168 lines
4.1 KiB
Plaintext
168 lines
4.1 KiB
Plaintext
NO TE: QUOKKA - CONTROLLER 1
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NO TE:
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NO TE: $Revision: 1.8 $
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NO TE: $Date: 2007-09-24 01:10:59 $
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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-SAMPLE UPPER TILT
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NO TE: B-SAMPLE LOWER TILT
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NO TE: C-SAMPLE TRANSLATION X (ACROSS BEAM)
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NO TE: D-SAMPLE TRANSLATION Y (ALONG BEAM)
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NO TE: E-SAMPLE RAISE
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NO TE: F-SAMPLE ROTATE
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NO TE: G-DETECTOR Y (ALONG BEAM) PRG=25000*70/377*mm
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NO TE: H-DETECTOR X (ACCROSS BEAM)
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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 137,157,202,67;' CONFIGURES IP ADDRESS
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AC 25000,25000,25000,25000,100000,25000,50000,25000;' SET ACELERATION
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DC 25000,25000,25000,25000,100000,25000,50000,25000;' SET DECELERATION
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SP 25000,25000,25000,50000,200000,25000,200000,25000;' 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=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=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>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>100000)
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SPD=100000
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ENDIF
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IF (_SPE>200000)
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SPE=200000
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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>200000)
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SPG=200000
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ENDIF
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IF (_SPH>100000)
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SPH=100000
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ENDIF
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NO TE: CONTROLS THE SAMPLE RAISE ELECTRO-MECHANICAL BRAKE
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IF (_MOE=0)
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CB 13;' MOTOR ON = BRAKE ENERGISED = UNLOCKED
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ELSE
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SB 13;' MOTOR OFF = BRAKE DENERGISED = LOCKED
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ENDIF
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NO TE: CONTROLS THE FAST SHUTTER
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NO TE:
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NO TE: FAST SHUTTER MUST BE CLOSED WHEN DETECTOR Z AXIS ACTIVE
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NO TE: INPUT 13 = FAST SHUTTER OPEN
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NO TE: INPUT 14 = FAST SHUTTER CLOSED
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NO TE: INPUT 5 = ONE OR MORE BEAM STOPS RAISED (FROM CONTROLLER 4)
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IF (_MOG=1) & (@IN[5]=0)
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NO TE: DETECTOR Y INACTIVE AND ONE OR MORE BEAM STOPS UP
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CB 15;' ENERGISE FAST SHUTTER SOLENOID = SHUTTER OPEN
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ENDIF
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IF (_MOG=0)&(@IN[14])
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NO TE: DETECTOR Y AXIS IS ACTIVE AND FAST SHUTTER NOT CLOSED
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SB15;' CLOSE FAST SHUTTER
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IF (_BGG=1)
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STG;' DETECTOR Y MOVING, COMMANDED TO STOP
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AMG;'WAIT UNTIL STOPPED
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ENDIF
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MOG;' TURN DETECTOR Y OFF UNTIL FAST SHUTTER IS CLOSED
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AI13;' WAIT FOR SHUTTER TO CLOSE
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IF (@IN[14]=0)
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NO TE: FAST SHUTTER IS CLOSED
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SHG
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ENDIF
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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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#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=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=400000;' 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=200000;' 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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