412 lines
6.7 KiB
Plaintext
412 lines
6.7 KiB
Plaintext
' PLATYPUS - CONTROLLER 4
|
|
'
|
|
' $Revision: 1.7 $
|
|
' $Name: not supported by cvs2svn $
|
|
' $Date: 2008-05-30 00:26:56 $
|
|
' Author: Dan Bartlett
|
|
' Last revision by: $Author: ffr $
|
|
'
|
|
' A-SLIT S3 BOTTOM BLADE
|
|
' B-SLIT S3 TOP BLADE
|
|
' C-SLIT S3 WEST BLADE
|
|
' D-SLIT S3 EAST BLADE
|
|
' E-SLIT S4 BOTTOM BLADE
|
|
' F-SLIT S4 TOP BLADE
|
|
' G-SLIT S4 WEST BLADE
|
|
' H-SLIT S4 EAST BLADE
|
|
'
|
|
'
|
|
'-----------------------------------------------------------------------
|
|
#AUTO
|
|
' 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
|
|
IA 137,157,202,134;' CONFIGURES IP ADDRESS
|
|
AC 60000,60000,60000,60000,60000,60000,60000,60000;' SET ACELERATION
|
|
DC 60000,60000,60000,60000,60000,60000,60000,60000;' SET DECELERATION
|
|
SP 30000,30000,30000,30000,30000,30000,30000,30000;' SET SPEED
|
|
HOMERUN=0;' HOMING PROCEDURE HAS NOT BEEN RUN
|
|
' FIRST TIME THROUGH RESET HALT CONTROL
|
|
HLTA=0
|
|
HLTB=0
|
|
HLTC=0
|
|
HLTD=0
|
|
HLTE=0
|
|
HLTF=0
|
|
HLTG=0
|
|
HLTH=0
|
|
' FIRST TIME THROUGH RESET LIMIT CONTROL
|
|
LSAHIT=0
|
|
LSBHIT=0
|
|
LSCHIT=0
|
|
LSDHIT=0
|
|
LSEHIT=0
|
|
LSFHIT=0
|
|
LSGHIT=0
|
|
LSHHIT=0
|
|
JS #THREAD0
|
|
EN
|
|
'
|
|
'
|
|
'-----------------------------------------------------------------------
|
|
#THREAD0
|
|
' MAIN THREAD
|
|
' THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
|
|
'
|
|
JS #CHKSPD
|
|
JS #CHKDCEL
|
|
JP #THREAD0
|
|
EN
|
|
'
|
|
'
|
|
'-----------------------------------------------------------------------
|
|
#CHKDCEL
|
|
'ROUTINE TO RESET DECELERATION AFTER AN EMERGENCY STOP
|
|
'
|
|
IF (_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
|
|
IF (LSAHIT=1);'WHEN MOTION STOPS AFTER A LIMIT HIT
|
|
DCA=OLDDCA;' RESET DECEL TO OLD VALUE
|
|
LSAHIT=0
|
|
ENDIF
|
|
IF (HLTA=1)
|
|
HLTA=0
|
|
ENDIF
|
|
ENDIF
|
|
'
|
|
IF (_BGB=0)
|
|
IF (LSBHIT=1)
|
|
DCB=OLDDCB
|
|
LSBHIT=0
|
|
ENDIF
|
|
IF (HLTB=1)
|
|
HLTB=0
|
|
ENDIF
|
|
ENDIF
|
|
'
|
|
IF (_BGC=0)
|
|
IF (LSCHIT=1)
|
|
DCC=OLDDCC
|
|
LSCHIT=0
|
|
ENDIF
|
|
IF (HLTC=1)
|
|
HLTC=0
|
|
ENDIF
|
|
ENDIF
|
|
'
|
|
IF (_BGD=0)
|
|
IF (LSDHIT=1)
|
|
DCD=OLDDCD
|
|
LSDHIT=0
|
|
ENDIF
|
|
IF (HLTD=1)
|
|
HLTD=0
|
|
ENDIF
|
|
ENDIF
|
|
'
|
|
IF (_BGE=0)
|
|
IF (LSEHIT=1)
|
|
DCE=OLDDCE
|
|
LSEHIT=0
|
|
ENDIF
|
|
IF (HLTE=1)
|
|
HLTE=0
|
|
ENDIF
|
|
ENDIF
|
|
'
|
|
IF (_BGF=0)
|
|
IF (LSFHIT=1)
|
|
DCF=OLDDCF
|
|
LSFHIT=0
|
|
ENDIF
|
|
IF (HLTF=1)
|
|
HLTF=0
|
|
ENDIF
|
|
ENDIF
|
|
'
|
|
IF (_BGG=0)
|
|
IF (LSGHIT=1)
|
|
DCG=OLDDCG
|
|
LSGHIT=0
|
|
ENDIF
|
|
IF (HLTG=1)
|
|
HLTG=0
|
|
ENDIF
|
|
ENDIF
|
|
'
|
|
IF (_BGH=0)
|
|
IF (LSHHIT=1)
|
|
DCH=OLDDCH
|
|
LSHHIT=0
|
|
ENDIF
|
|
IF (HLTH=1)
|
|
HLTH=0
|
|
ENDIF
|
|
ENDIF
|
|
'
|
|
JS #SETDCEL,((HLTA=1)&(LSAHIT=0))
|
|
JS #SETDCEL,((HLTB=1)&(LSBHIT=0))
|
|
JS #SETDCEL,((HLTC=1)&(LSCHIT=0))
|
|
JS #SETDCEL,((HLTD=1)&(LSDHIT=0))
|
|
JS #SETDCEL,((HLTE=1)&(LSEHIT=0))
|
|
JS #SETDCEL,((HLTF=1)&(LSFHIT=0))
|
|
JS #SETDCEL,((HLTG=1)&(LSGHIT=0))
|
|
JS #SETDCEL,((HLTH=1)&(LSHHIT=0))
|
|
EN
|
|
'
|
|
'
|
|
'-----------------------------------------------------------------------
|
|
#CHKSPD
|
|
' ROUTINE TO CHECK IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
|
|
'
|
|
IF (_SPA>30000)
|
|
SPA=30000
|
|
ENDIF
|
|
IF (_SPB>30000)
|
|
SPB=30000
|
|
ENDIF
|
|
IF (_SPC>30000)
|
|
SPC=30000
|
|
ENDIF
|
|
IF (_SPD>30000)
|
|
SPD=30000
|
|
ENDIF
|
|
IF (_SPE>30000)
|
|
SPE=30000
|
|
ENDIF
|
|
IF (_SPF>30000)
|
|
SPF=30000
|
|
ENDIF
|
|
IF (_SPG>30000)
|
|
SPG=30000
|
|
ENDIF
|
|
IF (_SPH>30000)
|
|
SPH=30000
|
|
ENDIF
|
|
EN
|
|
'
|
|
'
|
|
'-----------------------------------------------------------------------
|
|
#TCPERR
|
|
' EMPTY ROUTINE FOR A TCP ERROR
|
|
'
|
|
RE
|
|
'
|
|
'
|
|
'-----------------------------------------------------------------------
|
|
#CMDERR
|
|
'ROUTINE TO HANDLE COMMAND ERRORS
|
|
'
|
|
ZS0
|
|
EN1
|
|
'
|
|
'
|
|
'-----------------------------------------------------------------------
|
|
#ININT
|
|
' INTERUPT ROUTINE TO STOP ALL AXES
|
|
' WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
|
|
'
|
|
STA,B,C,D,E,F,G,H
|
|
HLTA=1
|
|
HLTB=1
|
|
HLTC=1
|
|
HLTD=1
|
|
HLTE=1
|
|
HLTF=1
|
|
HLTG=1
|
|
HLTH=1
|
|
JS #SETDCEL
|
|
RI
|
|
'
|
|
'
|
|
'-----------------------------------------------------------------------
|
|
#LIMSWI
|
|
'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
|
|
'
|
|
JS #SETDCEL
|
|
RE
|
|
'
|
|
'-----------------------------------------------------------------------
|
|
#SETDCEL
|
|
'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS
|
|
'
|
|
IF (_BGA=1)
|
|
IF (((_SCA=2)&(_LFA=0))|((_SCA=3)&(_LRA=0))|(HLTA=1))
|
|
STA
|
|
IF (LSAHIT=0)
|
|
OLDDCA=_DCA
|
|
DCA=100000
|
|
LSAHIT=1
|
|
ENDIF
|
|
ENDIF
|
|
ENDIF
|
|
'
|
|
IF (_BGB=1)
|
|
IF (((_SCB=2)&(_LFB=0))|((_SCB=3)&(_LRB=0))|(HLTB=1))
|
|
STB
|
|
IF (LSBHIT=0)
|
|
OLDDCB=_DCB
|
|
DCB=100000
|
|
LSBHIT=1
|
|
ENDIF
|
|
ENDIF
|
|
ENDIF
|
|
'
|
|
IF (_BGC=1)
|
|
IF (((_SCC=2)&(_LFC=0))|((_SCC=3)&(_LRC=0))|(HLTC=1))
|
|
STC
|
|
IF (LSCHIT=0)
|
|
OLDDCC=_DCC
|
|
DCC=100000
|
|
LSCHIT=1
|
|
ENDIF
|
|
ENDIF
|
|
ENDIF
|
|
'
|
|
IF (_BGD=1)
|
|
IF (((_SCD=2)&(_LFD=0))|((_SCD=3)&(_LRD=0))|(HLTD=1))
|
|
STD
|
|
IF (LSDHIT=0)
|
|
OLDDCD=_DCD
|
|
DCD=100000
|
|
LSDHIT=1
|
|
ENDIF
|
|
ENDIF
|
|
ENDIF
|
|
'
|
|
IF (_BGE=1)
|
|
IF (((_SCE=2)&(_LFE=0))|((_SCE=3)&(_LRE=0))|(HLTE=1))
|
|
STE
|
|
IF (LSEHIT=0)
|
|
OLDDCE=_DCE
|
|
DCE=100000
|
|
LSEHIT=1
|
|
ENDIF
|
|
ENDIF
|
|
ENDIF
|
|
'
|
|
IF (_BGF=1)
|
|
IF (((_SCF=2)&(_LFF=0))|((_SCF=3)&(_LRF=0))|(HLTF=1))
|
|
STF
|
|
IF (LSFHIT=0)
|
|
OLDDCF=_DCF
|
|
DCF=100000
|
|
LSFHIT=1
|
|
ENDIF
|
|
ENDIF
|
|
ENDIF
|
|
'
|
|
IF (_BGG=1)
|
|
IF (((_SCG=2)&(_LFG=0))|((_SCG=3)&(_LRG=0))|(HLTG=1))
|
|
STG
|
|
IF (LSGHIT=0)
|
|
OLDDCG=_DCG
|
|
DCG=100000
|
|
LSGHIT=1
|
|
ENDIF
|
|
ENDIF
|
|
ENDIF
|
|
'
|
|
IF (_BGH=1)
|
|
IF (((_SCH=2)&(_LFH=0))|((_SCH=3)&(_LRH=0))|(HLTH=1))
|
|
STH
|
|
IF (LSHHIT=0)
|
|
OLDDCH=_DCH
|
|
DCH=100000
|
|
LSHHIT=1
|
|
ENDIF
|
|
ENDIF
|
|
ENDIF
|
|
'
|
|
EN
|
|
'
|
|
'
|
|
'-----------------------------------------------------------------------
|
|
#HOME
|
|
' THIS ROUTINE HOMES THE SLITS.
|
|
' IT USES THE HIGH REPEATABILITY HOME LIMIT SWITCHES
|
|
' IT WILL NOT WORK WITH OTHER SLIT PACKAGES WITHOUT THE HOME LIMITS
|
|
IF (HOMERUN = 1)
|
|
JP #ENDHOME
|
|
ENDIF
|
|
SH ABCDEFGH
|
|
ST ABCDEFGH
|
|
MC ABCDEFGH
|
|
SP 30000,30000,30000,30000,30000,30000,30000,30000
|
|
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
|
|
IF (_LRA = 0)
|
|
PRA=200000
|
|
BGA
|
|
ENDIF
|
|
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
|
|
IF (_LRB = 0)
|
|
PRB=200000
|
|
BGB
|
|
ENDIF
|
|
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
|
|
IF (_LRC = 0)
|
|
PRC=200000
|
|
BGC
|
|
ENDIF
|
|
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
|
|
IF (_LRD = 0)
|
|
PRD=200000
|
|
BGD
|
|
ENDIF
|
|
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
|
|
IF (_LRE = 0)
|
|
PRE=200000
|
|
BGE
|
|
ENDIF
|
|
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
|
|
IF (_LRF = 0)
|
|
PRF=200000
|
|
BGF
|
|
ENDIF
|
|
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
|
|
IF (_LRG = 0)
|
|
PRG=200000
|
|
BGG
|
|
ENDIF
|
|
' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
|
|
IF (_LRH = 0)
|
|
PRH=200000
|
|
BGH
|
|
ENDIF
|
|
MC ABCDEFGH
|
|
WT 100
|
|
' DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH
|
|
JG -30000,-30000,-30000,-30000,-30000,-30000,-30000,-30000
|
|
BG ABCDEFGH
|
|
MC ABCDEFGH
|
|
WT 100
|
|
' DRIVE SLITS TO THE HOME LIMIT AT FULL SPEED
|
|
FE ABCDEFGH
|
|
BG ABCDEFGH
|
|
MC ABCDEFGH
|
|
WT 100
|
|
' MOVE AWAY FROM SWITCHES
|
|
PR -100625,-100625,-100625,-100625,-100625,-100625,-100625,-100625;
|
|
BG ABCDEFGH
|
|
MC ABCDEFGH
|
|
WT 100
|
|
' DRIVE BACK SLOWLY
|
|
SP 5000,5000,5000,5000,5000,5000,5000,5000
|
|
FE ABCDEFGH
|
|
BG ABCDEFGH
|
|
MC ABCDEFGH
|
|
WT 100
|
|
'
|
|
' STOP MOTORS AND SET ZERO
|
|
MO ABCDEFGH
|
|
DP 0,0,0,0,0,0,0,0
|
|
SP 30000,30000,30000,30000,30000,30000,30000,30000
|
|
HOMERUN=1;'HOMING PROCEDURE HAS BEEN RUN
|
|
#ENDHOME
|
|
EN
|
|
'
|
|
'
|
|
'-----------------------------------------------------------------------
|