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Comment: Migration of unmigrated content due to installation of a new plugin

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  • Signal state change to 10 (One-Shot Init)
  • Load One-Shot speeds (CL V1)
  • Move the shutter to the nearest closed position (CL X5)
  • If the shutter is in the negative closed position:
    • Specify One-Shot ISR 2 (J2) to run on Input Trip
  • Else
    • Specify One-Shot ISR 1 (J1) to run on Input Trip
  • EndIf
  • Arm Input Trip (TE=4)
  • Signal state change to 11 (One-Shot Loop)
  • One-Shot Loop START (forever):
    • Increment heartbeat
    • Hold for 100ms
    • If user sets the soft reset (Se=0)
      • Branch to Mode Select (Mode 0)
    • EndIf
    • If user requests fast close (Se=5)
      • Branch to Fast Close (Mode 5)
    • EndIf
  • One-Shot Loop END

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  • Signal state change to 20 (Flip-Flop Init)
  • Load Flip-Flop speeds (CL V2)
  • Move the shutter to the nearest closed position (CL X5)
  • If the shutter is in the negative closed position:
    • Specify Flip-Flop ISR 2 (J6) to run on Input Trip
  • Else
    • Specify Flip-Flop ISR 1 (J5) to run on Input Trip
  • EndIf
  • Arm Input Trip (TE=4)
  • Signal state change to 21 (Flip-Flop Loop)
  • Flip-Flop Loop START (forever):
    • Increment heartbeat
    • Hold for 100ms
    • If user sets the soft reset (Se=0)
      • Branch to Mode Select (Mode 0)
    • EndIf
    • If user requests fast close (Se=5)
      • Branch to Fast Close (Mode 5)
    • EndIf
  • Flip-Flop Loop END

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  • Signal state change to 30 (Burst Mode Init)
  • Load Burst speeds (V3)
  • Move the shutter to the nearest closed position (CL X5)
  • Specify Burst Open ISR (J3) to run on Input Trip
  • Arm Input Trip (TE=4)
  • Signal state change to 31 (Burst Loop)
  • Burst Loop START (forever):
    • Increment heartbeat
    • Hold for 100ms
    • If user sets the soft reset (Se=0)
      • Branch to Mode Select (Mode 0)
    • EndIf
    • If user requests fast close (Se=5)
      • Branch to Fast Close (Mode 5)
    • EndIf
  • Burst Loop END

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  • Signal state change to 50 (Fast close init)
  • Load fast close speeds (CL V5)
  • If neither at Df=1 (positive closed) nor at Df=-1 (negative closed), then
    • Move (MA) to the positive closed position (P1)
    • Hold until movement complete
    • Copy current encoder count to Cs for future drift checks
    • Set Df=1 to indicate that slits are in positive closed position
  • EndIf
  • Signal state change to 51 (Fast close complete)
  • Goto mode select

Mode 6: Follower (LB Z6)

  • Signal state change to 60 (Follower Mode Init)
  • Load Follower speeds (V6)
  • Move the shutter to the nearest closed position (CL X5)
  • Set hi-speed trip input to trigger on HIGH-going edge
  • Specify Follower Open ISR (J7) to run on Input Trip
  • Arm Input Trip (TE=4)
  • Signal state change to 61 (Follower Loop)
  • Burst Loop START (forever):
    • Increment heartbeat
    • Hold for 100ms
    • If user sets the soft reset (Se=0)
      • Branch to Mode Select (Mode 0)
    • EndIf
    • If user requests fast close (Se=5)
      • Branch to Fast Close (Mode 5)
    • EndIf
  • Burst Loop END

NOTE: Once you enter follower mode, you should cycle the EVR line (high-low-high or low-high-low) at least once to synchronize the shutter and the input. This limitation will be fixed in a later picker hardware revision.

NOTE: Once in the follower loop, you must set Se=0 to get back to Mode Select. Follower mode is continuous, that is, each subsequent trigger pulse will open and close the shutter.

Follower Open ISR (LB J7)

  • Move (MA) to open position (P0)
  • If error checking is enabled (Ec=1) AND last position was P1 (Df==1)
    • Calculate drift at previous position P1: Dr=N1-Cs
    • If calculated drift is out of spec (Dr>=Dl)
      • Increment lower drift violation counter Ld
    • EndIf
  • EndIf
  • Specify Follower Close ISR (J8) to run on Input Trip
  • Hold until movement complete
  • Copy current encoder count (C2) to shadow register Cs
  • Set Df=0 to indicate slits are at open position
  • Set high-speed trip input to trigger on LOW-going edge
  • Re-arm input trip (TE=4)
  • Return

Follower Close ISR (LB J8)

  • Move (MA) to positive closed position (P1)
  • If error checking is enabled (Ec=1)
    • Calculate drift at previous position P0: Dr=Cs-N0
    • If calculated drift is out of spec (Dr>=Dl)
      • Increment upper drift violation counter Ud
    • EndIf
  • EndIf
  • Specify Follower Open ISR (J7) to run on Input Trip
  • Hold until movement complete
  • Copy current encoder count (C2) to shadow register Cs
  • Set Df=1 to indicate slits are at positive closed position
  • Set high-speed trip input to trigger on HIGH-going edge
  • Re-arm input trip (TE=4)
  • Return

Mode 7: Home 7: Home to Index Mark (LB Z7)

  • Signal state change to 70 (Homing init)
  • Load homing/alignment speeds (CL V9)
  • Execute home-to-index (HI) with option 3 (slew at VM in + direction, creep in - direction)
  • Hold until movement complete
  • Relative move (MR) by Mo to positive closed position
  • Hold until movement complete
  • Set C1 to P1 - tell the motor where it is
  • Set C2 to N1 - tell the encoder where it is
  • Set Cs to C2 - copy the encoder count to shadow register
  • Set Df to 1 (positive closed position, known)
  • Reset limit violation counters Ld and Ud to 0
  • Signal state change to 79 (Homing complete)
  • Goto mode select

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V5 speeds are identical to V4 speeds.

Follower Velocity Defaults (V6)

V6 speeds are identical to V0 speeds.

Homing/Alignment Velocity Defaults (V9)

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