131 lines
3.2 KiB
Plaintext
131 lines
3.2 KiB
Plaintext
NO TE: PLAYTPUS - CONTROLLER 4
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NO TE:
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NO TE: $Revision: 1.4 $
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NO TE: $Date: 2007-01-31 07:30:49 $
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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-SLIT S3 TOP BLADE
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NO TE: B-SLIT S3 BOTTOM BLADE
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NO TE: C-SLIT S3 WEST BLADE
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NO TE: D-SLIT S3 EAST BLADE
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NO TE: E-SLIT S4 TOP BLADE
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NO TE: F-SLIT S4 BOTTOM BLADE
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NO TE: G-SLIT S4 WEST BLADE
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NO TE: H-SLIT S4 EAST BLADE
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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 137,157,202,134;' CONFIGURES IP ADDRESS
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AC 60000,60000,60000,60000,60000,60000,60000,60000;' SET ACELERATION
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DC 60000,60000,60000,60000,60000,60000,60000,60000;' SET DECELERATION
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SP 30000,30000,30000,30000,30000,30000,30000,30000;' SET SPEED
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HOMERUN=0;' HOMING PROCEDURE HAS NOT BEEN RUN
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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>30000)
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SPA=30000
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ENDIF
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IF (_SPB>30000)
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SPB=30000
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ENDIF
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IF (_SPC>30000)
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SPC=30000
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ENDIF
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IF (_SPD>30000)
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SPD=30000
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ENDIF
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IF (_SPE>30000)
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SPE=30000
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ENDIF
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IF (_SPF>30000)
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SPF=30000
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ENDIF
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IF (_SPG>30000)
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SPG=30000
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ENDIF
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IF (_SPH>30000)
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SPH=30000
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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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#HOME
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NO TE: THIS ROUTINE HOMES THE SLITS.
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NO TE: IT USES THE HIGH REPEATABILITY HOME LIMIT SWITCHES
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NO TE: IT WILL NOT WORK WITH OTHER SLIT PACKAGES WITHOUT THE HOME LIMITS
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IF (HOMERUN = 1)
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JP #ENDHOME
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ENDIF
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SH
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IF (_LRA=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
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PRA=201250
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BGA
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ENDIF
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IF (_LRB=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
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PRB=201250
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BGB
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ENDIF
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IF (_LRC=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
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PRC=201250
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BGC
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ENDIF
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IF (_LRD=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
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PRD=201250
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BGD
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ENDIF
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IF (_LRE=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
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PRE=201250
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BGE
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ENDIF
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IF (_LRF=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
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PRF=201250
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BGF
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ENDIF
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IF (_LRG=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
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PRG=201250
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BGG
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ENDIF
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IF (_LRH=0);' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT
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PRH=201250
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BGH
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ENDIF
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AM ABCDEFGH
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JG -30000,-30000,-30000,-30000,-30000,-30000,-30000,-30000
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BG;' OPEN ALL SLITS TO LIMITS
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AM ABCDEFGH
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FE;' DRIVE TO THE HOME LIMIT AT FULL SPEED
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BG
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AM ABCDEFGH
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PR -100625,-100625,-100625,-100625,-100625,-100625,-100625,-100625;
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BG;' MOVE AWAY 5MM
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AM ABCDEFGH
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SP 7500,7500,7500,7500,7500,7500,7500,7500;' REDUCE SPEED
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FE;' DRIVE TO HOME LIMIT AT LOW SPEED
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BG
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AM ABCDEFGH
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DP 0,0,0,0,0,0,0,0;' DEFINE EACH AXIS POSTION AS ZERO
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SP 30000,30000,30000,30000,30000,30000,30000,30000;' SPEED BACK TO NORMAL
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HOMERUN=1;'HOMING PROCEDURE HAS BEEN RUN
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#ENDHOME
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EN |