253 lines
4.3 KiB
Plaintext
Executable File
253 lines
4.3 KiB
Plaintext
Executable File
'TAIPAN - CONTROLLER 3
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'
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'$Revision:$
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'$Date:$
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'Author: Daniel Bartlett
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'Last revision by: $author:$
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'
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'A-MONOCHROMATOR 1 HORIZONTAL FOCUS
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'B-MONOCHROMATOR 1 VERTICAL FOCUS
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'C-MONOCHROMATOR 2 HORIZONTAL FOCUS
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'D-MONOCHROMATOR 2 VERTICAL FOCUS
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'E-MONOCHROMATOR ROTATE
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'F-SPARE
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'G-SPARE
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'H-SPARE
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'
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'
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'4096 COUNTS / 2 DEGREES
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'2048 COUNTS / DEGREE
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'PG 00 DEGREES = 16034863
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'PG 45 DEGREES = 16127023
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'--------------------------------------------------------------------------
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#AUTO
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'THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
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'
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MT-2,-2,-2,-2,-2.5,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER, E REVERSED
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MO;'ALL MOTORS OFF
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CN 1;'CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
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II 8,,,0;' CONFIGURES THE 8TH INPUT TO ACTIVATE THE #ININT ROUTINE
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OP 65280;' SETS OUTPUTS 9-16 ON = RELAYS OFF
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IA 137,157,203,133;' CONFIGURES IP ADDRESS
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AC 6000,6000,6000,6000,25000,,,;' SET ACELERATION
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DC 6000,6000,6000,6000,25000,,,;' SET DECELERATION
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SP 12500,12500,50000,12500,100000,,,;' SET SPEED
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SIA=0;'TURN OFF CLOCK PULSES TO ALLOW ENCODER TO INITIALISE
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SIB=0
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SIC=0
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SID=0
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SIE=0
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SIF=0
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SIG=0
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SIH=0
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WT1000;'WAIT FOR ENCODER TO INITIALISE
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SIA=1,24,12,0<-11>1;'RESOLVER VIA VEGA 2790 BOARD
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SIB=1,24,12,0<-11>1;'RESOLVER VIA VEGA 2790 BOARD
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SIC=1,24,12,0<-11>1;'RESOLVER VIA VEGA 2790 BOARD
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SID=1,24,12,0<-11>1;'RESOLVER VIA VEGA 2790 BOARD
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SIE=1,24,12,0<-11>1;'RESOLVER VIA VEGA 2790 BOARD
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LSAHIT=0;' INITIALISE THE BIT SET AFTER A LIMIT IS HIT
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LSBHIT=0
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LSCHIT=0
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LSDHIT=0
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LSEHIT=0
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'LSFHIT=0
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'LSGHIT=0
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'LSHHIT=0
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JS #THREAD0
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EN
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'
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'
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'--------------------------------------------------------------------------
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#THREAD0
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'THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
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'
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JS #CHKDCEL
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JS #CHKSPD
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JP #THREAD0
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EN
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'
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'
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'--------------------------------------------------------------------------
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#CHKDCEL
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'ROUTINE TO RESET DECELERATIONS AFTER A LIMIT HIT
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'
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IF ((LSAHIT=1)&(_BGA=0));'WHEN MOTION STOPS AFTER A LIMIT HIT
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DCA=OLDDCA;' RESET DECEL TO OLD VALUE
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LSAHIT=0
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ENDIF
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'
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IF ((LSBHIT=1)&(_BGB=0))
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DCB=OLDDCB
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LSBHIT=0
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ENDIF
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'
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IF ((LSCHIT=1)&(_BGC=0))
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DCC=OLDDCC
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LSCHIT=0
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ENDIF
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'
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IF ((LSDHIT=1)&(_BGD=0))
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DCD=OLDDCD
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LSDHIT=0
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ENDIF
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'
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IF ((LSEHIT=1)&(_BGE=0))
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DCE=OLDDCE
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LSEHIT=0
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ENDIF
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'
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'IF ((LSFHIT=1)&(_BGF=0))
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'DCF=OLDDCF
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'LSFHIT=0
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'ENDIF
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'
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'IF ((LSGHIT=1)&(_BGG=0))
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'DCG=OLDDCG
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'LSGHIT=0
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'ENDIF
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'
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'IF ((LSHHIT=1)&(_BGH=0))
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'DCH=OLDDCH
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'LSHHIT=0
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'ENDIF
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'EN
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'
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'
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'--------------------------------------------------------------------------
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#CHKSPD
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'ROUTINE TO CHECK THE SPEED OF THE AXES IS NOT GREATER THAN MAX ALLOWED
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'
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IF (_SPA>25000)
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SPA=25000
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ENDIF
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'
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IF (_SPB>25000)
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SPB=25000
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ENDIF
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'
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IF (_SPC>25000)
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SPC=25000
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ENDIF
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'
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IF (_SPD>25000)
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SPD=25000
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ENDIF
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'
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IF (_SPE>100000)
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SPE=100000
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ENDIF
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'
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'IF (_SPF>100000)
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'SPF=100000
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'ENDIF
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'
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'IF (_SPG>50000)
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'SPG=50000
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'ENDIF
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'
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'IF (_SPH>100000)
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'SPH=100000
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'ENDIF
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'EN
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'
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'
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'--------------------------------------------------------------------------
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#TCPERR
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'EMPTY TCP ERROR ROUTINE
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'
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RE
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'
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'
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'--------------------------------------------------------------------------
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#ININT
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'INTERUPT ROUTINE TO STOP ALL AXES
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'WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
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'
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CN-1;' RECONFIGURES LIMITS. RESULT:ALL LIMITS SEEN AS HIT. WILL RUN #LIMSWI
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WT250
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CN1;' SETS LIMITS BACK TO NORMAL
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RI
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'
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'
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'--------------------------------------------------------------------------
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#CMDERR
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'ROUTINE TO HANDLE COMMAND ERRORS
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'
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ZS0
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EN1
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'
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'
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'--------------------------------------------------------------------------
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#LIMSWI
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'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
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'
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IF ((_LFA=0)|(_LRA=0));'LIMIT HIT
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IF ((LSAHIT=0)&(_BGA=1));'STILL MOVING, FIRST TIME
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OLDDCA=_DCA;'REMEMBER OLD DECEL VALUE
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DCA=100000;'INCREASE DECEL VALUE FOR RAPID STOP
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LSAHIT=1
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ENDIF
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ENDIF
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'
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IF ((_LFB=0)|(_LRB=0))
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IF ((LSBHIT=0)&(_BGB=1))
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OLDDCB=_DCB
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DCB=100000
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LSBHIT=1
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ENDIF
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ENDIF
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'
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IF ((_LFC=0)|(_LRC=0))
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IF ((LSCHIT=0)&(_BGC=1))
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OLDDCC=_DCC
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DCC=100000
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LSCHIT=1
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ENDIF
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ENDIF
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'
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IF ((_LFD=0)|(_LRD=0))
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IF ((LSDHIT=0)&(_BGD=1))
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OLDDCD=_DCD
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DCD=100000
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LSDHIT=1
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ENDIF
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ENDIF
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'
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IF ((_LFE=0)|(_LRE=0))
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IF ((LSEHIT=0)&(_BGE=1))
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OLDDCE=_DCE
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DCE=200000
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LSEHIT=1
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ENDIF
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ENDIF
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'
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'IF ((_LFF=0)|(_LRF=0))
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'IF ((LSFHIT=0)&¨_BGF=1))
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'OLDDCF=_DCF
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'DCF=200000
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'LSFHIT=1
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'ENDIF
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'ENDIF
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'
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'IF ((_LFG=0)|(_LRG=0))
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'IF ((LSGHIT=0)&(_BGG=1))
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'OLDDCG=_DCG
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'DCG=200000
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'LSGHIT=1
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'ENDIF
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'ENDIF
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'
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'IF ((_LFH=0)|(_LRH=0))
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'IF ((LSHHIT=0)&(_BGH=1))
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'OLDDCH=_DCH
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'DCH=200000
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'LSHHIT=1
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'ENDIF
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'ENDIF
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RE
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'
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'
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