Difference between revisions of "Program to Create Origin of Arm 2 (Client) CMM in Dual Arm Configuration"

Revision as of 16:33, 13 December 2017

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 variable to define the probe name and the safety distance in Y.
This program runs in association with its relative Arm1 (Server) program which shall be executed prior 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/'P2_0_0P0_0' Name of the probe
SAFEY=ASSIGN/200 Safety Distance from the sphere

Program

USE/F(SPH_11)


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


PROBE_NAME=ASSIGN/'P2_0_0P0_0'
SAFEY=ASSIGN/200


SNSLCT/SA(@PROBE_NAME)


XX=OBTAIN/F(SPH_11),4
YY=OBTAIN/F(SPH_11),5
ZZ=OBTAIN/F(SPH_11),6


MODE/PROG,MAN


GOTO/XX,YY+SAFEY,ZZ
F(SPH_1)=FEAT/SPHERE,OUTER,CART,XX,YY,ZZ,25.4,0.00000000,0.00000000,1.00000000
MEAS/SPHERE,F(SPH_1),5
ENDMES
GOTO/XX,YY+SAFEY,ZZ


D(DAT_1) = TRANS/XORIG,FA(SPH_1),YORIG,FA(SPH_1),ZORIG,FA(SPH_1)
D(DAT_1) = TRANS/XORIG,-ZZ,YORIG,-YY,ZORIG,-ZZ


SETMACREF/TRANS,D(DAT_1)