137 lines
3.2 KiB
Plaintext
137 lines
3.2 KiB
Plaintext
NO TE: ECHIDNA - CONTROLLER 3
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NO TE:
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NO TE: $Revision: 1.7 $
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NO TE: $Date: 2007-01-31 03:38:33 $
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NO TE: Author: Dan Bartlett
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NO TE: Limit switch HOME routine added by Ferdi Franceschini
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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 FOCUS
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NO TE: B-SPARE
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NO TE: C-SPARE
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NO TE: D-SPARE
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NO TE: E-SLIT 1 LEFT BLADE (ss1l)
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NO TE: F-SLIT 1 RIGHT BLADE (ss1r)
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NO TE: G-SLIT 1 TOP BLADE (ss1u)
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NO TE: H-SLIT 1 BOTTOM BLADE (ss1d)
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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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IA 137,157,201,5;' CONFIGURES IP ADDRESS
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AC 12500,,,,60000,60000,60000,60000;' SET ACELERATION
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DC 12500,,,,60000,60000,60000,60000;' SET DECELERATION
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SP 25000,,,,30000,30000,30000,30000;' SET SPEED
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HOMERUN=0;' HOMING PROCEDURE HAS NOT BEEN RUN
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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>25000)
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SPA=25000
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ENDIF
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NO IF (_SPB>50000) AXES NOT IN USE, COMMENTED OUT
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NO SPB=50000
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NO ENDIF
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NO IF (_SPC>50000)
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NO SPC=50000
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NO ENDIF
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NO IF (_SPD>50000)
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NO SPD=50000
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NO ENDIF
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IF (_SPE>30000)
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SPE=30000
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ENDIF
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IF (_SPF>30000)
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SPF=30000
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ENDIF
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IF (_SPG>30000)
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SPG=30000
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ENDIF
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IF (_SPH>30000)
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SPH=30000
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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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#RES
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NO TE: PROCEDURE TO UPDATE THE RESOLVER FEEDBACK.
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NO TE: MUST BE EXCUTED EACH TIME FOR AN UPDATE
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SB1
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CB1;' OUTPUT WITH FALLING EDGE TO TRIGGER EMPIRE RESOLVER BOX
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AI31;' LOCK DATA
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IOBYTE1=_TI2;' LOAD FIRST WORD
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IOBYTE2=_TI3;' LOAD SECOND WORD
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IOBYTE2=(IOBYTE2&63);' MASK OUT XBUSY BIT
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IOBYTE2=(IOBYTE2*256);' SHIFT REMAINING BITS 8 POSITIONS TO RIGHT
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FOCUS=(IOBYTE1+IOBYTE2);' ADD WORDS TOGETHER, READ FOCUS VARIABLE FOR DATA
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SB1
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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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#HOME
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IF (HOMERUN = 1)
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JP #ENDHOME
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ENDIF
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NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
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IF ((_TSE & 4) = 0)
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SHE
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PRE=200000
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BGE
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ENDIF
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NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
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IF ((_TSF & 4) = 0)
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SHF
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PRF=200000
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BGF
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ENDIF
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NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
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IF ((_TSG & 4) = 0)
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SHG
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PRG=200000
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BGG
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ENDIF
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NO TE: MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
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IF ((_TSH & 4) = 0)
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SHH
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PRH=200000
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BGH
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ENDIF
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AMEFGH
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NO TE: DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH
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SHEFGH
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JG ,,,,-25000,-25000,-25000,-25000
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BGEFGH
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AMEFGH
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NO TE: MOVE AWAY FROM SWITCHES BY 2MM AND DRIVE BACK SLOWLY
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PR ,,,,80000,80000,80000,80000
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BGEFGH
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AMEFGH
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JG,,,,-5000,-5000,-5000,-5000
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BGEFGH
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AMEFGH
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NO TE: MOVE FORWARD FROM SWITCH BY 2MM AND SET ZERO
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PR ,,,,40000,40000,40000,40000
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BGEFGH
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AMEFGH
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DP ,,,,0,0,0,0
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SP ,,,,30000,30000,30000,30000
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HOMERUN=1;'HOMING PROCEDURE HAS BEEN RUN
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#ENDHOME
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EN |