NO TE: QUOKKA - CONTROLLER 3
NO TE:
NO TE: $Revision: 1.2 $
NO TE: $Date: 2007-04-09 22:08:20 $
NO TE: Author: Dan Bartlett
NO TE: Last revision by: $Author: dbx $
NO TE:
NO TE: A-COLLIMATION OPTICS - CHAMBER 9
NO TE: B-COLLIMATION OPTICS - CHAMBER 10
NO TE: C-SOURCE END CHAMBER - PENTAPRISM
NO TE: D-SOURCE END CHAMBER - SRC APERTURES
NO TE: E-SAMPLE END CHAMBER - X APETURE
NO TE: F-SAMPLE END CHAMBER - Y APETURE
NO TE: G-SPARE
NO TE: H-ROTARY ATTENUATOR
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 137,157,202,71;' CONFIGURES IP ADDRESS
AC 25000,25000,25000,25000,25000,25000,,25000;' SET ACELERATION
DC 25000,25000,25000,25000,25000,25000,,25000;' SET DECELERATION
SP 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=0,25,13,0<-2>2;'NOT USED
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>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>50000)
SPF=50000
ENDIF
NO IF (_SPG>50000) COMMENTED OUT, NOT USED
NO SPG=50000
NO ENDIF
IF (_SPH>50000)
SPH=50000
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 ----------------------------------------
#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
NO OLDDCG=_DCG COMMENTED OUT, NOT USED
OLDDCH=_DCH
IF (_LFA = 0) | (_LRA = 0)
DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
STA
ENDIF
IF (_LFB = 0) | (_LRB = 0)
DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE
STB
ENDIF
IF (_LFC = 0) | (_LRC = 0)
DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
STC
ENDIF
IF (_LFD = 0) | (_LRD = 0)
DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
STD
ENDIF
IF (_LFE = 0) | (_LRE = 0)
DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE
STE
ENDIF
IF (_LFF = 0) | (_LRF = 0)
DCF=100000;' DECEL FOR LIMIT HIT OCCURENCE
STF
ENDIF
IF (_LFG = 0) | (_LRG = 0)
NO DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
NO STG
NO ENDIF
IF (_LFH = 0) | (_LRH = 0)
DCH=100000;' 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
NO DCG=OLDDCG COMMENTED OUT, NOT USED
DCH=OLDDCH
RE