT
'INTERUPT ROUTINE TO STOP ALL AXES
'WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
CN-1;'RECONFIGURES LIMITS. RESULT:ALL LIMITS SEEN AS HIT. WILL RUN #LIMSWI
WT250
CN1;'SETS LIMITS BACK TO NORMAL
RI
'
'
'-----------------------------------------------------------------------------
#CMDERR
'ROUTINE TO HANDLE COMMAND ERRORS
'
ZS0
EN1
'
'
'-----------------------------------------------------------------------------
#LIMSWI
'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
'
IF (_LFA=0)|(_LRA=0);'LIMIT HIT
IF (LSAHIT=0)&(_BGA=1);'STILL MOVING, FIRST TIME
OLDDCA=_DCA;'REMEMBER OLD DECEL VALUE
DCA=100000;'INCREASE DECEL VALUE FOR RAPID STOP
LSAHIT=1
ENDIF
ENDIF
'
IF (_LFB=0)|(_LRB=0)
IF (LSBHIT=0)&(_BGB=1)
OLDDCB=_DCB
DCB=60000
LSBHIT=1
ENDIF
ENDIF
'
IF (_LFC=0)|(_LRC=0)
IF (LSCHIT=0)&(_BGC=1)
OLDDCC=_DCC
DCC=60000
LSCHIT=1
ENDIF
ENDIF
'
IF (_LFD=0)|(_LRD=0)
IF (LSDHIT=0)&(_BGD=1)
OLDDCD=_DCD
DCD=60000
LSDHIT=1
ENDIF
ENDIF
'
IF (_LFE=0)|(_LRE=0)
IF (LSEHIT=0)&(_BGE=1)
OLDDCE=_DCE
DCE=60000
LSEHIT=1
ENDIF
ENDIF
'
IF (_LFF=0)|(_LRF=0)
IF (LSFHIT=0)&(_BGF=1)
OLDDCF=_DCF
DCF=60000
LSFHIT=1
ENDIF
ENDIF
'
IF (_LFG=0)|(_LRG=0)
IF (LSGHIT=0)&(_BGG=1)
OLDDCG=_DCG
DCG=60000
LSGHIT=1
ENDIF
ENDIF
'
IF (_LFH=0)|(_LRH=0)
IF (LSHHIT=0)&(_BGH=1)
OLDDCH=_DCH
DCH=60000
LSHHIT=1
ENDIF
ENDIF
RE
'
'
'-----------------------------------------------------------------------------
#MOVE
'THIS ROUTINE IS USED TO MOVE AN AXIS WITH A SSI ENCODER
'USING A MOVE-CHECK-CORRECT METHOD
'THE FOLLOWING VARIABLES MUST BE INITIALISED FIRST
'~a=0 TO 7 SETS THE MOTOR, 0=A AXIS 1=B AXIS ETC
'~b=0 TO 7 SETS THE ENCODER, 0=1ST SSI CHANNEL 1=2ND CHANNEL ETC
'TRIES= MAXIMUM NUMBER OF TRIES
'POS=DESIRED ENCODER POSITION
'
'~a=0:~b=0:TRIES=5:POS=12345678:XQ #MOVE,1
'
DBAND=3
SH~a
WT500;'WAIT TO STABILISE
IF (_BG~a=1);'MOVING, FORCE STOP. PRA WHEN MOVING CAUSES THREAD CRASH
ST~a
MC~a
ENDIF
TEMP=_TP~b;'SET TEMPORARY VARIABLE
PR~a=2500
IF (_LF~a=0);'ALREADY ON LIMIT
MG "Forward limit actuated" {EA}
MG "Ratio not calculated" {EA}
JP #MOVEEND
ENDIF
BG~a;'PERFORM A SMALL MOVE TO DETERMIN MOTOR:ENCODER RATIO
MC~a
WT500;'WAIT TO STABILISE
IF (TEMP=_TP~b);'FAILED TO MOVE
MG "No movement detected" {EA}
MG "Ratio not calculated" {EA}
JP #MOVEEND
ENDIF
RATIO=(TEMP-_TP~b)*10;'SETS ENCODER/MOTOR RATIO
'
#LOOP
IF (_BG~a=1);'MOVING, FORCE STOP. PRA WHEN MOVING CAUSES THREAD CRASH
ST~a
MC~a
ENDIF
PR~a=25000*((_TP~b-POS)/RATIO);'CALC STEPS TO DESTINATION
IF ((_PR~a>0)&(_LF~a=0));'IF POSITIVE MOVE AND ALREADY ON LIMIT
MG "Forward limit actuated" {EA}
MG "Positive move aborted" {EA}
JP #MOVEEND
ENDIF
IF ((_PR~a<0)&(_LR~a=0));'IF NEGATIVE MOVE AND ALREADY ON LIMIT
MG "Reverse limit actuated" {EA}
MG "Negative move aborted" {EA}
JP #MOVEEND
ENDIF
IF (_BG~a=1);'ALREADY MOVING
ST~a
MC~a
ENDIF
SH~a
BG~a
MC~a;'WAIT FOR MOTION TO COMPLETE
TRIES=TRIES-1;'INCREMENT ATTEMPT COUNTER
MG "Attempts to go: " {N} {EA}
MG TRIES {F1.0} {EA}
JP #LOOP, ((@ABS[_TP~b-POS]>DBAND)&(TRIES>0))
'HAVE ANOTHER GO IF OUTSIDE DEAD BAND AND NOT TOO MANY ATTEMPTS
#MOVEEND
MG "TARGET :" {N} {EA}
MG POS {F8.0} {EA}
MG "POSITION :" {N} {EA}
MG _TP~b {F8.0} {EA}
MG "Program ends" {EA}
EN
'
'
'-----------------------------------------------------------------------------
#HOMES1
'THIS ROUTINE HOMES THE S1 SLIT PACKAGE
'
IF (S1HOMED=1);'ALREADY HOMED
JP #ENDS1
ENDIF
'
IF (_LFA=0)&(_LRA=0)
'BOTH LIMITS ACTUATED. SLIT PACKAGE PROBABLY NOT PLUGGED IN.
JP #ENDS1
ENDIF
'
SHABCD;'TURN ON THE MOTORS
SP 30000,30000,30000,30000,,,,;'SET SPEED
IF (_LRA=0);'ON THE REVERSE LIMIT SWITCH
PRA=250*161/2*10;'MOVE AWAY 10mm
BGA
ENDIF
'
IF (_LRB=0);'ON THE REVERSE LIMIT SWITCH
PRB=250*161/2*10;'MOVE AWAY 10mm
BGB
ENDIF
'
IF (_LRC=0);'ON THE REVERSE LIMIT SWITCH
PRC=250*161/2*10;'MOVE AWAY 10mm
BGC
ENDIF
'
IF (_LRD=0);'ON THE REVERSE LIMIT SWITCH
PRD=250*161/2*10;'MOVE AWAY 10mm
BGD
ENDIF
'
MCABCD;'WAIT FOR MOTION TO BE COMPLETE
JG -30000,-30000,-30000,-30000,,,,;'JOG INTO REVERSE LIMIT
BGABCD
MCABCD
PR 80500,80500,80500,80500,,,,;'MOVE AWAY 4MM
BGABCD
MCABCD
JG -5000,-5000,-5000,-5000,,,,;'JOG SLOWLY INTO LIMITS
BGABCD
MCABCD
DP 0,0,0,0,,,,;'DEFINE HOME POSITION
SP 30000,30000,30000,30000,,,,;'SET SPEED BACK TO NORMAL
S1HOMED=1;'HOMING OF SLIT S1 COMPLETE
#ENDS1
EN
'
'
'-----------------------------------------------------------------------------
#HOMES2
'THIS ROUTINE HOMES THE S2 SLIT PACKAGE
'
IF (S2HOMED=1);'ALREADY HOMED
JP #ENDS2
ENDIF
'
IF (_LFE=0)&(_LRE=0)
'BOTH LIMITS ACTUATED. SLIT PACKAGE PROBABLY NOT PLUGGED IN.
JP #ENDS2
ENDIF
'
SHEFGH;'TURN ON THE MOTORS
SP ,,,,30000,30000,30000,30000;'SET SPEED
IF (_LRE=0);'ON THE REVERSE LIMIT SWITCH
PRE=250*161/2*10;'MOVE AWAY 10mm
BGE
ENDIF
'
IF (_LRF=0);'ON THE REVERSE LIMIT SWITCH
PRF=250*161/2*10;'MOVE AWAY 10mm
BGF
ENDIF
'
IF (_LRG=0);'ON THE REVERSE LIMIT SWITCH
PRG=250*161/2*10;'MOVE AWAY 10mm
BGG
ENDIF
'
IF (_LRH=0);'ON THE REVERSE LIMIT SWITCH
PRH=250*161/2*10;'MOVE AWAY 10mm
BGH
ENDIF
'
MCEFGH;'WAIT FOR MOTION TO BE COMPLETE
JG ,,,,-30000,-30000,-30000,-30000;'JOG INTO REVERSE LIMIT
BGEFGH
MCEFGH
PR ,,,,80500,80500,80500,80500;'MOVE AWAY 4MM
BGEFGH
MCEFGH
JG ,,,,-5000,-5000,-5000,-5000;'JOG SLOWLY INTO LIMITS
BGEFGH
MCEFGH
DP ,,,,0,0,0,0;'DEFINE HOME POSITION
SP ,,,,30000,30000,30000,30000;'SET SPEED BACK TO NORMAL
S2HOMED=1;'HOMING OF SLIT S1 COMPLETE
#ENDS2
EN
'
'
'-----------------------------------------------------------------------------