Changeset 1675 for trunk/MagicSoft/Cosy/aposs/Manual.m
- Timestamp:
- 12/11/02 20:41:04 (22 years ago)
- File:
-
- 1 edited
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trunk/MagicSoft/Cosy/aposs/Manual.m
r1565 r1675 4 4 /* */ 5 5 kVERSION = 0 /* */ 6 kSUBVERSION = 1/* */6 kSUBVERSION = 2 /* */ 7 7 /* */ 8 8 /* HISTORY: */ 9 /* */ 10 /* * V0.2: */ 11 /* - fixed a bug, shaking the telescope switching on again after an */ 12 /* emergency stop */ 9 13 /* */ 10 14 /* * V0.1: */ … … 74 78 SET VELMAX 3000 /* Motor: Maximum revolutions per minute */ 75 79 SET POSERR 1500 /* Maximum tolarable Position error (qc) 0.1° */ 76 SET RAMPMIN 10000 /* Shortest Ramp 10s */80 SET RAMPMIN 10000 /* Shortest Ramp 10s */ 77 81 78 82 /*----------------*/ … … 148 152 /*-------------------------------------------------------------------------*/ 149 153 if (get cannr==1) or (get cannr==3) then 150 cvel 0151 cstart152 154 print "Starting..." 153 155 else 156 /*motor off /* switch off motor controlling: No 'Schleppfehler' */ 154 157 print "Synchronizing..." 158 motor on 155 159 syncv 156 endif 157 160 endif 161 158 162 mainloop: 159 163 fuse = in (kIoModule+1) 160 164 emcy = in (kIoModule+2) 161 165 vltg = in (kIoModule+3) 162 mode = in (kIoModule+4) 166 mode = in (kIoModule+4) 167 163 168 if (get cannr==1) or (get cannr==2) then 164 169 ready = in 1 165 170 elseif get cannr==3 then 166 ready = in (kIoModule+5)171 ready = in (kIoModule+5) 167 172 endif 168 173 … … 190 195 print "DKC not ready... setting RF=AH=0!" 191 196 out 1 0 192 out 2 0 193 cvel 0194 RF = 0195 waitt 1000 197 out 2 0 198 RF = 0 199 motor off 200 waitt 1000 196 201 goto mainloop 197 202 elseif (ready==1) and (RF==0) then … … 200 205 * After switching on power wait at least 300ms until 201 206 * control changed state 'bb' to 'ab' 202 */ 203 cvel 0 207 */ 208 cvel 0 204 209 waitt 300 205 210 out 1 0 206 211 out 2 0 207 waitt 100208 def origin212 motor off 213 waitt 100 209 214 out 1 1 210 215 out 2 1 211 216 RF = 1 212 217 waitt 100 218 motor on 219 cstart 220 /*waitt 100*/ 213 221 elseif (ready==0) or (RF==0) then 214 222 goto mainloop … … 216 224 /* 217 225 if (get cannr==2) then 218 print "M:", mapos, " ", mavel, " S: ", apos, " ", avel, " C:", cpos219 waitt 500 226 print apos, " ", mapos, " ", avel," ", mavel 227 waitt 500 220 228 goto mainloop 221 229 endif
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