Page History

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• 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 Burst Open ISR (J3) 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
• Re-arm input trip (TE=4)
• Return

Mode 4: Fast Open (LB Z4)

• Signal state change to 40 (Fast Open Init)
• Load fast open speeds (CL V4)
• Move (MA) to the open position (P0)
• If error checking is enabled (Ec=1), check drift at previous, assumed positive closed position (call CL X8)
• Hold until movement complete
• Set Df=0 to indicate that slits are in open position
• Signal state change to 41 (Fast open complete)
• Goto mode select

Mode 5: Fast Close (LB Z5)

• 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)
  • If error checking is enabled (Ec=1), check drift at previous, assumed negative closed position (call X8)
  • 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
  • Copy current encoder count to Cs for future drift checks
• EndIf
• Signal state change to 51 (Fast close complete)
• Goto mode select

Mode 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 completecomplete
• 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 registerSet C1 to P1, C2 to N1, Cs to N1
• 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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