164 lines
4.4 KiB
Plaintext
164 lines
4.4 KiB
Plaintext
NO TE: WOMBAT - CONTROLLER 1
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NO TE:
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NO TE: $Revision: 1.7 $
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NO TE: $Date: 2007-05-03 06:52:51 $
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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-MONOCHROMATOR UPPER TILT - TILT 1
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NO TE: B-MONOCHROMATOR LOWER TILT - TILT 2
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NO TE: C-MONOCHROMATOR UPPER TRANSLATION - LINEAR 1
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NO TE: D-MONOCHROMATOR LOWER TRANSLATION - LINEAR 2
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NO TE: E-MONOCHROMATOR ROTATION - ROTATE
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NO TE: F-FLIGHT TUBE ROTATE
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NO TE: G-SPARE
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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 137,157,201,67;' CONFIGURES IP ADDRESS
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AC 25000,25000,25000,25000,50000,10000,25000,25000;' SET ACELERATION
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DC 25000,25000,25000,25000,50000,10000,25000,25000;' SET DECELERATION
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SP 25000,25000,25000,25000,25000,75000,25000,25000;' 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=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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SIF=1,25,25,0<-2>2;'HEIDENHAIN RCN226
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SIG=0,25,13,0<-2>2;'NOT USED
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SIH=0,25,13,0<-2>2;'NOT USED
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APDONE=0;' FIRST TIME THROUGH AIRPAD CONTROL NOT DONE
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FTUBE=0;' FLIGHT TUBE OFF
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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>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>75000)
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SPF=75000
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ENDIF
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NO IF (_SPG>50000) AXES NOT USED, COMMENTED OUT
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NO SPG=50000
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NO 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: CONTROLS THE AIRPAD SOLENOID VALVES
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NO TE: SET FTUBE=1 TO MAKE FLIGHT TUBE AVAILABLE FOR MOVE
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NO TE: THE APDONE BIT IS USED SO THAT THE CODE ONLY RUNS WHEN THE
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NO TE: STATE OF FTUBE CHANGES - THE DELAYS ARENT RUNNING EVERY CYCLE
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NO TE: IN THE 2ND IF, THE OFF-SOLENOIDS ARENT HELD ENERGISED IN CASE THE
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NO TE: VALVE MANUAL OVER RIDE IS NEEDED.
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IF (FTUBE=1)&(APDONE=0);'REQUESTING FLIGHT TUBE BE MOVABLE
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SHF;' TURN MOTOR ON
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WT500;' WAIT FOR MOTOR TO STABILISE
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SB 12;' DRIVE WHEEL UP-SOLENOID OFF
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CB 11;' DRIVE WHEEL DOWN-SOLENOID ON
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WT1000;' WAIT FOR DRIVE WHEEL TO LOWER
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SB 10;' SAMPLE STAGE AIR PAD OFF-SOLENOID OFF
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CB 9;' SAMPLE STAGE AIR PAD ON-SOLENOID ON
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APDONE=1
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ENDIF
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IF (FTUBE=0)&(APDONE=1);'FLIGHT TUBE MOTION FINISHED
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WT1000;' WAIT FOR FLIGHT TUBE TO SETTLE
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SB 9;' SAMPLE STAGE AIR PAD ON-SOLENOID OFF
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CB 10;' SAMPLE STAGE AIR PAD OFF-SOLENOID ON
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WT500;
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SB 10;' SAMPLE STAGE AIR PAD OFF-SOLENOID OFF
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SB 11;' DRIVE WHEEL DOWN-SOLENOID OFF
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CB 12;' DRIVE WHEEL UP-SOLENOID ON
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WT500;' WAIT 1/2 SEC
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SB 12;' DRIVE WHEEL UP-SOLENOID OFF
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MOF;' TURN MOTOR OFF
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APDONE=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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NO OLDDCG=_DCG AXIS NOT USED
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NO OLDDCH=_DCH AXIS NOT USED
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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=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=50000;' DECEL FOR LIMIT HIT OCCURENCE
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STF
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ENDIF
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NO IF (_LFG = 0) | (_LRG = 0) AXES NOT USED, COMMENTED OUT
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NO DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
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NO STG
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NO 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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NO DCG=OLDDCG AXIS NOT USED
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NO DCH=OLDDCH AXIS NOT USED
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RE
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