215 lines
4.8 KiB
Plaintext
215 lines
4.8 KiB
Plaintext
NO TE: PLATYPUS - CONTROLLER 1
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NO TE:
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NO TE: $Revision: 1.10 $
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NO TE: $Date: 2008-02-03 23:41:32 $
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NO TE: Author: Dan Bartlett
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NO TE: Last revision by: $Author: dcl $
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NO TE:
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NO TE: A-BEAM SHADE RAISE
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NO TE: B-COLLIMATOR TRANSLATE A=7350364, B=6529772, C=6941582
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NO TE: C-COLLIMATOR TILT, LEVEL=134660
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NO TE: D-BEAM ATTENUATOR, BEAM CENTRE=8375078
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NO TE: E-SLIT TOWER S3 RAISE
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NO TE: F-SLIT TOWER S4 RAISE
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NO TE: G-DETECTOR TRANSLATION Y (ALONG BEAM)
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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 137,157,202,131;' CONFIGURES IP ADDRESS
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AC 25000,25000,25000,25000,25000,25000,12500,;' SET ACELERATION
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DC 25000,25000,25000,25000,25000,25000,12500,;' SET DECELERATION
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SP 50000,25000,25000,25000,75000,75000,12500,;' 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=1,24,18,6<-2>2;'IVO
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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;'SPARE
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NO TE: FIRST TIME THROUGH BRAKE CONTROL NOT DONE
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REQA=0
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RSPA=0
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POS=0;' INITIAL BEAM ATTENUATOR FREQUENCY IS 0, PARKED IN THE BEAM
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XQ #ATTEN,1
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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>200000)
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SPD=200000
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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>100000)
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SPF=100000
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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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NO TE: TO CONTROL THE BRAKE ON BEAM SHADE RAISE AXIS
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IF (_MOA=0)&(RSPA=0);'BEAM SHADE RAISE MOTOR IS ON
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REQA=1
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ENDIF
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IF (_MOA=1)&(RSPA=1);'BEAM SHADE RAISE MOTOR IS ON
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REQA=0
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ENDIF
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IF (REQA=1)&(RSPA=0);'BEAM SHADE RAISE MOTOR IS REQUIRED
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SHA
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WT 200
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CB 9;'RELAY ON = BRAKE COIL ENERGISED = BRAKE DISENGAGED
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WT 300
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RSPA=1
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ENDIF
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IF (REQA=0)&(RSPA=1);'BEAM SHADE RAISE MOTOR IS NOT REQUIRED
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SB 9;'RELAY OFF = BRAKE COIL DE-ENERGISED = BRAKE ENGAGED
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WT 400
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MOA
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WT 100
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RSPA=0
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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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#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
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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=150000;' 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=150000;' 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
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RE
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NO ----------------------------------------
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#ATTEN
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NO TE: THIS IS A PROGRAM FOR CONTROLING THE BEAM ATTENUATOR
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NO TE: ITS STATE IS SET BY THE VARIABLE POS
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NO TE: IF POS=-1 THEN ITS OUT OF THE BEAM
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NO TE: IF POS=0 THEN ITS IN THE BEAM, LIKE A SHUTTER
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NO TE: IF POS=1 THEN ITS OSCILLATING
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DEADBD=20
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PARKPOS=8308518; 'PARKING ENCODER POSITION
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SHUTPOS=8359718; 'BEAM SHUT ENCODER POSITION
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STRTPOS=8395558; 'OSCILLATING START ENCODER POSITION
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IF (POS=-1)&(@ABS[_TPD - PARKPOS]>DEADBD)
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NO TE: PARK ATTENUATOR OUT OF BEAM - NO ATTENUATION
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SPD=75000
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ACD=50000
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DCD=50000
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SHD
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PRD=(_TPD - PARKPOS)/8192*25000
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BGD
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AMD
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MOD
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ENDIF
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IF (POS=0)&(@ABS[_TPD - SHUTPOS]>DEADBD)
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NO TE: PARK ATTENUATOR IN BEAM - LIKE A SHUTTER
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SPD=75000
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ACD=50000
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DCD=50000
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SHD
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PRD=(_TPD - SHUTPOS)/8192*25000
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BGD
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AMD
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MOD
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ENDIF
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IF (POS=1)
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NO TE: OSCILLATE ATTENUATOR
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SHD
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SPD=75000
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ACD=50000
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DCD=50000
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PRD=(_TPD - STRTPOS)/8192*25000
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BGD
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AMD
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SPD=180000
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ACD=_SPD*4;' 0.25S TO ACCELERATE
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DCD=_ACD
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#LOOP
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PRD=125000;' 80MM = 60MM IN THE BEAM, 10MM FOR ACCEL AND 10MM FOR DECEL
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BGD
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AMD
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PRD=-125000
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BGD
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AMD
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ENDIF
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JP #LOOP,(POS=1)
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JP #ATTEN
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EN
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