Content downloaded from GALIL controllers before conversion to SICS
r3292 | dcl | 2011-11-28 14:23:41 +1100 (Mon, 28 Nov 2011) | 1 line
This commit is contained in:
Douglas Clowes
File diff suppressed because it is too large
Load Diff
@@ -1,349 +1,351 @@
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'TAIPAN - CONTROLLER 2
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'
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'$Revision:$
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'$Date:$
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'Author: Daniel Bartlett
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'Last revision by: $author:$
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'
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'A-SAMPLE TRANSLATION - TILT 1
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'B-SAMPLE TRANSLATION - TILT 2
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'C-SAMPLE TRANSLATION - LINEAR 1
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'D-SAMPLE TRANSLATION - LINEAR 2
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'E-SAMPLE TRANSLATION - ROTATE
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'F-DETECTOR + ANALYSER ROTATE _TPF=2771351 ON BEAM CL
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'G-ANALYSER FOCUS 1
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'H-ANALYSER FOCUS 2
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'
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'
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'--------------------------------------------------------------------------
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#AUTO
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'THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
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'
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MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
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MO;'ALL MOTORS OFF
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CN 1;'CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
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II 6,8,,0;' CONFIGURES THE 6TH, 7TH & 8TH INPUT TO ACTIVATE #ININT ROUTINE
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OP 65281;' SETS OUTPUTS 9-16 ON = RELAYS OFF
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IA 137,157,203,132;' CONFIGURES IP ADDRESS
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AC 25000,25000,25000,25000,25000,25000,12500,12500;' SET ACELERATION
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DC 25000,25000,25000,25000,25000,25000,12500,12500;' SET DECELERATION
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SP 25000,25000,25000,25000,25000,100000,12500,12500;' SET SPEED
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SIA=0;'TURN OFF CLOCK PULSES TO ALLOW ENCODER TO INITIALISE
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SIB=0
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SIC=0
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SID=0
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SIE=0
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SIF=0
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SIG=0
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SIH=0
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WT1000;'WAIT FOR ENCODER TO INITIALISE
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SIA=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - SAMPLE TILT 1
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SIB=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - SAMPLE TILT 2
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SIC=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - SAMPLE TRANS 1
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SID=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - SAMPLE TRANS 2
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SIE=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - SAMPLE ROTATE
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SIF=1,25,25,0<-13>2;'HEIDENHAIN RCN226 - DETECTOR + ANALYSER ROTATE
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SIG=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - ANALYSER FOCUS 1
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SIH=1,25,13,0<-13>2;'HEIDENHAIN ROQ425 - ANALYSER FOCUS 2
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LSAHIT=0;' INITIALISE THE BIT SET AFTER A LIMIT IS HIT
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LSBHIT=0
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LSCHIT=0
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LSDHIT=0
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LSEHIT=0
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LSFHIT=0
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LSGHIT=0
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LSHHIT=0
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APFDONE=0;' INITIALISE THE BIT FOR AXIS F AIRPAD CONTROL
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JS #THREAD0
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EN
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'
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'
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'--------------------------------------------------------------------------
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#THREAD0
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'THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
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'
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JS #CHKDCEL
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JS #AIRPAD
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JS #CHKSPD
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JS #BEAMSTP
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JP #THREAD0
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EN
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'
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'
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'--------------------------------------------------------------------------
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#CHKDCEL
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'ROUTINE TO RESET DECELERATIONS AFTER A LIMIT HIT
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'
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IF (LSAHIT=1)&(_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
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DCA=OLDDCA;' RESET DECEL TO OLD VALUE
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LSAHIT=0
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ENDIF
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'
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IF (LSBHIT=1)&(_BGB=0)
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DCB=OLDDCB
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LSBHIT=0
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ENDIF
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'
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IF (LSCHIT=1)&(_BGC=0)
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DCC=OLDDCC
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LSCHIT=0
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ENDIF
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'
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IF (LSDHIT=1)&(_BGD=0)
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DCD=OLDDCD
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LSDHIT=0
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ENDIF
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'
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IF (LSEHIT=1)&(_BGE=0)
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DCE=OLDDCE
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LSEHIT=0
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ENDIF
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'
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IF (LSFHIT=1)&(_BGF=0)
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DCF=OLDDCF
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LSFHIT=0
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ENDIF
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'
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IF (LSGHIT=1)&(_BGG=0)
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DCG=OLDDCG
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LSGHIT=0
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ENDIF
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'
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IF (LSHHIT=1)&(_BGH=0)
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DCH=OLDDCH
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LSHHIT=0
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ENDIF
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EN
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'
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'
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'--------------------------------------------------------------------------
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#AIRPAD
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'ROUTINE TO CONTROL AIRPADS
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'
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'CONTROLS THE AIRPAD SOLENOID VALVES FOR ANALYSER STAGE
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IF (_MOF=0);'ANALYSER MOTOR IS ON
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SB 10;'ANALYSER AIR PAD OFF-SOLENOID OFF
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CB 9;'ANALYSER AIR PAD ON-SOLENOID ON
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APFDONE=0
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ENDIF
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IF (_MOF=1)&(APFDONE=0);'ANALYSER MOTOR IS OFF
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SB 9;'ANALYSER AIR PAD ON-SOLENOID OFF
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CB 10;'ANALYSER AIR PAD OFF-SOLENOID ON
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WT500;'WAIT 1/2 SEC
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SB 10;'ANALYSER AIR PAD OFF-SOLENOID OFF
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APFDONE=1
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ENDIF
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'
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'
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'--------------------------------------------------------------------------
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#CHKSPD
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'ROUTINE TO CHECK THE SPEED OF THE AXES IS NOT GREATER THAN MAX ALLOWED
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'
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IF (_SPA>50000)
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SPA=50000
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ENDIF
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'
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IF (_SPB>50000)
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SPB=50000
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ENDIF
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'
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IF (_SPC>50000)
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SPC=50000
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ENDIF
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'
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IF (_SPD>50000)
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SPD=50000
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ENDIF
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'
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IF (_SPE>50000)
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SPE=50000
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ENDIF
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'
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IF (_SPF>100000)
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SPF=100000
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ENDIF
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'
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IF (_SPG>25000)
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SPG=25000
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ENDIF
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'
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IF (_SPH>25000)
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SPH=25000
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ENDIF
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EN
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'
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'
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'--------------------------------------------------------------------------
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#BEAMSTP
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'
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'THIS ROUTINE CONTROLS THE POSITION OF THE BEAMSTOP
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'IF THE ANALYSER IS WITHIN THE RANGE SPECIFIED THEN THE BEAMSTOP IS DOWN
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'TO AVOID COLLISIONS WITH SLITS AND OTHER EQUIPMENT
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'
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IF (_XQ1=-1)
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'#BSCHECK NOT RUNNING
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XQ #BSCHECK,1
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ENDIF
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IF (_TPF>9665152)&(_TPF<14370000)
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'IF (_TPF>9665152)&(_TPF<13168731)
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'IF (_TPF>12554353)&(_TPF<15923500)
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'IF (_TPF>12554353)&(_TPF<15809209)
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'ANALYSER WITHIN RANGE, BEAMSTOP NEEDS TO BE DOWN
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SB11;'TURN OFF SOLENOID VALVE
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ELSE
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CB11;'TURN ON SOLENOID VALVE
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ENDIF
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EN
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'
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'
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'--------------------------------------------------------------------------
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#BSCHECK
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'THIS ROUTINE CHECKS THE POSITION OF THE BEAMSTOP AND REPORTS ERRORS
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'TO THE SAFETY AND INTERLOCK SYSTEM
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'
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'IN[13]=1 TOP LIMIT ACTUATED
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'IN[14]=1 BOTTOM LIMIT ACTUATED
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IF ((_OP0&1024)=0)
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'RELAY 11 HAS BEEN ENABLED THEREFORE THE BEAMSTOP SHOULD BE UP
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WT1500;'DELAY TO ALLOW BEAMSTOP TO MOVE
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IF ((@IN[13]=1)&(@IN[14]=0))
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'BEAMSTOP UP AND NOT DOWN
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CB16;'SEND ALL-OK TO SIS
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ELSE
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SB16;'SEND ERROR BIT TO SIS
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ENDIF
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ENDIF
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'
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IF ((_OP0&1024)<>0)
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'RELAY 11 HAS BEEN DISABLED THEREFORE THE BEAMSTOP SHOULD BE DOWN
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WT1500;'DELAY TO ALLOW BEAMSTOP TO MOVE
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IF ((@IN[13]=0)&(@IN[14]=1))
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'BEAMSTOP DOWN AND NOT UP
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CB16;'SEND ALL-OK TO SIS
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ELSE
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SB16;'SEND ERROR BIT TO SIS
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ENDIF
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ENDIF
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'
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JP #BSCHECK
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EN
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'
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'--------------------------------------------------------------------------
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#TCPERR
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'EMPTY TCP ERROR ROUTINE
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'
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RE
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'
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'
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'--------------------------------------------------------------------------
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#ININT
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'INTERUPT ROUTINE
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'TO STOP ALL AXES WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
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'TO STOP AXIS F WHEN LIGHT CURTAINS BROKEN BUT TO ALLOW MOVEMENT AWAY
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'
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IF @IN[8]=0
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'SAFETY INTERLOCK SYSTEM ALL AXES SLOWDOWN
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CN-1;'RECONFIGURES LIMITS. RESULT:ALL LIMITS SEEN AS HIT. WILL RUN #LIMSWI
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WT250
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CN1;'SETS LIMITS BACK TO NORMAL
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JP #ENININT
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ENDIF
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'
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IF @IN[6]=0
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'LOW ANGLE LIGHT CURTAIN BROKEN
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IF _TVF>0
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'AXIS HEADING TOWARDS LIGHT CURTAIN
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STF
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ENDIF
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ENDIF
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'
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IF @IN[7]=0
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'HIGH ANGLE LIGHT CURTAIN BROKEN
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IF _TVF<0
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'AXIS HEADING TOWARDS LIGHT CURTAIN
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STF
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ENDIF
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ENDIF
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'
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#ENININT
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RI
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'
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'
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'--------------------------------------------------------------------------
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#CMDERR
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'ROUTINE TO HANDLE COMMAND ERRORS
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'
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ZS0
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EN1
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'
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'
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'--------------------------------------------------------------------------
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#LIMSWI
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'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
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'
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IF (_LFA=0)|(_LRA=0);'LIMIT HIT
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IF (LSAHIT=0)&(_BGA=1);'STILL MOVING, FIRST TIME
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OLDDCA=_DCA;'REMEMBER OLD DECEL VALUE
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DCA=100000;'INCREASE DECEL VALUE FOR RAPID STOP
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LSAHIT=1
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ENDIF
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ENDIF
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'
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IF (_LFB=0)|(_LRB=0)
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IF (LSBHIT=0)&(_BGB=1)
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OLDDCB=_DCB
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DCB=100000
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LSBHIT=1
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ENDIF
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ENDIF
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'
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IF (_LFC=0)|(_LRC=0)
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IF (LSCHIT=0)&(_BGC=1)
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OLDDCC=_DCC
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DCC=100000
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LSCHIT=1
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ENDIF
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ENDIF
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'
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IF (_LFD=0)|(_LRD=0)
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IF (LSDHIT=0)&(_BGD=1)
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OLDDCD=_DCD
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DCD=100000
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LSDHIT=1
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ENDIF
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ENDIF
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'
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IF (_LFE=0)|(_LRE=0)
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IF (LSEHIT=0)&(_BGE=1)
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OLDDCE=_DCE
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DCE=200000
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LSEHIT=1
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ENDIF
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ENDIF
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'
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IF (_LFF=0)|(_LRF=0)
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IF (LSFHIT=0)&(_BGF=1)
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OLDDCF=_DCF
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DCF=100000
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LSFHIT=1
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ENDIF
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ENDIF
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'
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IF (_LFG=0)|(_LRG=0)
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IF (LSGHIT=0)&(_BGG=1)
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OLDDCG=_DCG
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DCG=200000
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LSGHIT=1
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ENDIF
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ENDIF
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'
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IF (_LFH=0)|(_LRH=0)
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IF (LSHHIT=0)&(_BGH=1)
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OLDDCH=_DCH
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DCH=200000
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LSHHIT=1
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ENDIF
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ENDIF
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RE
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'
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'
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'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
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||||
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
|
||||
'
|
||||
'
|
||||
|
||||
@@ -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
|
||||
'
|
||||
'
|
||||
|
||||
@@ -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
|
||||
'
|
||||
'
|
||||
|
||||
@@ -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
|
||||
'
|
||||
'
|
||||
|
||||
@@ -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
|
||||
'
|
||||
'
|
||||
'-----------------------------------------------------------------------------
|
||||
|
||||
Reference in New Issue
Block a user