175 lines
4.2 KiB
Plaintext
175 lines
4.2 KiB
Plaintext
NO TE: KOWARI - CONTROLLER 2
|
|
NO TE:
|
|
NO TE: $Revision:
|
|
NO TE: $Name: not supported by cvs2svn $
|
|
NO TE: $Date: 2008-05-30 00:26:56 $
|
|
NO TE: Author: Dan Bartlett
|
|
NO TE: Last revision by: $Author: ffr $
|
|
NO TE:
|
|
NO TE: GALIL 31 BIT FIRMWARE IS REQUIRED FOR THIS CODE
|
|
NO TE: A-SAMPLE RAISE FIRST SECTION
|
|
NO TE: B-SAMPLE RAISE SECOND SECTION
|
|
NO TE: C-SAMPLE UPPER TRANSLATION
|
|
NO TE: D-SAMPLE LOWER TRANSLATION
|
|
NO TE: E-SAMPLE ROTATE
|
|
NO TE: F-DETECTOR ROTATE
|
|
NO TE: G-SPARE
|
|
NO TE: H-SPARE
|
|
NO ----------------------------------------
|
|
#AUTO
|
|
NO TE: THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
|
|
MT-2,-2,-2,-2,-2,-2,-2,-2;'CONFIGURES ALL AXES AS STEPPER
|
|
MO;' FIRST TIME MOTOR OFF
|
|
CN 1;' CONFIGURES LIMIT SWITCHES TO ACCEPT NC CONTACTS
|
|
II 8,,,0;' CONFIGURES THE 8TH INPUT TO ACTIVATE THE #ININT ROUTINE
|
|
OP 65280;' SETS OUTPUTS 9-16 ON = RELAYS OFF
|
|
IA 137,157,201,196;' CONFIGURES IP ADDRESS
|
|
AC 25000,,25000,25000,25000,25000,,;' SET ACELERATION
|
|
DC 25000,,25000,25000,25000,25000,,;' SET DECELERATION
|
|
SP 25000,,25000,25000,25000,25000,,;' SET SPEED
|
|
SIA=0;'TURN OFF CLOCK PULSES TO ALLOW ENCODER TO INITIALISE
|
|
SIB=0
|
|
SIC=0
|
|
SID=0
|
|
SIE=0
|
|
SIF=0
|
|
SIG=0
|
|
SIH=0
|
|
WT5000;'WAIT FOR ENCODER TO INITIALISE
|
|
SIA=1,25,13,0<12>2;'HEIDENHAIN ROQ425
|
|
SIC=1,25,13,0<12>2;'HEIDENHAIN ROQ425
|
|
SID=1,25,13,0<12>2;'HEIDENHAIN ROQ425
|
|
SIE=1,25,13,0<12>2;'HEIDENHAIN ROQ425
|
|
SIF=1,25,13,0<12>2;'HEIDENHAIN ROQ425
|
|
NO TE: FIRST TIME THROUGH MOTOR LINK NOT DONE
|
|
'REQA=0
|
|
'RSPA=0
|
|
'GAB=CA;'SET B FOLLOWS A IN COMMAND MODE
|
|
'GRB=1;' SET 1:1 GEARING FOR NOW
|
|
'GMB=1;' SET GANTRY MODE
|
|
NO TE: FIRST TIME THROUGH AIRPAD CONTROL NOT DONE
|
|
REQF=0
|
|
RSPF=0
|
|
JS #THREAD0
|
|
EN
|
|
NO ----------------------------------------
|
|
#THREAD0
|
|
NO TE: THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
|
|
NO TE: CHECKS IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
|
|
IF (_SPA>200000)
|
|
SPA=200000
|
|
ENDIF
|
|
IF (_SPB>200000)
|
|
SPB=200000
|
|
ENDIF
|
|
IF (_SPC>50000)
|
|
SPC=50000
|
|
ENDIF
|
|
IF (_SPD>50000)
|
|
SPD=50000
|
|
ENDIF
|
|
IF (_SPE>50000)
|
|
SPE=50000
|
|
ENDIF
|
|
IF (_SPF>100000)
|
|
SPF=100000
|
|
ENDIF
|
|
IF (_SPG>50000)
|
|
SPG=50000
|
|
ENDIF
|
|
IF (_SPH>50000)
|
|
SPH=50000
|
|
ENDIF
|
|
NO TE: CONTROLS LINKED MOTORS
|
|
'IF (REQA=1)&(RSPA=0);' SAMPLE RAISE MOTOR IS REQUIRED
|
|
'SH AB;'TURN MOTOR ON
|
|
'RSPA=1
|
|
'ENDIF
|
|
'IF (REQA=0)&(RSPA=1);' SAMPLE RAISE MOTOR IS NOT REQUIRED
|
|
'MO AB;'TURN MOTOR OFF
|
|
'RSPA=0
|
|
'ENDIF
|
|
NO TE: CONTROLS THE AIRPAD SOLENOID VALVES
|
|
IF (REQF=1)&(RSPF=0);' DETECTOR ROTATE MOTOR IS REQUIRED
|
|
SH F;'TURN MOTOR ON
|
|
SB 10;'DETECTOR AIR PAD OFF-SOLENOID OFF
|
|
CB 9;'DETECTOR AIR PAD ON-SOLENOID ON
|
|
WT 1000;'WAIT FOR PADS TO LIFT
|
|
RSPF=1
|
|
ENDIF
|
|
IF (REQF=0)&(RSPF=1);' DETECTOR ROTATE MOTOR IS NOT REQUIRED
|
|
SB 9;'DETECTOR AIR PAD ON-SOLENOID OFF
|
|
CB 10;'DETECTOR AIR PAD OFF-SOLENOID ON
|
|
WT500;'WAIT 1/2 SEC
|
|
SB 10;'DETECTOR AIR PAD OFF-SOLENOID OFF
|
|
MO F;'TURN MOTOR OFF
|
|
RSPF=0
|
|
ENDIF
|
|
JP #THREAD0
|
|
EN
|
|
NO ----------------------------------------
|
|
#TCPERR
|
|
NO TE: EMPTY ROUTINE FOR A TCP ERROR
|
|
RE
|
|
NO ----------------------------------------
|
|
#ININT
|
|
NO TE: INTERUPT ROUTINE TO STOP ALL AXES
|
|
NO TE: WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
|
|
STA,B,C,D,E,F,G,H
|
|
AM
|
|
MO
|
|
RI
|
|
NO ----------------------------------------
|
|
#LIMSWI
|
|
NO TE: LIMIT SWITCH ROUTINE WHICH SHORTENS DECEL TIME WHEN A LIMIT IS HIT
|
|
OLDDCA=_DCA;' REMEMBERS CURRENT DECEL
|
|
OLDDCB=_DCB
|
|
OLDDCC=_DCC
|
|
OLDDCD=_DCD
|
|
OLDDCE=_DCE
|
|
OLDDCF=_DCF
|
|
NO OLDDCG=_DCG;' COMMENTED OUT, AXIS NOT IN USE
|
|
NO OLDDCH=_DCH;' COMMENTED OUT, AXIS NOT IN USE
|
|
IF (_LFA = 0) | (_LRA = 0)
|
|
DCA=400000;' DECEL FOR LIMIT HIT OCCURENCE
|
|
STA
|
|
ENDIF
|
|
IF (_LFB = 0) | (_LRB = 0)
|
|
DCB=400000;' DECEL FOR LIMIT HIT OCCURENCE
|
|
STB
|
|
ENDIF
|
|
IF (_LFC = 0) | (_LRC = 0)
|
|
DCC=100000;' DECEL FOR LIMIT HIT OCCURENCE
|
|
STC
|
|
ENDIF
|
|
IF (_LFD = 0) | (_LRD = 0)
|
|
DCD=100000;' DECEL FOR LIMIT HIT OCCURENCE
|
|
STD
|
|
ENDIF
|
|
IF (_LFE = 0) | (_LRE = 0)
|
|
DCE=100000;' DECEL FOR LIMIT HIT OCCURENCE
|
|
STE
|
|
ENDIF
|
|
IF (_LFF = 0) | (_LRF = 0)
|
|
DCF=50000;' DECEL FOR LIMIT HIT OCCURENCE
|
|
STF
|
|
ENDIF
|
|
NO IF (_LFG = 0) | (_LRG = 0);' COMMENTED OUT, AXIS NOT IN USE
|
|
NO DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
|
|
NO STG
|
|
NO ENDIF
|
|
NO IF (_LFH = 0) | (_LRH = 0)
|
|
NO DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
|
|
NO STH
|
|
NO ENDIF
|
|
AM ABCDEF;' AFTER ALL AXES STOPPED
|
|
DCA=OLDDCA;' RESET DECEL TO OLD VALUE
|
|
DCB=OLDDCB
|
|
DCC=OLDDCC
|
|
DCD=OLDDCD
|
|
DCE=OLDDCE
|
|
DCF=OLDDCF
|
|
NO DCG=OLDDCG COMMENTED OUT, AXIS NOT IN USE
|
|
NO DCH=OLDDCH COMMENTED OUT, AXIS NOT IN USE
|
|
RE
|