444 lines
8.6 KiB
Plaintext
Executable File
444 lines
8.6 KiB
Plaintext
Executable File
'TAIPAN - CONTROLLER 6
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'
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'AUTHOR - DANIEL BARTLETT
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'DATE - 23.02.2011
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'
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'A-SLIT S1 LEFT BLADE
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'B-SLIT S1 RIGHT BLADE
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'C-SLIT S1 TOP BLADE
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'D-SLIT S1 BOTTOM BLADE
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'E-SLIT S2 LEFT BLADE
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'F-SLIT S2 RIGHT BLADE
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'G-SLIT S2 TOP BLADE
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'H-SLIT S2 BOTTOM BLADE
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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;'ALL MOTORS OFF
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CN1;'CONFIGURES LIMIT SWITCHES. NC CONTACTS USE CN1. NO CONTACT USE CN-1
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II 8,,,0;'CONFIGURES THE 8TH INPUT TO ACTIVATE THE #ININT ROUTINE
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OP 65281;'SETS OUTPUTS 9-16 ON = RELAYS OFF
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IA 137,157,203,136;'CONFIGURES IP ADDRESS
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AC 60416,60416,60416,60416,60416,60416,60416,60416;' SET ACELERATION
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DC 60416,60416,60416,60416,60416,60416,60416,60416;' SET DECELERATION
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SP 30000,30000,30000,30000,30000,30000,30000,30000;' SET SPEED
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SIA=0;'TURN OFF CLOCK PULSES TO ALLOW ENCODER TO INITIALISE
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SIB=0
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SIC=0
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SID=0
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SIE=0
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SIF=0
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SIG=0
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SIH=0
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WT1000;'WAIT FOR ENCODER TO INITIALISE
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'SIA=1,25,13,0<-26>2;'HEIDENHAIN ROQ425
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'SIA=1,25,25,0<-26>2;'HEIDENHAIN RCN226
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'SIA=1,25,12,-1<-26>1;'VEGA RESOLVER TO SSI CONVERTER
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'SIA=1,25,13,0<-26>1;'IVO GXM2H
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'SIA=1,25,13,0<-26>2;'KUEBLER 5863
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'SIA=1,31,13,0<26>2;'IVO STRING PULL, 31 BIT CONTROLLER REQUIRED
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'SIA=1,24,18,6<-26>2;'IVO PLATYPUS COLLIMATION TILT
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'SIA=1,15,15,0<-26>2;'GURLEY 15BIT
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LSAHIT=0;'INITIALISE THE BIT SET AFTER A LIMIT IS HIT
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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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S1HOMED=0;'SLIT S1 NOT HOMED
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S2HOMED=0;'SLIT S2 NOT HOMED
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HOMERUN=0;'HOME ROUTINES NOT RUN
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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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'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 #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 RESET DECELERATIONS 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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LSAHIT=0
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ENDIF
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'
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IF (LSBHIT=1)&(_BGB=0)
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DCB=OLDDCB
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LSBHIT=0
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ENDIF
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'
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IF (LSCHIT=1)&(_BGC=0)
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DCC=OLDDCC
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LSCHIT=0
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ENDIF
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'
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IF (LSDHIT=1)&(_BGD=0)
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DCD=OLDDCD
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LSDHIT=0
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ENDIF
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'
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IF (LSEHIT=1)&(_BGE=0)
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DCE=OLDDCE
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LSEHIT=0
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ENDIF
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'
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IF (LSFHIT=1)&(_BGF=0)
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DCF=OLDDCF
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LSFHIT=0
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ENDIF
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'
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IF (LSGHIT=1)&(_BGG=0)
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DCG=OLDDCG
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LSGHIT=0
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ENDIF
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'
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IF (LSHHIT=1)&(_BGH=0)
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DCH=OLDDCH
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LSHHIT=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 THE SPEED OF THE AXES IS NOT GREATER THAN MAX ALLOWED
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'
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IF (_SPA>30000)
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SPA=30000
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ENDIF
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'
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IF (_SPB>30000)
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SPB=30000
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ENDIF
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'
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IF (_SPC>30000)
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SPC=30000
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ENDIF
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'
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IF (_SPD>30000)
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SPD=30000
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ENDIF
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'
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IF (_SPE>30000)
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SPE=30000
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ENDIF
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'
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IF (_SPF>30000)
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SPF=30000
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ENDIF
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'
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IF (_SPG>30000)
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SPG=30000
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ENDIF
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'
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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 TCP ERROR ROUTINE
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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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#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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CN-1;'RECONFIGURES LIMITS. RESULT:ALL LIMITS SEEN AS HIT. WILL RUN #LIMSWI
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WT250
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CN1;'SETS LIMITS BACK TO NORMAL
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RI
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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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#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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IF (_LFA=0)|(_LRA=0);'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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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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'
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IF (_LFB=0)|(_LRB=0)
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IF (LSBHIT=0)&(_BGB=1)
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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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'
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IF (_LFC=0)|(_LRC=0)
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IF (LSCHIT=0)&(_BGC=1)
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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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'
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IF (_LFD=0)|(_LRD=0)
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IF (LSDHIT=0)&(_BGD=1)
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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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'
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IF (_LFE=0)|(_LRE=0)
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IF (LSEHIT=0)&(_BGE=1)
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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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'
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IF (_LFF=0)|(_LRF=0)
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IF (LSFHIT=0)&(_BGF=1)
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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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'
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IF (_LFG=0)|(_LRG=0)
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IF (LSGHIT=0)&(_BGG=1)
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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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'
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IF (_LFH=0)|(_LRH=0)
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IF (LSHHIT=0)&(_BGH=1)
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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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RE
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'
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'
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'-----------------------------------------------------------------------------
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#MOVE
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'THIS ROUTINE IS USED TO MOVE AN AXIS WITH A SSI ENCODER
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'USING A MOVE-CHECK-CORRECT METHOD
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'THE FOLLOWING VARIABLES MUST BE INITIALISED FIRST
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'~a=0 TO 7 SETS THE MOTOR, 0=A AXIS 1=B AXIS ETC
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'~b=0 TO 7 SETS THE ENCODER, 0=1ST SSI CHANNEL 1=2ND CHANNEL ETC
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'TRIES= MAXIMUM NUMBER OF TRIES
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'POS=DESIRED ENCODER POSITION
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'
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'~a=0:~b=0:TRIES=5:POS=12345678:XQ #MOVE,1
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'
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DBAND=3
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SH~a
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WT500;'WAIT TO STABILISE
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IF (_BG~a=1);'MOVING, FORCE STOP. PRA WHEN MOVING CAUSES THREAD CRASH
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ST~a
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MC~a
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ENDIF
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TEMP=_TP~b;'SET TEMPORARY VARIABLE
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PR~a=2500
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IF (_LF~a=0);'ALREADY ON LIMIT
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MG "Forward limit actuated" {EA}
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MG "Ratio not calculated" {EA}
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JP #MOVEEND
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ENDIF
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BG~a;'PERFORM A SMALL MOVE TO DETERMIN MOTOR:ENCODER RATIO
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MC~a
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WT500;'WAIT TO STABILISE
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IF (TEMP=_TP~b);'FAILED TO MOVE
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MG "No movement detected" {EA}
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MG "Ratio not calculated" {EA}
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JP #MOVEEND
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ENDIF
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RATIO=(TEMP-_TP~b)*10;'SETS ENCODER/MOTOR RATIO
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'
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#LOOP
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IF (_BG~a=1);'MOVING, FORCE STOP. PRA WHEN MOVING CAUSES THREAD CRASH
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ST~a
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MC~a
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ENDIF
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PR~a=25000*((_TP~b-POS)/RATIO);'CALC STEPS TO DESTINATION
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IF ((_PR~a>0)&(_LF~a=0));'IF POSITIVE MOVE AND ALREADY ON LIMIT
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MG "Forward limit actuated" {EA}
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MG "Positive move aborted" {EA}
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JP #MOVEEND
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ENDIF
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IF ((_PR~a<0)&(_LR~a=0));'IF NEGATIVE MOVE AND ALREADY ON LIMIT
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MG "Reverse limit actuated" {EA}
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MG "Negative move aborted" {EA}
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JP #MOVEEND
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ENDIF
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IF (_BG~a=1);'ALREADY MOVING
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ST~a
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MC~a
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ENDIF
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SH~a
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BG~a
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MC~a;'WAIT FOR MOTION TO COMPLETE
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TRIES=TRIES-1;'INCREMENT ATTEMPT COUNTER
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MG "Attempts to go: " {N} {EA}
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MG TRIES {F1.0} {EA}
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JP #LOOP, ((@ABS[_TP~b-POS]>DBAND)&(TRIES>0))
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'HAVE ANOTHER GO IF OUTSIDE DEAD BAND AND NOT TOO MANY ATTEMPTS
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#MOVEEND
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MG "TARGET :" {N} {EA}
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MG POS {F8.0} {EA}
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MG "POSITION :" {N} {EA}
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MG _TP~b {F8.0} {EA}
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MG "Program ends" {EA}
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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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'THIS ROUTINE CALLS THE HOME ROUTINES FOR EACH SLIT PACKAGE IN TURN
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'IT IS INVOKED BY SICS AS: XQ #HOME,7
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IF (HOMERUN=1)
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JP #ENDHOME
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ENDIF
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JS #HOMES1
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JS #HOMES2
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IF (S1HOMED=1)&(S2HOMED=1)
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HOMERUN=1
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ENDIF
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#ENDHOME
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EN
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'-----------------------------------------------------------------------------
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#HOMES1
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'THIS ROUTINE HOMES THE S1 SLIT PACKAGE
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'
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IF (S1HOMED=1);'ALREADY HOMED
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JP #ENDS1
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ENDIF
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'
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IF (_LFA=0)&(_LRA=0)
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'BOTH LIMITS ACTUATED. SLIT PACKAGE PROBABLY NOT PLUGGED IN.
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JP #ENDS1
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ENDIF
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'
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SHABCD;'TURN ON THE MOTORS
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SP 30000,30000,30000,30000,,,,;'SET SPEED
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IF (_LRA=0);'ON THE REVERSE LIMIT SWITCH
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PRA=250*161/2*10;'MOVE AWAY 10mm
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BGA
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ENDIF
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'
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IF (_LRB=0);'ON THE REVERSE LIMIT SWITCH
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PRB=250*161/2*10;'MOVE AWAY 10mm
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BGB
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ENDIF
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'
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IF (_LRC=0);'ON THE REVERSE LIMIT SWITCH
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PRC=250*161/2*10;'MOVE AWAY 10mm
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BGC
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ENDIF
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'
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IF (_LRD=0);'ON THE REVERSE LIMIT SWITCH
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PRD=250*161/2*10;'MOVE AWAY 10mm
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BGD
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ENDIF
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'
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MCABCD;'WAIT FOR MOTION TO BE COMPLETE
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JG -30000,-30000,-30000,-30000,,,,;'JOG INTO REVERSE LIMIT
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BGABCD
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MCABCD
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PR 80500,80500,80500,80500,,,,;'MOVE AWAY 4MM
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BGABCD
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MCABCD
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JG -5000,-5000,-5000,-5000,,,,;'JOG SLOWLY INTO LIMITS
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BGABCD
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MCABCD
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DP 0,0,0,0,,,,;'DEFINE HOME POSITION
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SP 30000,30000,30000,30000,,,,;'SET SPEED BACK TO NORMAL
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S1HOMED=1;'HOMING OF SLIT S1 COMPLETE
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#ENDS1
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EN
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'
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'
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'-----------------------------------------------------------------------------
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#HOMES2
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'THIS ROUTINE HOMES THE S2 SLIT PACKAGE
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'
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IF (S2HOMED=1);'ALREADY HOMED
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JP #ENDS2
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ENDIF
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'
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IF (_LFE=0)&(_LRE=0)
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'BOTH LIMITS ACTUATED. SLIT PACKAGE PROBABLY NOT PLUGGED IN.
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JP #ENDS2
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ENDIF
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'
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SHEFGH;'TURN ON THE MOTORS
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SP ,,,,30000,30000,30000,30000;'SET SPEED
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IF (_LRE=0);'ON THE REVERSE LIMIT SWITCH
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PRE=250*161/2*10;'MOVE AWAY 10mm
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BGE
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ENDIF
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'
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IF (_LRF=0);'ON THE REVERSE LIMIT SWITCH
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PRF=250*161/2*10;'MOVE AWAY 10mm
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BGF
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ENDIF
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'
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IF (_LRG=0);'ON THE REVERSE LIMIT SWITCH
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PRG=250*161/2*10;'MOVE AWAY 10mm
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BGG
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ENDIF
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'
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IF (_LRH=0);'ON THE REVERSE LIMIT SWITCH
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PRH=250*161/2*10;'MOVE AWAY 10mm
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BGH
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ENDIF
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'
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MCEFGH;'WAIT FOR MOTION TO BE COMPLETE
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JG ,,,,-30000,-30000,-30000,-30000;'JOG INTO REVERSE LIMIT
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BGEFGH
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MCEFGH
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PR ,,,,80500,80500,80500,80500;'MOVE AWAY 4MM
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BGEFGH
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MCEFGH
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JG ,,,,-5000,-5000,-5000,-5000;'JOG SLOWLY INTO LIMITS
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BGEFGH
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MCEFGH
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DP ,,,,0,0,0,0;'DEFINE HOME POSITION
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SP ,,,,30000,30000,30000,30000;'SET SPEED BACK TO NORMAL
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S2HOMED=1;'HOMING OF SLIT S1 COMPLETE
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#ENDS2
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EN
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'
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'
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'-----------------------------------------------------------------------------
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