NO TE: QUOKKA - CONTROLLER 2
NO TE:
NO TE: $Revision: 1.5 $
NO TE: $Date: 2007-09-24 01:10:59 $
NO TE: Author: Dan Bartlett
NO TE: Last revision by: $Author: dbx $
NO TE:
NO TE: A-COLLIMATION OPTICS - CHAMBER 1
NO TE: B-COLLIMATION OPTICS - CHAMBER 2
NO TE: C-COLLIMATION OPTICS - CHAMBER 3
NO TE: D-COLLIMATION OPTICS - CHAMBER 4
NO TE: E-COLLIMATION OPTICS - CHAMBER 5
NO TE: F-COLLIMATION OPTICS - CHAMBER 6
NO TE: G-COLLIMATION OPTICS - CHAMBER 7
NO TE: H-COLLIMATION OPTICS - CHAMBER 8
NO TE:
NO TE: +VE MOTOR MOVES ALL IN A WESTERLY DIRECTION
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
OP 65280;' SETS OUTPUTS 9-16 ON = RELAYS OFF
IA 137,157,202,68;' CONFIGURES IP ADDRESS
AC 12500,12500,12500,12500,12500,12500,12500,12500;' SET ACELERATION
DC 12500,12500,12500,12500,12500,12500,12500,12500;' SET DECELERATION
SP 25000,25000,25000,25000,25000,25000,25000,25000;' SET SPEED
SIA=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
SIB=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
SIC=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
SID=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
SIF=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
SIG=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
SIH=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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)
SPB=25000
ENDIF
IF (_SPC>25000)
SPC=25000
ENDIF
IF (_SPD>25000)
SPD=25000
ENDIF
IF (_SPE>25000)
SPE=25000
ENDIF
IF (_SPF>25000)
SPF=25000
ENDIF
IF (_SPG>25000)
SPG=25000
ENDIF
IF (_SPH>25000)
SPH=25000
ENDIF
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 ----------------------------------------
#CMDERR
NO TE: THIS IS A ROUTINE TO HANDLE COMMAND ERRORS
ZS0;' ZERO STACK
EN1
NO ----------------------------------------
#LIMSWI
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
OLDDCE=_DCE
OLDDCF=_DCF
OLDDCG=_DCG
OLDDCH=_DCH
IF (_LFA = 0) | (_LRA = 0)
DCA=75000;' DECEL FOR LIMIT HIT OCCURENCE
STA
ENDIF
IF (_LFB = 0) | (_LRB = 0)
DCB=75000;' DECEL FOR LIMIT HIT OCCURENCE
STB
ENDIF
IF (_LFC = 0) | (_LRC = 0)
DCC=75000;' DECEL FOR LIMIT HIT OCCURENCE
STC
ENDIF
IF (_LFD = 0) | (_LRD = 0)
DCD=75000;' DECEL FOR LIMIT HIT OCCURENCE
STD
ENDIF
IF (_LFE = 0) | (_LRE = 0)
DCE=75000;' DECEL FOR LIMIT HIT OCCURENCE
STE
ENDIF
IF (_LFF = 0) | (_LRF = 0)
DCF=75000;' DECEL FOR LIMIT HIT OCCURENCE
STF
ENDIF
IF (_LFG = 0) | (_LRG = 0)
DCG=75000;' DECEL FOR LIMIT HIT OCCURENCE
STG
ENDIF
IF (_LFH = 0) | (_LRH = 0)
DCH=75000;' DECEL FOR LIMIT HIT OCCURENCE
STH
ENDIF
AM ABCDEFGH;' AFTER ALL AXES STOPPED
DCA=OLDDCA;' RESET DECEL TO OLD VALUE
DCB=OLDDCB
DCC=OLDDCC
DCD=OLDDCD
DCE=OLDDCE
DCF=OLDDCF
DCG=OLDDCG
DCH=OLDDCH
RE