Page History

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• Copy current position to shadow variables
• If currently in the positive closed position (Df=1)
  • Move (MA) to negative closed position P2
  • Check If error checking is enabled (Ec=1), check drift at previous, negative closed position (call X9)
  • Hold until movement complete
  • Set Df=1, indicating current position is positive closed position
• Else (any other position but P1)
  • Move (MA) to positive closed position P1
  • Check drift at previous, positive closed position (call X8)
  • Hold until movement complete
  • Set Df=-1, indicating current position is negative closed position
• EndIf
• Copy current encoder count (C2) to shadow register Cs
• Signal state change to 90 (Toggle movement complete)
• Return

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• Signal state change to 20 (Flip-Flop Init)
• Load Flip-Flop speeds (V2)
• Calculate target position using drift of current position (X9)
• Specify Flip-Flop ISR (J2) to run on Input Trip
• Arm Input Trip (TE=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)
    • Go back to mode select
  • EndIf
  • If at least one movement is complete (Sd=90)
    • Signal state change to 22 (Flip-Flop Loop Active)
  • EndIf
• Flip-Flop Loop END

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• Signal state change to 30 (Burst Mode Init)
• Load Burst speeds (V3)Calculate target position using drift of current position (X9)
• Specify Burst Open ISR (J3) to run on Input Trip
• Arm Input Trip (TE=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)
    • Go back to mode select
  • EndIf
  • If the close movement is complete (Sd=92), then
    • Signal state change to 39 (Burst complete)
  • EndIf
• Burst Loop END

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• Signal state change to 32 (Burst open signal received)
• Store current position in shadow variables
• Move (MA) to open position (P0)
• Calculate drift based on shadow variables
• Use new drift to update closed positions P1 and P2If error checking is enabled (Ec=1), check drift at previous, assumed positive closed position (call X8)
• Hold until movement complete
• Set Df=0 to indicate slits are at open position
• Signal state change to 94 (Move to open position complete)
• Specify Burst Close ISR (J4) to run on Input Trip
• Re-arm input trip (TE=TE|4)
• Return

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• Signal state change to 33 (Burst close signal received)Store current position in shadow variables
• Move (MA) to positive closed position (P1)
• Calculate drift based on shadow variables
• Use new drift to update open position P0 and closed position P2If error checking is enabled (Ec=1), check drift at previous, assumed positive closed position (call X8)
• Hold until movement complete
• Set Df=1 to indicate slits are at positive closed position
• Copy current encoder count (C2) to shadow register Cs
• Signal state change to 91 (Move to positive closed position complete)
• Return

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