133 lines
3.1 KiB
Plaintext
133 lines
3.1 KiB
Plaintext
NO TE: QUOKKA - CONTROLLER 3
|
|
NO TE:
|
|
NO TE: $Revision: 1.2 $
|
|
NO TE: $Date: 2007-04-09 22:08:20 $
|
|
NO TE: Author: Dan Bartlett
|
|
NO TE: Last revision by: $Author: dbx $
|
|
NO TE:
|
|
NO TE: A-COLLIMATION OPTICS - CHAMBER 9
|
|
NO TE: B-COLLIMATION OPTICS - CHAMBER 10
|
|
NO TE: C-SOURCE END CHAMBER - PENTAPRISM
|
|
NO TE: D-SOURCE END CHAMBER - SRC APERTURES
|
|
NO TE: E-SAMPLE END CHAMBER - X APETURE
|
|
NO TE: F-SAMPLE END CHAMBER - Y APETURE
|
|
NO TE: G-SPARE
|
|
NO TE: H-ROTARY ATTENUATOR
|
|
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 137,157,202,71;' CONFIGURES IP ADDRESS
|
|
AC 25000,25000,25000,25000,25000,25000,,25000;' SET ACELERATION
|
|
DC 25000,25000,25000,25000,25000,25000,,25000;' SET DECELERATION
|
|
SP 25000,25000,25000,25000,25000,25000,,25000;' SET SPEED
|
|
SIA=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
|
|
SIB=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
|
|
SIC=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
|
|
SID=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
|
|
SIE=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
|
|
SIF=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
|
|
SIG=0,25,13,0<-2>2;'NOT USED
|
|
SIH=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
|
|
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>50000)
|
|
SPA=50000
|
|
ENDIF
|
|
IF (_SPB>50000)
|
|
SPB=50000
|
|
ENDIF
|
|
IF (_SPC>50000)
|
|
SPC=50000
|
|
ENDIF
|
|
IF (_SPD>50000)
|
|
SPD=50000
|
|
ENDIF
|
|
IF (_SPE>50000)
|
|
SPE=50000
|
|
ENDIF
|
|
IF (_SPF>50000)
|
|
SPF=50000
|
|
ENDIF
|
|
NO IF (_SPG>50000) COMMENTED OUT, NOT USED
|
|
NO SPG=50000
|
|
NO ENDIF
|
|
IF (_SPH>50000)
|
|
SPH=50000
|
|
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, NOT USED
|
|
OLDDCH=_DCH
|
|
IF (_LFA = 0) | (_LRA = 0)
|
|
DCA=100000;' DECEL FOR LIMIT HIT OCCURENCE
|
|
STA
|
|
ENDIF
|
|
IF (_LFB = 0) | (_LRB = 0)
|
|
DCB=100000;' 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=100000;' DECEL FOR LIMIT HIT OCCURENCE
|
|
STF
|
|
ENDIF
|
|
IF (_LFG = 0) | (_LRG = 0)
|
|
NO DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
|
|
NO STG
|
|
NO ENDIF
|
|
IF (_LFH = 0) | (_LRH = 0)
|
|
DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
|
|
STH
|
|
ENDIF
|
|
AM ABCDEFGH;' 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, NOT USED
|
|
DCH=OLDDCH
|
|
RE
|