NO TE: TAIPAN - CONTROLLER 4
NO TE: 
NO TE: $Revision: 1.1 $
NO TE: $Date: 2007-07-20 00:36:10 $
NO TE: Author: Dan Bartlett
NO TE: Last revision by: $Author: dbx $
NO TE:
NO TE: A-SPARE
NO TE: B-SPARE
NO TE: C-SPARE
NO TE: D-SPARE
NO TE: E-VIRTUAL SOURCE RIGHT, +VE OPEN, 6mm/TURN
NO TE: F-VIRTUAL SOURCE LEFT, -VE OPEN, 6mm/TURN
NO TE: G-SPARE
NO TE: H-SPARE

NO TE: 53mm GAP AT LIMITS
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 137,157,203,134;' CONFIGURES IP ADDRESS
AC ,,,,25000,25000,,;' SET ACELERATION
DC ,,,,25000,25000,,;' SET DECELERATION
SP ,,,,12500,12500,,;' 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
NO IF (_SPA>50000)
NO SPA=50000
NO ENDIF
NO IF (_SPB>50000)
NO SPB=50000
NO ENDIF
NO IF (_SPC>50000)
NO SPC=50000
NO ENDIF
NO IF (_SPD>50000)
NO SPD=50000
NO ENDIF
IF (_SPE>12500)
SPE=12500
ENDIF
IF (_SPF>12500)
SPF=12500
ENDIF
NO IF (_SPG>50000)
NO SPG=50000
NO ENDIF
NO IF (_SPH>50000)
NO SPH=50000
NO 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 ----------------------------------------