389 lines
5.9 KiB
Plaintext
389 lines
5.9 KiB
Plaintext
' ECHIDNA - CONTROLLER 4
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'
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' $Revision: 1.11 $
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' $Name: not supported by cvs2svn $
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' $Date: 2008-05-30 00:26:55 $
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' Author: Dan Bartlett
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' Limit switch HOME routine added by Ferdi Franceschini
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' Last revision by: $Author: ffr $
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'
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' A-SPARE
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' B-SPARE
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' C-SPARE
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' D-SPARE
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' E-SLIT 1 LEFT BLADE (ss1l)
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' F-SLIT 1 RIGHT BLADE (ss1r)
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' G-SLIT 1 TOP BLADE (ss1u)
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' H-SLIT 1 BOTTOM BLADE (ss1d)
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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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IA 137,157,201,6;' CONFIGURES IP ADDRESS
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AC ,,,,60000,60000,60000,60000;' SET ACELERATION
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DC ,,,,60000,60000,60000,60000;' SET DECELERATION
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SP ,,,,30000,30000,30000,30000;' SET SPEED
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HOMERUN=0;' HOMING PROCEDURE HAS NOT BEEN RUN
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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 #CHKSPD
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JS #CHKDCEL
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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 RESET DECELERATION AFTER AN EMERGENCY STOP
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'
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IF (_BGA=0);'WHEN MOTION STOPS AFTER A LIMIT HIT
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IF (LSAHIT=1);'WHEN MOTION STOPS AFTER A LIMIT HIT
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DCA=OLDDCA;' RESET DECEL TO OLD VALUE
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LSAHIT=0
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ENDIF
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IF (HLTA=1)
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HLTA=0
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ENDIF
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ENDIF
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'
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IF (_BGB=0)
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IF (LSBHIT=1)
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DCB=OLDDCB
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LSBHIT=0
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ENDIF
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IF (HLTB=1)
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HLTB=0
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ENDIF
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ENDIF
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'
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IF (_BGC=0)
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IF (LSCHIT=1)
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DCC=OLDDCC
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LSCHIT=0
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ENDIF
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IF (HLTC=1)
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HLTC=0
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ENDIF
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ENDIF
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'
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IF (_BGD=0)
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IF (LSDHIT=1)
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DCD=OLDDCD
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LSDHIT=0
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ENDIF
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IF (HLTD=1)
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HLTD=0
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ENDIF
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ENDIF
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'
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IF (_BGE=0)
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IF (LSEHIT=1)
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DCE=OLDDCE
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LSEHIT=0
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ENDIF
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IF (HLTE=1)
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HLTE=0
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ENDIF
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ENDIF
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'
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IF (_BGF=0)
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IF (LSFHIT=1)
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DCF=OLDDCF
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LSFHIT=0
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ENDIF
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IF (HLTF=1)
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HLTF=0
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ENDIF
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ENDIF
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'
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IF (_BGG=0)
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IF (LSGHIT=1)
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DCG=OLDDCG
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LSGHIT=0
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ENDIF
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IF (HLTG=1)
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HLTG=0
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ENDIF
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ENDIF
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'
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IF (_BGH=0)
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IF (LSHHIT=1)
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DCH=OLDDCH
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LSHHIT=0
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ENDIF
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IF (HLTH=1)
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HLTH=0
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ENDIF
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ENDIF
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'
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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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#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>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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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
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'
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IF (_BGA=1)
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IF (((_SCA=2)&(_LFA=0))|((_SCA=3)&(_LRA=0))|(HLTA=1))
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STA
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IF (LSAHIT=0)
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OLDDCA=_DCA
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DCA=100000
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LSAHIT=1
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ENDIF
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ENDIF
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ENDIF
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'
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IF (_BGB=1)
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IF (((_SCB=2)&(_LFB=0))|((_SCB=3)&(_LRB=0))|(HLTB=1))
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STB
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IF (LSBHIT=0)
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OLDDCB=_DCB
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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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ENDIF
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'
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IF (_BGC=1)
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IF (((_SCC=2)&(_LFC=0))|((_SCC=3)&(_LRC=0))|(HLTC=1))
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STC
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IF (LSCHIT=0)
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OLDDCC=_DCC
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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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ENDIF
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'
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IF (_BGD=1)
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IF (((_SCD=2)&(_LFD=0))|((_SCD=3)&(_LRD=0))|(HLTD=1))
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STD
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IF (LSDHIT=0)
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OLDDCD=_DCD
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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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ENDIF
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'
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IF (_BGE=1)
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IF (((_SCE=2)&(_LFE=0))|((_SCE=3)&(_LRE=0))|(HLTE=1))
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STE
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IF (LSEHIT=0)
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OLDDCE=_DCE
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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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ENDIF
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'
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IF (_BGF=1)
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IF (((_SCF=2)&(_LFF=0))|((_SCF=3)&(_LRF=0))|(HLTF=1))
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STF
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IF (LSFHIT=0)
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OLDDCF=_DCF
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DCF=100000
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LSFHIT=1
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ENDIF
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ENDIF
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ENDIF
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'
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IF (_BGG=1)
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IF (((_SCG=2)&(_LFG=0))|((_SCG=3)&(_LRG=0))|(HLTG=1))
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STG
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IF (LSGHIT=0)
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OLDDCG=_DCG
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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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ENDIF
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'
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IF (_BGH=1)
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IF (((_SCH=2)&(_LFH=0))|((_SCH=3)&(_LRH=0))|(HLTH=1))
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STH
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IF (LSHHIT=0)
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OLDDCH=_DCH
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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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ENDIF
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'
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EN
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'
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'
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'-----------------------------------------------------------------------
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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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SH EFGH
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ST EFGH
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MC EFGH
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SP ,,,,30000,30000,30000,30000
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' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
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IF (_LRE = 0)
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PRE=200000
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BGE
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ENDIF
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' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
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IF (_LRF = 0)
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PRF=200000
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BGF
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ENDIF
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' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
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IF (_LRG = 0)
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PRG=200000
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BGG
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ENDIF
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' MOVE SLIT FORWARD 10MM IF IT IS AGAINST THE REVERSE LIMIT SWITCH
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IF (_LRH = 0)
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PRH=200000
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BGH
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ENDIF
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MC EFGH
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WT 100
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' DRIVE ALL SLITS INTO REVERSE LIMIT SWITCH
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JG ,,,,-25000,-25000,-25000,-25000
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BG EFGH
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MC EFGH
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WT 100
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' MOVE AWAY FROM SWITCHES
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PR ,,,,40000,40000,40000,40000
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BG EFGH
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MC EFGH
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WT 100
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' DRIVE BACK SLOWLY
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JG ,,,,-5000,-5000,-5000,-5000
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BG EFGH
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MC EFGH
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WT 100
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' MOVE FORWARD FROM SWITCH BY 2MM AND SET ZERO
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PR ,,,,40000,40000,40000,40000
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BG EFGH
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MC EFGH
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WT 100
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'
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' STOP MOTORS AND SET ZERO
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MO EFGH
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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
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'
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'
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'-----------------------------------------------------------------------
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