89 lines
2.4 KiB
Plaintext
89 lines
2.4 KiB
Plaintext
NO TE: KOWARI - CONTROLLER 3
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NO TE:
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NO TE: $Revision: 1.1 $
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NO TE: $Date: 2007-03-20 03:10:55 $
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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-MONOCHROMATOR FOCUS 1
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NO TE: B-MONOCHROMATOR FOCUS 1
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NO TE: C-SPARE
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NO TE: D-SPARE
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NO TE: E-SPARE
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NO TE: F-SPARE
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NO TE: G-SPARE
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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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IA 137,157,201,197;' CONFIGURES IP ADDRESS
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AC 12500,12500,,,,,,;' SET ACELERATION
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DC 12500,12500,,,,,,;' SET DECELERATION
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SP 25000,25000,,,,,,;' 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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IF (_SPA>25000)
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SPA=25000
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ENDIF
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IF (_SPB>25000) AXES NOT IN USE, COMMENTED OUT
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SPB=25000
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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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NO IF (_SPE>30000)
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NO SPE=30000
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NO ENDIF
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NO IF (_SPF>30000)
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NO SPF=30000
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NO ENDIF
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NO IF (_SPG>30000)
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NO SPG=30000
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NO ENDIF
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NO IF (_SPH>30000)
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NO SPH=30000
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NO ENDIF
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NO TE: PROCEDURE TO UPDATE THE RESOLVER FEEDBACK.
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NO TE: RESOLVER NUMBER 1
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CB1;' OUTPUT WITH FALLING EDGE TO TRIGGER EMPIRE RESOLVER BOX
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AI31;' LOCK DATA
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IOBYTE1=_TI2;' LOAD FIRST WORD
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IOBYTE2=_TI3;' LOAD SECOND WORD
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IOBYTE2=(IOBYTE2&63);' MASK OUT XBUSY BIT
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IOBYTE2=(IOBYTE2*256);' SHIFT REMAINING BITS 8 POSITIONS TO RIGHT
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DEA=(IOBYTE1+IOBYTE2);' ADD WORDS TOGETHER, LOAD INTO DEA, USE TPA FOR VALUE
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NO TE: RESOLVER NUMBER 2
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CB2;' OUTPUT WITH FALLING EDGE TO TRIGGER EMPIRE RESOLVER BOX
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AI32;' LOCK DATA
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IOBYTE3=_TI4;' LOAD FIRST WORD
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IOBYTE4=_TI5;' LOAD SECOND WORD
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IOBYTE4=(IOBYTE4&63);' MASK OUT XBUSY BIT
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IOBYTE4=(IOBYTE4*256);' SHIFT REMAINING BITS 8 POSITIONS TO RIGHT
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DEB=(IOBYTE3+IOBYTE4);' ADD WORDS TOGETHER, LOAD INTO DEB, USE TPB FOR VALUE
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SB1
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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 ---------------------------------------- |