190 lines
4.4 KiB
Plaintext
190 lines
4.4 KiB
Plaintext
NO TE: WOMBAT - CONTROLLER 2
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NO TE:
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NO TE: $Revision: 1.3 $
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NO TE: $Date: 2007-05-16 07:05:58 $
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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-SAMPLE UPPER TILT
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NO TE: B-SAMPLE LOWER TILT
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NO TE: C-SAMPLE UPPER LINEAR
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NO TE: D-SAMPLE LOWER LINEAR
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NO TE: E-SAMPLE ROTATE
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NO TE: F-DETECTOR ROTATE
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NO TE: G-OSCILLATING COLLIMATOR
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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 137,157,201,68;' CONFIGURES IP ADDRESS
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AC 25000,25000,25000,25000,50000,10000,25000,;' SET ACELERATION
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DC 25000,25000,25000,25000,50000,10000,25000,;' SET DECELERATION
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SP 25000,25000,25000,25000,25000,100000,25000,;' 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=1,25,13,0<-2>2;'HEIDENHAIN ROQ425
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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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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>150000)
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SPF=150000
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ENDIF
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IF (_SPG>500000)
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SPG=500000
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ENDIF
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NO IF (_SPH>50000) AXIS NOT USED, COMMENTED OUT
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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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IF (_MOF=0);'DETECTOR MOTOR IS ON
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SB 10;'DETECTOR AIR PAD OFF-SOLENOID OFF
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CB 9;'DETECTOR AIR PAD ON-SOLENOID ON
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APDONE=0
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ENDIF
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IF (_MOF=1)&(APDONE=0);'FLIGHT TUBE MOTOR IS OFF
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SB 9;'DETECTOR AIR PAD ON-SOLENOID OFF
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CB 10;'DETECTOR AIR PAD OFF-SOLENOID ON
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WT500;'WAIT 1/2 SEC
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SB 10;'DETECTOR AIR PAD OFF-SOLENOID OFF
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APDONE=1
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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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OLDDCG=_DCG
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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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IF (_LFG = 0) | (_LRG = 0) AXES NOT USED, COMMENTED OUT
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DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STG
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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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DCG=OLDDCG
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NO DCH=OLDDCH AXIS NOT USED
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RE
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NO ----------------------------------------
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#OSC
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NO TE: THIS PROGRAM OSCILATES THE COLLIMATOR
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NO TE: IT MUST BE RUN IN THREAD 1
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XQ #ACCVETO,2
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NO TE: STARTS THE VETO PROGRAM IN THREAD 2
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#STRT
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STRTPOS=7744139;' STARTING ENCODER POSITION
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SHG
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SPG=75000
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ACG=50000
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DCG=50000
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PRG=(_TPG - STRTPOS)/204.8*25000
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BGG
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AMG
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JP #STRT,(_TPG<>STRTPOS)
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NO TE: JUMP TO #STRT UNTIL TABLE IS IN POSITION
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SPG=500000
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ACG=750000
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DCG=750000
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#LOOP
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PRG=225000;' MOVE FORWARD DISTANCE AS PER ANGLE VALUE
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BGG
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AMG
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PRG=-225000;' MOVE BACK DISTANCE AS PER ANGLE VALUE
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BGG
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AMG
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JP #LOOP
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EN
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NO ----------------------------------------
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#ACCVETO
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NO TE: THIS PROGRAM MONITORS THE VELOCITY OF THE OSCILATING COLLIMATOR
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NO TE: AND SENDS A VETO SIGNAL TO THE DAE WHEN VELOCITY IS CONSTANT
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NO TE: IT IS CALLED BY #OSC AND IS RUN IN THREAD 2
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IF (_TVG=_SPG)
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SB1
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ELSE
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CB1
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ENDIF
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JP #ACCVETO,(_XQ1<>-1)
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NO TE: JUMP BACK TO START UNLESS #OSC IS NOT RUNNING
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EN
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NO ----------------------------------------
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