c4e7710bd5
oscillate by Paul Barron and Warren Brown. r3316 | ffr | 2011-12-07 15:46:18 +1100 (Wed, 07 Dec 2011) | 3 lines
234 lines
4.9 KiB
Plaintext
234 lines
4.9 KiB
Plaintext
NO TE: KOWARI - 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 01:25:23 $
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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-PRE SAMPLE COLLIMATOR X (ACROSS BEAM)
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NO TE: B-PRE SAMPLE COLLIMATOR Y (ALONG BEAM)
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NO TE: C-PRE SAMPLE COLLIMATOR WIDTH
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NO TE: D-POST SAMPLE COLLIMATOR X (ACROSS BEAM)
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NO TE: E-POST SAMPLE COLLIMATOR Y (ALONG BEAM)
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NO TE: F-POST SAMPLE COLLIMATOR WIDTH
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NO TE: G-SPARE AXIS CABLED FOR CRADLE
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NO TE: H-SPARE
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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 137,157,201,198;' CONFIGURES IP ADDRESS
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AC 25000,25000,25000,25000,25000,25000,25000,;' SET ACELERATION
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DC 25000,25000,25000,25000,25000,25000,25000,;' SET DECELERATION
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SP 25000,25000,25000,25000,25000,25000,25000,;' SET SPEED
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SIA=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SIB=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SIC=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SID=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SIF=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SIG=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SIH=0,25,13,0<-2>2;'NOT USED
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hndIP=-1986147895;'STATIC IP ADDRESS OF THE WIRELESS HANDHELD TERMINAL
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CONNECT=0'VARIABLE TO TELL IF HANDHELD IS CONNECTED
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EOMDEG=-1;' PART OF THE SAMPLE OSCILLATION CONTROL #OSCEOM
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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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IF (_SPA>50000)
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SPA=50000
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ENDIF
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IF (_SPB>50000)
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SPB=50000
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ENDIF
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IF (_SPC>50000)
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SPC=50000
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ENDIF
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IF (_SPD>50000)
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SPD=50000
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ENDIF
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IF (_SPE>50000)
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SPE=50000
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ENDIF
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IF (_SPF>50000)
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SPF=50000
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ENDIF
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IF (_SPG>50000)
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SPG=50000
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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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IF (_XQ1=-1);'THREAD2 NOT RUNNING
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XQ #CHKHAND,1
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ENDIF
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IF (_XQ3=-1)&(EOMDEG<>-1);'THREAD3 NOT RUNNING & EOM OSC
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XQ #OSCEOM,3
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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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'CLOSE TCP CONNECTION, STOP AND TURN OFF MOTORS
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CONNECT=0
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IHH=>-2
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ST ABBCDEFG
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MC ABBCDEFG
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MO ABBCDEFG
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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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#LIMSWI
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NO TE: LIMIT SWITCH ROUTINE WHICH SHORTENS DECEL TIME WHEN A LIMIT IS HIT
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OLDDCA=_DCA;' REMEMBERS CURRENT DECEL
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OLDDCB=_DCB
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OLDDCC=_DCC
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OLDDCD=_DCD
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OLDDCE=_DCE
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OLDDCF=_DCF
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OLDDCG=_DCG
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NO OLDDCH=_DCH AXIS NOT USED
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IF (_LFA = 0) | (_LRA = 0)
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DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STA
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ENDIF
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IF (_LFB = 0) | (_LRB = 0)
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DCB=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STB
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ENDIF
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IF (_LFC = 0) | (_LRC = 0)
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DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STC
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ENDIF
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IF (_LFD = 0) | (_LRD = 0)
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DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STD
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ENDIF
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IF (_LFE = 0) | (_LRE = 0)
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DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STE
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ENDIF
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IF (_LFF = 0) | (_LRF = 0)
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DCF=50000;' DECEL FOR LIMIT HIT OCCURENCE
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STF
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ENDIF
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IF (_LFG = 0) | (_LRG = 0)
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DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STG
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ENDIF
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NO IF (_LFH = 0) | (_LRH = 0)
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NO DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
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NO STH
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NO ENDIF
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AM ABCDEFGH;' AFTER ALL AXES STOPPED
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DCA=OLDDCA;' RESET DECEL TO OLD VALUE
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DCB=OLDDCB
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DCC=OLDDCC
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DCD=OLDDCD
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DCE=OLDDCE
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DCF=OLDDCF
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DCG=OLDDCG
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NO DCH=OLDDCH AXIS NOT USED
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RE
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'-----------------------------------------------------------------------------
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#CHKHAND
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'IF THERE IS A TCP CONNECTION BETWEEN THE HANDHELD AND GALIL
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'ON HANDLE 'A' MOVE IT TO HANDLE H
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'_IHn0=IP ADDRESS
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'_IHn2=0 (NO CONNECTION)
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'_IHn2=1 (UDP SLAVE)
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'_IHn2=2 (TCP SLAVE)
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IF((_IHA0=hndIP) & (_IHA2<>0))
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HSA=H
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ENDIF
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'
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IF((_IHB0=hndIP) & (_IHB2<>0))
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HSB=H
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ENDIF
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'
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IF((_IHC0=hndIP) & (_IHC2<>0))
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HSC=H
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ENDIF
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'
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IF((_IHD0=hndIP) & (_IHD2<>0))
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HSD=H
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ENDIF
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'
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IF((_IHE0=hndIP) & (_IHE2<>0))
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HSE=H
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ENDIF
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'
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IF((_IHF0=hndIP) & (_IHF2<>0))
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HSF=H
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ENDIF
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'
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IF((_IHG0=hndIP) & (_IHG2<>0))
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HSG=H
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ENDIF
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'
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'IF THERE IS A TCP CONNECTION BETWEEN THE HANDHELD AND GALIL
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'ON HANDLE 'H', SEND THE HEARTBEAT MESSAGE
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IF((_IHH0=hndIP) & (_IHH2<>0))
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MG "CONNECTED" {EH}
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CONNECT=1
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WT500
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ENDIF
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'
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JP #CHKHAND
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EN
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'
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'
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'-----------------------------------------------------------------------
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#OSCEOM
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'THIS ROUTINE OSCILLATES THE SAMPLE
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'ABOUT THE STARTING POINT +- 1/2 THE VALUE IN OSCDEG IN DEGREES
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'
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IF (EOMDEG<0.1)|(EOMDEG>200)
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'OUTSIDE ALLOWABLE RANGE
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EOMDEG=-1
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JP #ENDOSC
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ENDIF
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'
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DPG=0;' REMEMBER STARTING POSITION OF SAMPLE
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SHG
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PRG=25000*EOMDEG*0.5
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'FIRST MOVE IS HALF THE TOTAL AND REMEMBER DISTANCE
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BGG
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MCG
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WT500
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#LPOSC
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PRG=-25000*EOMDEG
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BGG
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MCG
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WT500
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PRG=25000*EOMDEG
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BGG
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MCG
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WT500
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JP #LPOSC,EOMDEG<>-1
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'CONTINUE TO LOOP UNTIL OSCDEG IS SET TO -1
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'
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PAG=0;' RETURN SAMPLE TO STARTING POSITION
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BGG
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MCG
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#ENDOSC
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MOE
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EN
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'-----------------------------------------------------------------------
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