Program to Create Origin of Arm1 (Server) CMM in Dual Arm Configuration

Description

This program is used to establish a new origin in a dual arm configuration.
The CMM shall be already aligned with the common reference system.
The program runs in CNC mode, it is necessary to assign the variables to define the probe name, the position of the reface sphere and the safety distance in Y.
The Arm 1 program shall be executed together with the execution of the Arm2 (Client) program.

Variables to be Assigned

In order to have the program run it is necessary to assign the following variables:

PROBE_NAME=ASSIGN/'P1_0_0P0_0' Name of the probe
SAFEY=ASSIGN/200 Safety Distance from the sphere
XX=ASSIGN/651.07 X absolute position of the reference sphere in MAC coordinate system
YY=ASSIGN/510.95 Y absolute position of the reference sphere in MAC coordinate system
ZZ=ASSIGN/-286.67 Z absolute position of the reference sphere in MAC coordinate system

Program

MODE/PROG,MAN


DECL/DOUBLE,XX,YY,ZZ,SAFEY
DECL/CHAR,100,PROBE_NAME


PROBE_NAME=ASSIGN/'P1_0_0P0_0'
SAFEY=ASSIGN/200
XX=ASSIGN/651.07
YY=ASSIGN/510.95
ZZ=ASSIGN/-286.67


SNSLCT/S(@PROBE_NAME)


SYNCRO/PROG,MAN
GOTO/xx,yy-safey,zz
F(SPHERE_ARM1)=FEAT/SPHERE,OUTER,CART,xx,yy,zz,25.4,0.00000000,0.00000000,1.00000000
MEAS/SPHERE,F(SPHERE_ARM1),5
ENDMES
GOTO/xx,yy-safeY,zz


DECL/DOUBLE,xx,yy,zz
xx=OBTAIN/FA(Sphere_ARM1),4
YY=OBTAIN/FA(Sphere_ARM1),5
ZZ=OBTAIN/FA(Sphere_ARM1),6


F(SPHERE_ORIG)=FEAT/SPHERE,OUTER,CART,xx,yy,zz,25.4,0.00000000,0.00000000,1.00000000
FA(SPHERE_ORIG)=FEAT/SPHERE,OUTER,CART,xx,yy,zz,25.4,0.00000000,0.00000000,1.00000000


SHARE/F(SPHERE_ORIG)


ENDFIL