NO TE: KOWARI - CONTROLLER 3
NO TE:
NO TE: $Revision: 1.1 $
NO TE: $Date: 2007-03-20 03:10:55 $
NO TE: Author: Dan Bartlett
NO TE: Last revision by: $Author: dbx $
NO TE:
NO TE: A-MONOCHROMATOR FOCUS 1
NO TE: B-MONOCHROMATOR FOCUS 1
NO TE: C-SPARE
NO TE: D-SPARE
NO TE: E-SPARE
NO TE: F-SPARE
NO TE: G-SPARE
NO TE: H-SPARE
NO ----------------------------------------
#AUTO
NO TE: THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
MO;' FIRST TIME MOTOR OFF
CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
II 8,,,0;' CONFIGURES THE 8TH INPUT TO ACTIVATE THE #ININT ROUTINE
IA 137,157,201,197;' CONFIGURES IP ADDRESS
AC 12500,12500,,,,,,;' SET ACELERATION
DC 12500,12500,,,,,,;' SET DECELERATION
SP 25000,25000,,,,,,;' SET SPEED
JS #THREAD0
EN
NO ----------------------------------------
#THREAD0
NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
IF (_SPA>25000)
SPA=25000
ENDIF
IF (_SPB>25000) AXES NOT IN USE, COMMENTED OUT
SPB=25000
ENDIF
NO IF (_SPC>50000)
NO SPC=50000
NO ENDIF
NO IF (_SPD>50000)
NO SPD=50000
NO ENDIF
NO IF (_SPE>30000)
NO SPE=30000
NO ENDIF
NO IF (_SPF>30000)
NO SPF=30000
NO ENDIF
NO IF (_SPG>30000)
NO SPG=30000
NO ENDIF
NO IF (_SPH>30000)
NO SPH=30000
NO ENDIF
NO TE: PROCEDURE TO UPDATE THE RESOLVER FEEDBACK.
NO TE: RESOLVER NUMBER 1
CB1;' OUTPUT WITH FALLING EDGE TO TRIGGER EMPIRE RESOLVER BOX
AI31;' LOCK DATA
IOBYTE1=_TI2;' LOAD FIRST WORD
IOBYTE2=_TI3;' LOAD SECOND WORD
IOBYTE2=(IOBYTE2&63);' MASK OUT XBUSY BIT
IOBYTE2=(IOBYTE2*256);' SHIFT REMAINING BITS 8 POSITIONS TO RIGHT
DEA=(IOBYTE1+IOBYTE2);' ADD WORDS TOGETHER, LOAD INTO DEA, USE TPA FOR VALUE
NO TE: RESOLVER NUMBER 2
CB2;' OUTPUT WITH FALLING EDGE TO TRIGGER EMPIRE RESOLVER BOX
AI32;' LOCK DATA
IOBYTE3=_TI4;' LOAD FIRST WORD
IOBYTE4=_TI5;' LOAD SECOND WORD
IOBYTE4=(IOBYTE4&63);' MASK OUT XBUSY BIT
IOBYTE4=(IOBYTE4*256);' SHIFT REMAINING BITS 8 POSITIONS TO RIGHT
DEB=(IOBYTE3+IOBYTE4);' ADD WORDS TOGETHER, LOAD INTO DEB, USE TPB FOR VALUE
SB1
JP#THREAD0
EN
NO ----------------------------------------
#TCPERR
NO TE: EMPTY ROUTINE FOR A TCP ERROR
RE
NO ----------------------------------------
#ININT
NO TE: INTERUPT ROUTINE TO STOP ALL AXES
NO TE: WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
STA,B,C,D,E,F,G,H
AM
MO
RI
NO ----------------------------------------