136 lines
3.3 KiB
Plaintext
136 lines
3.3 KiB
Plaintext
#AUTO
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NO TE: $Revision: 1.2 $
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NO TE: $Date: 2006-11-01 05:56:22 $
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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: ffr $
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NO TE:
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NO TE: A-MONOCHROMATOR UPPER TILT (mphi) - TILT 1
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NO TE: B-MONOCHROMATOR LOWER TILT (mchi) - TILT 2
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NO TE: C-MONOCHROMATOR UPPER TRANSLATION (mz:nexus, mx:KDL) - LINEAR 1
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NO TE: D-MONOCHROMATOR LOWER TRANSLATION (mx:nexus, my:KDL) - LINEAR 2
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NO TE: E-MONOCHROMATOR ROTATION (mom) - ROTATE
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NO TE: F-FLIGHT TUBE ROTATE
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NO TE: G-PRIMARY COLLIMATOR 1
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NO TE: H-PRIMARY COLLIMATOR 2
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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 137,157,201,3;' CONFIGURES IP ADDRESS
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AC 25000,25000,25000,25000,25000,10000,25000,25000;' SET ACELERATION
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DC 25000,25000,25000,25000,25000,10000,25000,25000;' SET DECELERATION
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SP 25000,25000,25000,25000,50000,100000,25000,25000;' SET SPEED
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SIA=1,25,13,0<-1>2;'HEIDENHAIN ROQ425
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SIB=1,25,13,0<-1>2;'HEIDENHAIN ROQ425
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SIC=1,25,13,0<-1>2;'HEIDENHAIN ROQ425
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SID=1,25,13,0<-1>2;'HEIDENHAIN ROQ425
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SIE=1,25,13,0<-1>2;'HEIDENHAIN ROQ425
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SIF=1,25,25,0<-1>2;'HEIDENHAIN RCN226
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SIG=1,25,13,0<-1>2;'HEIDENHAIN ROQ425
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SIH=1,25,13,0<-1>2;'HEIDENHAIN ROQ425
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DONE=0;' FIRST TIME THROUGH AIRPAD CONTROL NOT DONE
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JS #SOLCTRL
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EN
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#SOLCTRL
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NO TE: CONTROLS THE AIRPAD SOLENOID VALVES
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IF (_MOF=0);'FLIGHT TUBE MOTOR IS ON
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SB 10;'SAMPLE STAGE AIR PAD OFF-SOLENOID OFF
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SB 12;'DRIVE WHEEL UP-SOLENOID OFF
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CB 9;'SAMPLE STAGE AIR PAD ON-SOLENOID ON
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CB 11;'DRIVE WHEEL DOWN-SOLENOID ON
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DONE=0
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ENDIF
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IF (_MOF=1)&(DONE=0);'FLIGHT TUBE MOTOR IS OFF
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SB 9;'SAMPLE STAGE AIR PAD ON-SOLENOID OFF
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SB 11;'DRIVE WHEEL DOWN-SOLENOID OFF
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CB 10;'SAMPLE STAGE AIR PAD OFF-SOLENOID ON
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CB 12;'DRIVE WHEEL UP-SOLENOID ON
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WT500;'WAIT 1/2 SEC
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SB 10;'SAMPLE STAGE AIR PAD OFF-SOLENOID OFF
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SB 12;'DRIVE WHEEL UP-SOLENOID OFF
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DONE=1
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ENDIF
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JP #SOLCTRL
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EN
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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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#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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#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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OLDDCH=_DCH
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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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AMA
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MOA
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DCA=OLDDCA;' RESET DECEL TO OLD VALUE
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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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AMB
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MOB
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DCB=OLDDCB;' RESET DECEL TO OLD VALUE
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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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AMC
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MOC
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DCC=OLDDCC;' RESET DECEL TO OLD VALUE
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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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AMD
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MOD
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DCD=OLDDCD;' RESET DECEL TO OLD VALUE
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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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AME
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MOE
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DCE=OLDDCE;' RESET DECEL TO OLD VALUE
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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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AMF
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MOF
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DCF=OLDDCF;' RESET DECEL TO OLD VALUE
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ENDIF
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IF (_LFG = 0) | (_LRG = 0)
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DCG=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STG
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AMG
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MOG
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DCG=OLDDCG;' RESET DECEL TO OLD VALUE
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ENDIF
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IF (_LFH = 0) | (_LRH = 0)
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DCH=100000;' DECEL FOR LIMIT HIT OCCURENCE
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STH
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AMH
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MOH
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DCH=OLDDCH;' RESET DECEL TO OLD VALUE
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ENDIF
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RE
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