📄 md166bv1.lst
字号:
016F C200 F 394 CLR STEP_L_FLAG
0171 750004 F 395 MOV STEP_MODEL,#04
0174 0500 F 396 INC task_p
0176 22 397 cwwait_EXIT: RET
398 ;-------------------------------------------------------
0177 399 ccwlow: ;8 step motor minus direct low speed
0177 E500 F 400 MOV A,WORK_COUNTER1
401 ; INC A ;NO-balance technology
0179 9522 402 SUBB A,INPORT2 ;WORK_COUNTER1
017B 7007 403 JNZ CCWLOW_EXIT
404 ; MOV A,WORK_COUNTER0
A51 MACRO ASSEMBLER MD166BV1 05/27/2004 16:38:38 PAGE 7
405 ; SUBB A,INPORT3 ;WORK_COUNTER0
406 ; JNZ CCWLOW_EXIT
407 ; MOV WORK_COUNTER1,#00
408 ; MOV WORK_COUNTER1,#00
017D C200 F 409 CLR STEP_A_FLAG
017F 750001 F 410 MOV STEP_MODEL,#01
0182 0500 F 411 INC task_p
0184 22 412 ccwlow_EXIT: RET
413 ;-------------------------------------------------------
0185 414 clsuck: ;9 close sucking
0185 C244 415 CLR SUCK
0187 0500 F 416 INC task_p
0189 22 417 clsuck_EXIT: RET
418 ;-------------------------------------------------------
018A 419 clmotor: ;10 close tri_motor
018A C246 420 CLR SC_03
018C 0500 F 421 INC task_p
018E 22 422 clmotor_EXIT: RET
423 ;-------------------------------------------------------
018F 424 ccwaccel: ;11 step motor minus direct accelerate
018F A209 425 MOV C,MOTOR_MD
0191 5005 426 JNC ccwaccel_EXIT
0193 750002 F 427 MOV STEP_MODEL,#2
0196 0500 F 428 INC task_p
0198 22 429 ccwaccel_EXIT: RET
430 ;-------------------------------------------------------
0199 431 ccwhigh: ;12 step motor minus direct high speed
0199 A208 432 MOV C,MOTOR_BD
019B 5005 433 JNC ccwhigh_EXIT
019D 750003 F 434 MOV STEP_MODEL,#3
01A0 0500 F 435 INC task_p
01A2 22 436 ccwhigh_EXIT: RET
437 ;-------------------------------------------------------
01A3 438 ccwdecel: ;13 step motor minus direct decelerate
01A3 A204 439 MOV C,BD_END
01A5 5005 440 JNC ccwdecel_EXIT
441 ; MOV A,_T0_TH
442 ; SUBB A,#0EAH
443 ; JNZ ccwdecel_EXIT
444 ; MOV A,_T0_TL
445 ; JNZ ccwdecel_EXIT
446
01A7 750000 F 447 MOV STEP_MODEL,#00
01AA 0500 F 448 INC task_p
01AC 22 449 ccwdecel_EXIT: RET
450 ;-------------------------------------------------------
01AD 451 ccwstop: ;14 step motor stop
01AD C200 F 452 CLR STEP_A_FLAG
01AF C200 F 453 CLR STEP_L_FLAG
01B1 C200 F 454 CLR STEP_DIRECT
01B3 C200 F 455 CLR T0_HL_FLAG
01B5 C200 F 456 CLR STEP_M_FLAG
01B7 D280 457 SETB XCW
01B9 D293 458 SETB YCW
01BB D281 459 SETB XCCW
01BD D292 460 SETB YCCW
01BF E4 461 CLR A
01C0 F500 F 462 MOV WAIT_COUNTER0,A
01C2 F500 F 463 MOV WAIT_COUNTER1,A
01C4 F500 F 464 MOV WORK_COUNTER0,A
01C6 F500 F 465 MOV WORK_COUNTER1,A
01C8 0500 F 466 INC task_p
01CA 22 467 ccwstop_EXIT: RET
468 ;-------------------------------------------------------
01CB 469 clclamp: ;15 close clamping
01CB C245 470 CLR CLAMP
A51 MACRO ASSEMBLER MD166BV1 05/27/2004 16:38:38 PAGE 8
01CD 0500 F 471 INC task_p
01CF 22 472 clclamp_EXIT: RET
473 ;-------------------------------------------------------
01D0 474 CYC_END: ;16
01D0 A202 475 MOV C,CLAMP_BD
01D2 501E 476 JNC CYC_END_EXIT
01D4 D249 477 SETB NUM_CT
478 WAIT 1
01DD C249 487 CLR NUM_CT
01DF D248 488 SETB BUZZER
489 WAIT 20
01E8 C248 498 CLR BUZZER
01EA D247 499 SETB OUTLAMP
01EC 750000 F 500 MOV task_p,#00H
01EF 750080 F 501 MOV AUTO_END,#80H
01F2 22 502 CYC_END_EXIT: RET
503 ;--------------------------------------------------------------
504 ;00:-- : MACHINE ADJUST ;BCD CODE : -- : -- |
505 ; 00 : RESET MOTION |
506 ; 01 : CLAMP MOTION |
507 ; 02 : SC_03 MOTION |
508 ; 03 : SUCK MOTION |
509 ;01:-- : TICK MOVE |
510 ; 01 : PLUS DIRECT LOW SPEED; 11 : MINUS DIRECT LOW SPEED |
511 ; 02 : PLUS DIRECT MID SPEED; 12 : MINUS DIRECT MID SPEED |
512 ; 03 : PLUS DIRECT HIGH SPEED; 13 : MINUS DIRECT HIGH SPEED |
513 ;02:-- : AUTO MOVE |
514 ; 00 : PLUS DIRECT SPEED; 10 : MINUS DIRECT SPEED |
515 ;---------------------------------------------------------------
516 ;WORKING--retrorse --CW
517 ;REBACK--clock direct --ccw
01F3 518 manual_mode: WAIT 2
01FA A20E 527 MOV C,MANUAL
01FC 5015 528 JNC MANUAL_EXIT
01FE E522 529 MOV A,INPORT2
0200 7003 530 JNZ MANUAL_LOP1
0202 120000 F 531 CALL MACHINE_MOVE ;00=MACHINE MOVE
0205 14 532 MANUAL_LOP1: DEC A
0206 7003 533 JNZ MANUAL_LOP2
0208 120000 F 534 CALL TICK_MOVE ;01=TICK MOVE
020B 14 535 MANUAL_LOP2: DEC A
020C 7003 536 JNZ MANUAL_LOP3
020E 120000 F 537 CALL AUTO_MOVE ;02=AUTO MOVE
0211 80E0 538 MANUAL_LOP3: JMP MANUAL_MODE
0213 C247 539 MANUAL_EXIT: CLR OUTLAMP
0215 22 540 RET
541 ;---------------------------------------------------------------------
0216 E523 542 MACHINE_MOVE: MOV A,INPORT3
0218 540F 543 ANL A,#0FH
021A F500 F 544 MOV manual_code,A
021C 120000 F 545 _OUT: CALL OUT_LAMP
021F A20D 546 MOV C,EXECUTE
0221 5026 547 JNC M_MOVE_END
0223 A20D 548 M_M_LOP1: MOV C,EXECUTE
0225 40FC 549 JC M_M_LOP1
550 ; CLR OUTLAMP
0227 900000 F 551 MOV DPTR,#MANUAL_VECTOR
022A E500 F 552 MOV A,manual_code
022C 25E0 553 ADD A,ACC
022E 2500 F 554 ADD A,manual_code
0230 73 555 JMP @A+DPTR
0231 020000 F 556 MANUAL_VECTOR: LJMP MANU_EXE0
0234 020000 F 557 LJMP MANU_EXE1
0237 020000 F 558 LJMP MANU_EXE2
023A 020000 F 559 LJMP MANU_EXE3
023D C247 560 MANU_EXE0: CLR OUTLAMP
A51 MACRO ASSEMBLER MD166BV1 05/27/2004 16:38:38 PAGE 9
023F 22 561 RET
0240 B245 562 MANU_EXE1: CPL CLAMP
0242 22 563 RET
0243 B246 564 MANU_EXE2: CPL SC_03
0245 22 565 RET
0246 B244 566 MANU_EXE3: CPL SUCK
0248 22 567 RET
0249 22 568 M_MOVE_END: RET
569 ;------------------------------------------------------
024A 7003 570 OUT_LAMP: JNZ OUT_L1
024C C247 571 CLR OUTLAMP
024E 22 572 RET
024F 14 573 OUT_L1: DEC A
0250 7005 574 JNZ OUT_L2
0252 A245 575 MOV C,CLAMP ;1
0254 9247 576 MOV OUTLAMP,C
0256 22 577 RET
0257 14 578 OUT_L2: DEC A
0258 7005 579 JNZ OUT_L3
025A A246 580 MOV C,SC_03 ;2
025C 9247 581 MOV OUTLAMP,C
025E 22 582 RET
025F 14 583 OUT_L3: DEC A
0260 7005 584 JNZ OUT_L4
0262 A244 585 MOV C,SUCK ;3
0264 9247 586 MOV OUTLAMP,C
0266 22 587 RET
0267 C247 588 OUT_L4: CLR OUTLAMP
0269 22 589 RET
590 ;---------------------------------------------------------------------
026A E523 591 TICK_MOVE: MOV A,INPORT3
026C FA 592 MOV R2,A
026D 540F 593 ANL A,#0FH
026F 14 594 DEC A ;01 = LOW SPEED
0270 7008 595 JNZ TICK_LOP1
0272 750015 F 596 MOV T0_TH,#HIGH(65536-60000);30mS LOW SPEED
0275 7500A0 F 597 MOV T0_TL,#LOW(65536-60000) ;RAD=1N/30S
0278 8014 598 JMP TICK_LOP3
027A 14 599 TICK_LOP1: DEC A
027B 7008 600 JNZ TICK_LOP2
027D 7500B1 F 601 MOV T0_TH,#HIGH(65536-20000);10mS MID SPEED
0280 7500E0 F 602 MOV T0_TL,#LOW(65536-20000) ;RAD=1N/10S
0283 8009 603 JMP TICK_LOP3
0285 14 604 TICK_LOP2: DEC A
0286 7041 605 JNZ TICK_EXIT
0288 7500F8 F 606 MOV T0_TH,#HIGH(65536-2000) ;1mS HIGH SPEED
028B 750030 F 607 MOV T0_TL,#LOW(65536-2000) ;RAD=1N/S
028E EA 608 TICK_LOP3: MOV A,R2
028F 54F0 609 ANL A,#0F0H
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