141 lines
3.3 KiB
Plaintext
141 lines
3.3 KiB
Plaintext
NO TE: QUOKKA - CONTROLLER 3
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NO TE:
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NO TE: $Revision: 1.6 $
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NO TE: $Name: not supported by cvs2svn $
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NO TE: $Date: 2008-05-30 00:26:57 $
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NO TE: Author: Dan Bartlett
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NO TE: Last revision by: $Author: ffr $
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NO TE:
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NO TE: A-COLLIMATION OPTICS - CHAMBER 9
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NO TE: B-COLLIMATION OPTICS - CHAMBER 10
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NO TE: C-SOURCE END CHAMBER - PENTAPRISM
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NO TE: D-SOURCE END CHAMBER - SRC APERTURES
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NO TE: E-SPARE WITH 8 AMP AMPLIFIER
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NO TE: F-SPARE WITH 8 AMP AMPLIFIER
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NO TE: G-ROTARY ATTENUATOR
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NO TE: H-SPARE
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NO TE:
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NO TE: +VE MOTOR MOVES COLL. 9&10 IN A WESTERLY DIRECTION
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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 137,157,202,69;' CONFIGURES IP ADDRESS
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AC 12500,12500,25000,25000,,,25000,;' SET ACELERATION
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DC 12500,12500,25000,25000,,,25000,;' SET DECELERATION
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SP 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=0,25,13,0<-2>2;'NOT USED
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SIF=0,25,13,0<-2>2;'NOT USED
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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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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)
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SPB=25000
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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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NO IF (_SPE>50000)
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NO SPE=50000
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NO ENDIF
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NO IF (_SPF>50000)
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NO SPF=50000
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NO 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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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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#CMDERR
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NO TE: THIS IS A ROUTINE TO HANDLE COMMAND ERRORS
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ZS0;' ZERO STACK
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EN1
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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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NO OLDDCE=_DCE
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NO OLDDCF=_DCF
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OLDDCG=_DCG
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NO OLDDCH=_DCH
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IF (_LFA = 0) | (_LRA = 0)
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DCA=75000;' 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=75000;' 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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NO IF (_LFE = 0) | (_LRE = 0)
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NO DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE
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NO STE
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NO ENDIF
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NO IF (_LFF = 0) | (_LRF = 0)
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NO DCF=100000;' DECEL FOR LIMIT HIT OCCURENCE
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NO STF
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NO 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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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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NO DCE=OLDDCE
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NO DCF=OLDDCF
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DCG=OLDDCG
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NO DCH=OLDDCH
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RE
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