81 lines
1.8 KiB
Plaintext
81 lines
1.8 KiB
Plaintext
NO TE: TAIPAN - CONTROLLER 4
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NO TE:
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NO TE: $Revision: 1.2 $
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NO TE: $Date: 2007-09-24 01:28:42 $
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NO TE: Author: Dan Bartlett
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NO TE: Last revision by: $Author: dbx $
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NO TE:
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NO TE: A-SPARE
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NO TE: B-SPARE
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NO TE: C-SPARE
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NO TE: D-SPARE
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NO TE: E-VIRTUAL SOURCE RIGHT, +VE OPEN, 6mm/TURN
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NO TE: F-VIRTUAL SOURCE LEFT, -VE OPEN, 6mm/TURN
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NO TE: G-SPARE
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NO TE: H-SPARE
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NO TE: 55mm GAP AT LIMITS, EQUAL ABOUT BEAM CL
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NO ----------------------------------------
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#AUTO
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NO TE: THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
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MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
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MO;' FIRST TIME MOTOR 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,,;' SET ACELERATION
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DC ,,,,25000,25000,,;' SET DECELERATION
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SP ,,,,12500,12500,,;' SET SPEED
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JS #THREAD0
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EN
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NO ----------------------------------------
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#THREAD0
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NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
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NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
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NO IF (_SPA>50000)
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NO SPA=50000
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NO ENDIF
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NO IF (_SPB>50000)
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NO SPB=50000
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NO ENDIF
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NO IF (_SPC>50000)
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NO SPC=50000
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NO ENDIF
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NO IF (_SPD>50000)
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NO SPD=50000
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NO ENDIF
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IF (_SPE<>12500)
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SPE=12500
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ENDIF
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IF (_SPF<>12500)
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SPF=12500
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ENDIF
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NO IF (_SPG>50000)
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NO SPG=50000
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NO ENDIF
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NO IF (_SPH>50000)
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NO SPH=50000
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NO ENDIF
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NO TE: CHECKS TO SEE IF DECELERATIONS OK
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IF (_DCE<>25000)
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DCE=25000
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ENDIF
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IF (_DCF<>25000)
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DCF=25000
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ENDIF
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JP #THREAD0
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EN
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NO ----------------------------------------
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#TCPERR
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NO TE: EMPTY ROUTINE FOR A TCP ERROR
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RE
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NO ----------------------------------------
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#ININT
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NO TE: INTERUPT ROUTINE TO STOP ALL AXES
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NO TE: WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
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STA,B,C,D,E,F,G,H
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AM
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MO
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RI
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NO ----------------------------------------
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