378 lines
6.9 KiB
Plaintext
378 lines
6.9 KiB
Plaintext
' WOMBAT - CONTROLLER 2
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'
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' $Revision: 1.5 $
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' $Date: 2008-03-05 04:25:32 $
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' Author: Dan Bartlett
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' Airpad control added by Doug Clowes
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' Last revision by: $Author: dcl $
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'
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' A-SAMPLE UPPER TILT
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' B-SAMPLE LOWER TILT
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' C-SAMPLE UPPER LINEAR
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' D-SAMPLE LOWER LINEAR
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' E-SAMPLE ROTATE
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' F-DETECTOR ROTATE
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' G-OSCILLATING COLLIMATOR
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' H-SPARE
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'
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'
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'-----------------------------------------------------------------------
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#AUTO
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' THIS IS THE PROGRAM THAT RUNS AUTOMATICALLY ON CONTROLLER STARTUP
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'
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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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' FIRST TIME THROUGH RESET AIRPAD CONTROL
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REQF=0
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RSPF=0
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' FIRST TIME THROUGH RESET HALT CONTROL
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HLTA=0
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HLTB=0
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HLTC=0
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HLTD=0
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HLTE=0
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HLTF=0
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HLTG=0
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' HLTH=0
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' FIRST TIME THROUGH RESET LIMIT CONTROL
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LSAHIT=0
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LSBHIT=0
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LSCHIT=0
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LSDHIT=0
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LSEHIT=0
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LSFHIT=0
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LSGHIT=0
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' LSHHIT=0
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JS #THREAD0
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EN
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'
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'
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'-----------------------------------------------------------------------
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#THREAD0
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' MAIN THREAD
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' THERE MUST BE A THREAD RUNNING FOR #LIMSWI, #TCPERR AND #ININT TO WORK
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'
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JS #CHKDCEL
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JS #AIRPAD
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JS #CHKSPD
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JP #THREAD0
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EN
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'
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'
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'-----------------------------------------------------------------------
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#CHKDCEL
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'ROUTINE TO CHECK DECELERATION AFTER A LIMIT HIT
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'
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IF (LSAHIT=1)&(_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
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DCA=OLDDCA;' RESET DECEL TO OLD VALUE
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IF (HLTA=1)
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MOA
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HLTA=0
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ENDIF
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LSAHIT=0
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ENDIF
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IF (LSBHIT=1)&(_BGB=0)
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DCB=OLDDCB
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IF (HLTB=1)
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MOB
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HLTB=0
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ENDIF
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LSBHIT=0
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ENDIF
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IF (LSCHIT=1)&(_BGC=0)
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DCC=OLDDCC
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IF (HLTC=1)
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MOC
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HLTC=0
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ENDIF
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LSCHIT=0
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ENDIF
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IF (LSDHIT=1)&(_BGD=0)
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DCD=OLDDCD
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IF (HLTD=1)
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MOD
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HLTD=0
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ENDIF
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LSDHIT=0
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ENDIF
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IF (LSEHIT=1)&(_BGE=0)
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DCE=OLDDCE
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IF (HLTE=1)
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MOE
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HLTE=0
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ENDIF
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LSEHIT=0
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ENDIF
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IF (LSFHIT=1)&(_BGF=0)
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DCF=OLDDCF
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IF (HLTF=1)
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MOF
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HLTF=0
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ENDIF;'
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LSFHIT=0
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ENDIF
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IF (LSGHIT=1)&(_BGG=0)
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DCG=OLDDCG
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IF (HLTG=1)
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MOG
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HLTG=0
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ENDIF
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LSGHIT=0
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ENDIF
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' IF (LSHHIT=1)&(_BGH=0)
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' DCH=OLDDCH
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' IF (HLTH=1)
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' MOH
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' HLTH=0
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' ENDIF
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' LSHHIT=0
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' ENDIF
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JS #SETDCEL,((HLTA=1)&(LSAHIT=0))
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JS #SETDCEL,((HLTB=1)&(LSBHIT=0))
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JS #SETDCEL,((HLTC=1)&(LSCHIT=0))
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JS #SETDCEL,((HLTD=1)&(LSDHIT=0))
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JS #SETDCEL,((HLTE=1)&(LSEHIT=0))
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JS #SETDCEL,((HLTF=1)&(LSFHIT=0))
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JS #SETDCEL,((HLTG=1)&(LSGHIT=0))
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' JS #SETDCEL,((HLTH=1)&(LSHHIT=0))
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EN
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'
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'
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'-----------------------------------------------------------------------
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#AIRPAD
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' ROUTINE TO CONTROL THE AIRPADS
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' SET REQF=1 TO MAKE FLIGHT TUBE AVAILABLE FOR MOVE
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' THE RSPF BIT IS USED SO THAT THE CODE ONLY RUNS WHEN THE
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' STATE OF FTUBE CHANGES - THE DELAYS ARENT RUNNING EVERY CYCLE
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' IN THE 2ND IF, THE OFF-SOLENOIDS ARENT HELD ENERGISED IN CASE THE
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' VALVE MANUAL OVER RIDE IS NEEDED.
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'
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' FOLLOW SHF/MOF COMMANDS ENTERED MANUALLY
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IF (_MOF=0)&(RSPF=0);'FLIGHT TUBE MOTOR IS ON BUT AIR IS OFF
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REQF=1
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ENDIF
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IF (_MOF=1)&(RSPF=1);'FLIGHT TUBE MOTOR IS OFF BUT AIR IS ON
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SHF;' FOLLOWING STEPS MUST BE RUN BEFORE MOTOR CAN BE TURNED OFF
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REQF=0
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ENDIF
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'
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IF (REQF=1)&(RSPF=0);'REQUESTING FLIGHT TUBE BE MOVABLE
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SHF;' TURN MOTOR ON
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WT500;' WAIT FOR MOTOR TO STABILISE
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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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WT1000;
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RSPF=1
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ENDIF
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IF (REQF=0)&(RSPF=1);'FLIGHT TUBE MOTION FINISHED
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WT1000;' WAIT FOR FLIGHT TUBE TO SETTLE
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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;
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SB 10;' DETECTOR AIR PAD OFF-SOLENOID OFF
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MOF;' TURN MOTOR OFF
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RSPF=0
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ENDIF
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EN
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'
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'
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'-----------------------------------------------------------------------
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#CHKSPD
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' ROUTINE TO CHECK IF SPEEDS ARE ABOVE MAXIMUM ALLOWED
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'
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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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' IF (_SPH>50000)
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' SPH=50000
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' ENDIF
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EN
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'
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'
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'-----------------------------------------------------------------------
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#TCPERR
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' EMPTY ROUTINE FOR A TCP ERROR
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'
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RE
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'
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'
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'-----------------------------------------------------------------------
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#CMDERR
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'ROUTINE TO HANDLE COMMAND ERRORS
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'
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ZS0
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EN1
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'
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'
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'-----------------------------------------------------------------------
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#ININT
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' INTERUPT ROUTINE TO STOP ALL AXES
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' WHEN SAFETY & INTERLOCK SYSTEM REQUESTS IT
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'
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STA,B,C,D,E,F,G,H
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HLTA=1
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HLTB=1
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HLTC=1
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HLTD=1
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HLTE=1
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HLTF=1
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HLTG=1
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' HLTH=1
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JS #SETDCEL
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RI
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'
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'
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'-----------------------------------------------------------------------
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#LIMSWI
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'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
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'
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JS #SETDCEL
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RE
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'
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'-----------------------------------------------------------------------
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#SETDCEL
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'ROUTINE TO HASTEN THE DECELERATION OF AN AXIS WHEN A LIMIT SWITCH IS HIT
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'
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IF (_LFA=0)|(_LRA=0)|(HLTA=1);'LIMIT HIT
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IF (LSAHIT=0)&(_BGA=1);'STILL MOVING, FIRST TIME
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OLDDCA=_DCA;'REMEMBER OLD DECEL VALUE
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STA
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DCA=100000;'INCREASE DECEL VALUE FOR RAPID STOP
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LSAHIT=1
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ENDIF
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ENDIF
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IF (_LFB=0)|(_LRB=0)|(HLTB=1)
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IF (LSBHIT=0)&(_BGB=1)
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OLDDCB=_DCB
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STB
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DCB=100000
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LSBHIT=1
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ENDIF
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ENDIF
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IF (_LFC=0)|(_LRC=0)|(HLTC=1)
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IF (LSCHIT=0)&(_BGC=1)
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OLDDCC=_DCC
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STC
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DCC=100000
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LSCHIT=1
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ENDIF
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ENDIF
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IF (_LFD=0)|(_LRD=0)|(HLTD=1)
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IF (LSDHIT=0)&(_BGD=1)
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OLDDCD=_DCD
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STD
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DCD=100000
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LSDHIT=1
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ENDIF
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ENDIF
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IF (_LFE=0)|(_LRE=0)|(HLTE=1)
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IF (LSEHIT=0)&(_BGE=1)
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OLDDCE=_DCE
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STE
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DCE=100000
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LSEHIT=1
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ENDIF
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ENDIF
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IF (_LFF=0)|(_LRF=0)|(HLTF=1)
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IF (LSFHIT=0)&(_BGF=1)
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OLDDCF=_DCF
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STF
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DCF=50000
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LSFHIT=1
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ENDIF
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ENDIF
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IF (_LFG=0)|(_LRG=0)|(HLTG=1)
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IF (LSGHIT=0)&(_BGG=1)
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OLDDCG=_DCG
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STG
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DCG=100000
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LSGHIT=1
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ENDIF
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ENDIF
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' IF (_LFH=0)|(_LRH=0)|(HLTH=1)
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' IF (LSHHIT=0)&(_BGH=1)
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' OLDDCH=_DCH
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' STH
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' DCH=100000
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' LSHHIT=1
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' ENDIF
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' ENDIF
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EN
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'
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'
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'-----------------------------------------------------------------------
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#OSC
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' THIS PROGRAM OSCILATES THE COLLIMATOR
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' IT MUST BE RUN IN THREAD 1
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XQ #ACCVETO,2
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' 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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' 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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' ----------------------------------------
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#ACCVETO
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' THIS PROGRAM MONITORS THE VELOCITY OF THE OSCILATING COLLIMATOR
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' AND SENDS A VETO SIGNAL TO THE DAE WHEN VELOCITY IS CONSTANT
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' 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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' JUMP BACK TO START UNLESS #OSC IS NOT RUNNING
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EN
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