153 lines
3.7 KiB
Plaintext
153 lines
3.7 KiB
Plaintext
NO TE: QUOKKA - CONTROLLER 4
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NO TE:
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NO TE: $Revision: 1.8 $
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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-BEAM STOPS TRANS. X (ACCROSS BEAM) +VE=WEST
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NO TE: B-BEAM STOPS TRANSLATION - RAISE
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NO TE: C-BEAM STOP 1 -VE=UP (LARGEST DISK)
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NO TE: D-BEAM STOP 2 -VE=UP
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NO TE: E-BEAM STOP 3 +VE=UP
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NO TE: F-BEAM STOP 4 -VE=UP
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NO TE: G-BEAM STOP 5 +VE=UP (SMALLEST DISK)
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NO TE: H-POLARISER
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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 137,157,202,70;' CONFIGURES IP ADDRESS
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AC 25000,100000,5000,15000,15000,15000,15000,25000;' SET ACELERATION
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DC 25000,100000,5000,15000,15000,15000,15000,25000;' SET DECELERATION
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SP 100000,100000,30000,40000,40000,40000,40000,25000;' 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=0,25,13,0<-2>2;'NO ENCODER
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SID=0,25,13,0<-2>2;'NO ENCODER
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SIE=0,25,13,0<-2>2;'NO ENCODER
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SIF=0,25,13,0<-2>2;'NO ENCODER
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SIG=0,25,13,0<-2>2;'NO ENCODER
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SIH=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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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>100000)
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SPA=100000
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ENDIF
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IF (_SPB>100000)
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SPB=100000
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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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IF (_SPH>50000)
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SPH=50000
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ENDIF
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NO TE: CONTROLS THE BEAM STOPS RAISE ELECTRO-MECHANICAL BRAKE
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IF (_MOB=0)
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CB 10;' MOTOR ON = BRAKE ENERGISED = UNLOCKED
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ELSE
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SB 10;' MOTOR OFF = BRAKE DENERGISED = LOCKED
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ENDIF
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NO TE: SETS AN OUTPUT IF ONE OR MORE BEAM STOPS ARE FULLY RAISED
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NO TE: OUTPUT 5 ON IF ONE OR MORE BEAMS TOPS RAISED
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NO IF (_TSC&12=4)|(_TSD&12=4)|(_TSE&12=4)|(_TSF&12=4)|(_TSG&12=4)
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NO TE: IF ANY OF THE 5 BEAMSTOPS IS NOT DOWN AND UP THEN SET BIT 1 HIGH
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NO SB1
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NO ELSE
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NO CB1
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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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OLDDCE=_DCE
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OLDDCF=_DCF
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OLDDCG=_DCG
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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=200000;' 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=100000;' 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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IF (_LFH = 0) | (_LRH = 0)
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DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
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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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DCE=OLDDCE
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DCF=OLDDCF
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DCG=OLDDCG
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DCH=OLDDCH
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RE
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