'TAIPAN - CONTROLLER 4
'
'$Revision:$
'$Date:$
'Author: Daniel Bartlett
'Last revision by: $author:$
'
'A-ANALYSER TILT 1
'B-ANALYSER TILT 2
'C-ANALYSER TRANSLATE
'D-ANALYSER ROTATE LFD@24724763 LRD@25454179
'E-VIRTUAL SOURCE LEFT, +VE OPEN, 6mm/TURN
'F-VIRTUAL SOURCE RIGHT, -VE OPEN, 6mm/TURN
'G-FILTER ROTATE
'H-PRIMARY COLLIMATOR TRANSLATE
'
'
'--------------------------------------------------------------------------
#AUTO
'THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
'
MT-2,-2,-2,-2.5,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
MO;'ALL MOTORS 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 25000,25000,25000,25000,25000,25000,25000,25000;'SET ACELERATION
DC 25000,25000,25000,25000,25000,25000,25000,25000;'SET DECELERATION
SP 25000,25000,25000,25000,12500,12500,25000,12500;'SET SPEED
SIA=0;'TURN OFF CLOCK PULSES TO ALLOW ENCODER TO INITIALISE
SIB=0
SIC=0
SID=0
SIE=0
SIF=0
SIG=0
SIH=0
WT1000;'WAIT FOR ENCODER TO INITIALISE
SIA=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
SIB=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
SIC=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
SID=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
SIE=1,24,12,0<-10>1;'RESOLVER VIA VEGA 2790 BOARD
SIF=1,24,12,0<-10>1;'RESOLVER VIA VEGA 2790 BOARD
SIG=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
SIH=1,24,12,0<-10>1;'RESOLVER VIA VEGA 2790 BOARD
LSAHIT=0;'INITIALISE THE BIT SET AFTER A LIMIT IS HIT
LSBHIT=0
LSCHIT=0
LSDHIT=0
LSEHIT=0
LSFHIT=0
LSGHIT=0
LSHHIT=0
JS #THREAD0
EN
'
'
'--------------------------------------------------------------------------
#THREAD0
'THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
'
JS #CHKDCEL
JS #CHKSPD
JP #THREAD0
EN
'
'
'--------------------------------------------------------------------------
#VSLMOVE
'ROUTINE TO MOVE THE VIRTUAL SOURCE RIGHT USING A CLOSED LOOP SSI POSITION
'
'E AXIS
'TPE AT LIMIT 16752106
'TPE AT BEAM CL 16773946
'
DBAND1=2
PRE=-25000*((VSLPOS-_TPE)/4096);'CALC STEPS TO DESTINATION
SHE
BGE
AME
JP #VSLMOVE, (@ABS[VSLPOS-_TPE]>DBAND1)
'JUMP BACK FOR MORE TRIES IF OUTSIDE DEADBAND1
EN
'
'
'-----------------------------------------------------------------------------
#VSRMOVE
'ROUTINE TO MOVE THE VIRTUAL SOURCE RIGHT USING A CLOSED LOOP SSI POSITION
'
'F AXIS
'TPF AT LIMIT 16775162
'TPF AT BEAM CL 16756735
'
DBAND2=2
PRF=-25000*((VSRPOS-_TPF)/4096);'CALC STEPS TO DESTINATION
SHF
BGF
AMF
JP #VSRMOVE, (@ABS[VSRPOS-_TPF]>DBAND2)
'JUMP BACK FOR MORE TRIES IF OUTSIDE DEADBAND2
EN
'
'
'-----------------------------------------------------------------------------
#CHKDCEL
'ROUTINE TO RESET DECELERATIONS AFTER A LIMIT HIT
'
IF ((LSAHIT=1)&(_BGA=0));'WHEN MOTION STOPS AFTER A LIMIT HIT
DCA=OLDDCA;'RESET DECEL TO OLD VALUE
LSAHIT=0
ENDIF
'
IF ((LSBHIT=1)&(_BGB=0))
DCB=OLDDCB
LSBHIT=0
ENDIF
'
IF ((LSCHIT=1)&(_BGC=0))
DCC=OLDDCC
LSCHIT=0
ENDIF
'
IF ((LSDHIT=1)&(_BGD=0))
DCD=OLDDCD
LSDHIT=0
ENDIF
'
IF ((LSEHIT=1)&(_BGE=0))
DCE=OLDDCE
LSEHIT=0
ENDIF
'
IF ((LSFHIT=1)&(_BGF=0))
DCF=OLDDCF
LSFHIT=0
ENDIF
'
IF ((LSGHIT=1)&(_BGG=0))
DCG=OLDDCG
LSGHIT=0
ENDIF
'
IF ((LSHHIT=1)&(_BGH=0))
DCH=OLDDCH
LSHHIT=0
ENDIF
EN
'
'
'--------------------------------------------------------------------------
#CHKSPD
'ROUTINE TO CHECK THE SPEED OF THE AXES IS NOT GREATER THAN MAX ALLOWED
'
IF (_SPA>50000)
SPA=50000
ENDIF
'
IF (_SPB>50000)
SPB=50000
ENDIF
'
IF (_SPC>50000)
SPC=50000
ENDIF
'
IF (_SPD>100000)
SPD=100000
ENDIF
'
IF (_SPE>12500)
SPE=12500
ENDIF
'
IF (_SPF>12500)
SPF=12500
ENDIF
'
IF (_SPG>50000)
SPG=50000
ENDIF
'
IF (_SPH>12500)
SPH=12500
ENDIF
EN
'
'
'--------------------------------------------------------------------------
#TCPERR
'EMPTY TCP ERROR ROUTINE
'
RE
'
'
'--------------------------------------------------------------------------
#ININT
'INTERUPT ROUTINE TO STOP ALL AXES
'WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
'
CN-1;'RECONFIGURES LIMITS. RESULT:ALL LIMITS SEEN AS HIT. WILL RUN #LIMSWI
WT250
CN1;'SETS LIMITS BACK TO NORMAL
RI
'
'
'--------------------------------------------------------------------------
#CMDERR
'ROUTINE TO HANDLE COMMAND ERRORS
'
ZS0
EN1
'
'
'--------------------------------------------------------------------------
#LIMSWI
'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
'
IF ((_LFA=0)|(_LRA=0));'LIMIT HIT
IF ((LSAHIT=0)&(_BGA=1));'STILL MOVING, FIRST TIME
OLDDCA=_DCA;'REMEMBER OLD DECEL VALUE
DCA=100000;'INCREASE DECEL VALUE FOR RAPID STOP
LSAHIT=1
ENDIF
ENDIF
'
IF ((_LFB=0)|(_LRB=0))
IF ((LSÂHIT=0)&(_BGB=1))
OLDDCB=_DCB
DCB=100000
LSBHIT=1
ENDIF
ENDIF
'
IF ((_LFC=0)|(_LRC=0))
IF ((LSCHIT=0)&(_BGC=1))
OLDDCC=_DCC
DCC=100000
LSCHIT=1
ENDIF
ENDIF
'
IF ((_LFD=0)|(_LRD=0))
IF ((LSDHIT=0)&(_BGD=1))
OLDDCD=_DCD
DCD=100000
LSDHIT=1
ENDIF
ENDIF
'
IF ((_LFE=0)|(_LRE=0))
IF ((LSEHIT=0)&(_BGE=1))
OLDDCE=_DCE
DCE=50000
LSEHIT=1
ENDIF
ENDIF
'
IF ((_LFF=0)|(_LRF=0))
IF ((LSFHIT=0)&(_BGF=1))
OLDDCF=_DCF
DCF=50000
LSFHIT=1
ENDIF
ENDIF
'
IF ((_LFG=0)|(_LRG=0))
IF ((LSGHIT=0)&(_BGG=1))
OLDDCG=_DCG
DCG=100000
LSGHIT=1
ENDIF
ENDIF
'
IF ((_LFH=0)|(_LRH=0))
IF ((LSHHIT=0)&(_BGH=1))
OLDDCH=_DCH
DCH=100000
LSHHIT=1
ENDIF
ENDIF
RE
'
'