76 lines
1.8 KiB
Plaintext
76 lines
1.8 KiB
Plaintext
'TAIPAN - CONTROLLER 5
|
|
'
|
|
'$Revision:$
|
|
'$Date$
|
|
'Author: Dan Bartlett
|
|
'Last revision by: $Author:$
|
|
'
|
|
'A-SECONDARY SHUTTER, +VE OPEN, 6mm/TURN
|
|
'ONE AXIS CONTROLLER ONLY
|
|
'
|
|
'
|
|
'-----------------------------------------------------------------------------
|
|
#AUTO
|
|
NO TE: THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
|
|
'
|
|
MO;'MOTOR OFF
|
|
SIA=1,24,12,0<-2>1;'RESOLVER VIA VEGA 2790 BOARD
|
|
MTA=-2;'CONFIGURES AXIS AS STEPPER
|
|
CN 1;' CONFIGURES LIMIT SWITCH TO ACCEPT NC CONTACTS
|
|
IA 137,157,203,135;' CONFIGURES IP ADDRESS
|
|
ACA=100000;' SET ACELERATION
|
|
DCA=100000;' SET DECELERATION
|
|
SPA=50000;' SET SPEED
|
|
JS #THREAD0
|
|
EN
|
|
'
|
|
'
|
|
'-----------------------------------------------------------------------------
|
|
#THREAD0
|
|
'CONTROLS THE SECONDARY SHUTTER
|
|
'
|
|
'INPUT 5=SECONDARY SHUTTER CLOSE SIGNAL 1
|
|
'INPUT 6=SECONDARY SHUTTER CLOSE SIGNAL 2
|
|
'INPUT 7=SECONDARY SHUTTER OPEN SIGNAL 1
|
|
'INPUT 8=SECONDARY SHUTTER OPEN SIGNAL 2
|
|
IF ((@IN[5]=1)&(@IN[6]=1)&(@IN[7]=0)&(@IN[8]=0)&(_BGA=0)&(_LFA=1))
|
|
'INPUTS 5&6 INACTIVE(1) & INPUT 7&8 ACTIVE(0) & NOT MOVING & NOT ALREADY OPEN
|
|
'SECONDARY SHUTTER COMMANDED TO OPEN
|
|
JGA=50000;' JOG OPEN AT 12mm/s
|
|
SHA;' TURN ON MOTOR
|
|
BGA;' DRIVE SHUTTER OPEN
|
|
ENDIF
|
|
IF (((@IN[7]=1)|(@IN[8]=1))&(_LRA=1))
|
|
'EITHER OF INPUTS 7 OR 8 INACTIVE(1) & NOT ALREADY CLOSED
|
|
'SECONDARY SHUTTER COMMANDED TO CLOSE
|
|
STA;' STOP ANY MOTION
|
|
MCA;' AFTER MOTION IS STOPPED
|
|
JGA=-50000;' JOG CLOSED AT 12mm/s
|
|
SHA;' TURN ON MOTOR
|
|
BGA;' DRIVE SHUTTER CLOSED
|
|
MCA
|
|
ENDIF
|
|
IF (((_LFA=0)|(_LRA=0))&(_BGA=0))
|
|
'AT EITHER LIMIT AND NOT MOVING
|
|
MOA;' TURN OFF MOTOR
|
|
ENDIF
|
|
JP #THREAD0
|
|
EN
|
|
'
|
|
'
|
|
'-----------------------------------------------------------------------------
|
|
#TCPERR
|
|
'EMPTY TCP ERROR ROUTINE
|
|
'
|
|
RE
|
|
'
|
|
'
|
|
'-----------------------------------------------------------------------------
|
|
#CMDERR
|
|
'ROUTINE TO HANDLE COMMAND ERRORS
|
|
'
|
|
ZS0
|
|
EN1
|
|
'
|
|
'
|