288 lines
5.1 KiB
Plaintext
288 lines
5.1 KiB
Plaintext
'TAIPAN - CONTROLLER 4
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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-ANALYSER TILT 1
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'B-ANALYSER TILT 2
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'C-ANALYSER TRANSLATE
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'D-ANALYSER ROTATE LFD@24724763 LRD@25454179
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'E-VIRTUAL SOURCE LEFT, +VE OPEN, 6mm/TURN
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'F-VIRTUAL SOURCE RIGHT, -VE OPEN, 6mm/TURN
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'G-FILTER ROTATE
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'H-PRIMARY COLLIMATOR TRANSLATE
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'
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'
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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,-2.5,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
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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 137,157,203,134;'CONFIGURES IP ADDRESS
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AC 25000,25000,25000,25000,25000,25000,25000,25000;'SET ACELERATION
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DC 25000,25000,25000,25000,25000,25000,25000,25000;'SET DECELERATION
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SP 25800,25000,25000,25000,12500,12500,25000,12500;'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=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
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SIB=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
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SIC=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
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SID=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
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SIE=1,24,12,0<-10>1;'RESOLVER VIA VEGA 2790 BOARD
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SIF=1,24,12,0<-10>1;'RESOLVER VIA VEGA 2790 BOARD
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SIG=1,25,13,0<-13>2;'HEIDENHAIN ROQ425
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SIH=1,24,12,0<-10>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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#VSLMOVE
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'ROUTINE TO MOVE THE VIRTUAL SOURCE RIGHT USING A CLOSED LOOP SSI POSITION
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'
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'E AXIS
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'TPE AT LIMIT 16752106
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'TPE AT BEAM CL 16773946
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'
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DBAND1=2
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PRE=-25000*((VSLPOS-_TPE)/4096);'CALC STEPS TO DESTINATION
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SHE
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BGE
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AME
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JP #VSLMOVE, (@ABS[VSLPOS-_TPE]>DBAND1)
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'JUMP BACK FOR MORE TRIES IF OUTSIDE DEADBAND1
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EN
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'
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'
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'-----------------------------------------------------------------------------
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#VSRMOVE
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'ROUTINE TO MOVE THE VIRTUAL SOURCE RIGHT USING A CLOSED LOOP SSI POSITION
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'
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'F AXIS
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'TPF AT LIMIT 16775162
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'TPF AT BEAM CL 16756735
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'
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DBAND2=2
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PRF=-25000*((VSRPOS-_TPF)/4096);'CALC STEPS TO DESTINATION
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SHF
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BGF
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AMF
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JP #VSRMOVE, (@ABS[VSRPOS-_TPF]>DBAND2)
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'JUMP BACK FOR MORE TRIES IF OUTSIDE DEADBAND2
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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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IF (_SPA>50000)
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SPA=50000
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ENDIF
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'
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IF (_SPB>50000)
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SPB=50000
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ENDIF
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'
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IF (_SPC>50000)
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SPC=50000
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ENDIF
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'
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IF (_SPD>100000)
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SPD=100000
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ENDIF
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'
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IF (_SPE>12500)
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SPE=12500
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ENDIF
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'
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IF (_SPF>12500)
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SPF=12500
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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>12500)
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SPH=12500
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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 ((LSÂHIT=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=50000
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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=50000
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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=100000
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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=100000
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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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