Uploaded Dan's new controller prog.

r1221 | ffr | 2006-11-01 16:56:22 +1100 (Wed, 01 Nov 2006) | 2 lines

site_ansto/instrument/hrpd/DMC2280/controller1.txt

@@ -1,4 +1,10 @@
 #AUTO
+NO TE: $Revision: 1.2 $
+NO TE: $Date: 2006-11-01 05:56:22 $
+NO TE: Author: Dan Bartlett
+NO TE: Limit switch HOME routine added by Ferdi Franceschini
+NO TE: Last revision by: $Author: ffr $
+NO TE:
 NO TE: A-MONOCHROMATOR UPPER TILT (mphi) - TILT 1
 NO TE: B-MONOCHROMATOR LOWER TILT (mchi) - TILT 2
 NO TE: C-MONOCHROMATOR UPPER TRANSLATION (mz:nexus, mx:KDL) - LINEAR 1
@@ -7,26 +13,28 @@ NO TE: E-MONOCHROMATOR ROTATION (mom) - ROTATE
 NO TE: F-FLIGHT TUBE ROTATE
 NO TE: G-PRIMARY COLLIMATOR 1
 NO TE: H-PRIMARY COLLIMATOR 2
-MT-2,-2,-2,-2,-2,-2,-2,-2
-MO
-CN 1
-OP 65280
-IA 137,157,201,66
-AC 25000,25000,25000,25000,25000,10000,25000,25000
-DC 25000,25000,25000,25000,25000,10000,25000,25000
-SP 25000,25000,25000,25000,50000,100000,25000,25000
-SIA=1,25,13,0<-1>2
-SIB=1,25,13,0<-1>2
-SIC=1,25,13,0<-1>2
-SID=1,25,13,0<-1>2
-SIE=1,25,13,0<-1>2
-SIF=1,25,25,0<-1>2
-SIG=1,25,13,0<-1>2
-SIH=1,25,13,0<-1>2
-DONE=0
+MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
+MO;' FIRST TIME MOTOR OFF
+CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
+II 8,,,0;' CONFIGURES THE 8TH INPUT TO ACTIVATE THE #ININT ROUTINE
+OP 65280;' SETS OUTPUTS 9-16 ON = RELAYS OFF
+IA 137,157,201,3;' CONFIGURES IP ADDRESS
+AC 25000,25000,25000,25000,25000,10000,25000,25000;' SET ACELERATION
+DC 25000,25000,25000,25000,25000,10000,25000,25000;' SET DECELERATION
+SP 25000,25000,25000,25000,50000,100000,25000,25000;' SET SPEED
+SIA=1,25,13,0<-1>2;'HEIDENHAIN ROQ425
+SIB=1,25,13,0<-1>2;'HEIDENHAIN ROQ425
+SIC=1,25,13,0<-1>2;'HEIDENHAIN ROQ425
+SID=1,25,13,0<-1>2;'HEIDENHAIN ROQ425
+SIE=1,25,13,0<-1>2;'HEIDENHAIN ROQ425
+SIF=1,25,25,0<-1>2;'HEIDENHAIN RCN226
+SIG=1,25,13,0<-1>2;'HEIDENHAIN ROQ425
+SIH=1,25,13,0<-1>2;'HEIDENHAIN ROQ425
+DONE=0;' FIRST TIME THROUGH AIRPAD CONTROL NOT DONE
 JS #SOLCTRL
 EN
 #SOLCTRL
+NO TE: CONTROLS THE AIRPAD SOLENOID VALVES
 IF (_MOF=0);'FLIGHT TUBE MOTOR IS ON
 SB 10;'SAMPLE STAGE AIR PAD OFF-SOLENOID OFF
 SB 12;'DRIVE WHEEL UP-SOLENOID OFF
@@ -47,9 +55,18 @@ ENDIF
 JP #SOLCTRL
 EN
 #TCPERR
+NO TE: EMPTY ROUTINE FOR A TCP ERROR
 RE
+#ININT
+NO TE: INTERUPT ROUTINE TO STOP ALL AXES
+NO TE: WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
+STA,B,C,D,E,F,G,H
+AM
+MO
+RI
 #LIMSWI
-OLDDCA=_DCA
+NO TE: LIMIT SWITCH ROUTINE WHICH SHORTENS DECEL TIME WHEN A LIMIT IS HIT
+OLDDCA=_DCA;' REMEMBERS CURRENT DECEL
 OLDDCB=_DCB
 OLDDCC=_DCC
 OLDDCD=_DCD
@@ -58,60 +75,60 @@ OLDDCF=_DCF
 OLDDCG=_DCG
 OLDDCH=_DCH
 IF (_LFA = 0) | (_LRA = 0)
-DCA=100000
+DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
 STA
 AMA
 MOA
-DCA=OLDDCA
+DCA=OLDDCA;' RESET DECEL TO OLD VALUE
 ENDIF
 IF (_LFB = 0) | (_LRB = 0)
-DCB=100000
+DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE
 STB
 AMB
 MOB
-DCB=OLDDCB
+DCB=OLDDCB;' RESET DECEL TO OLD VALUE
 ENDIF
 IF (_LFC = 0) | (_LRC = 0)
-DCC=100000
+DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
 STC
 AMC
 MOC
-DCC=OLDDCC
+DCC=OLDDCC;' RESET DECEL TO OLD VALUE
 ENDIF
 IF (_LFD = 0) | (_LRD = 0)
-DCD=100000
+DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
 STD
 AMD
 MOD
-DCD=OLDDCD
+DCD=OLDDCD;' RESET DECEL TO OLD VALUE
 ENDIF
 IF (_LFE = 0) | (_LRE = 0)
-DCE=100000
+DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE
 STE
 AME
 MOE
-DCE=OLDDCE
+DCE=OLDDCE;' RESET DECEL TO OLD VALUE
 ENDIF
 IF (_LFF = 0) | (_LRF = 0)
-DCF=100000
+DCF=50000;' DECEL FOR LIMIT HIT OCCURENCE
 STF
 AMF
 MOF
-DCF=OLDDCF
+DCF=OLDDCF;' RESET DECEL TO OLD VALUE
 ENDIF
 IF (_LFG = 0) | (_LRG = 0)
-DCG=100000
+DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
 STG
 AMG
 MOG
-DCG=OLDDCG
+DCG=OLDDCG;' RESET DECEL TO OLD VALUE
 ENDIF
 IF (_LFH = 0) | (_LRH = 0)
-DCH=100000
+DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
 STH
 AMH
 MOH
-DCH=OLDDCH
+DCH=OLDDCH;' RESET DECEL TO OLD VALUE
 ENDIF
 RE