Quelltext der Seite Programm zum Erstellen des Ursprungs von Arm 2 (Client) CMM in Dualarm-Konfiguration

== Description ==
This program is used to establish a new origin in a dual arm configuration.<br />
The CMM shall be already aligned with the common reference system.<br />
The program runs in [[CNC Mode|CNC mode]], it is necessary to [[assign]] the [[variables]] to define the probe name and the safety distance in Y.<br />
This program runs together with the [[Program to Create Origin of Arm1 (Server) CMM in Dual Arm Configuration|relative Arm1 (Server) program]] which shall be executed prior the execution of the Arm2 (Client) program.<br />

== Variables to be Assigned ==
In order to have the program run it is necessary to assign the following variables:<br />

<code>PROBE_NAME=ASSIGN/'P1_0_0P0_0'</code>  Name of the probe<br />
<code>SAFEY=ASSIGN/200</code> Safety Distance from the sphere   <br />

== Program ==

<code>
MODE/PROG,MAN<br />

DELETE/F(SPHERE_ORIG)<br />
USE/F(SPHERE_ORIG)<br />

DECL/DOUBLE,XX,YY,ZZ,SAFEY<br />
DECL/CHAR,100,PROBE_NAME<br />

PROBE_NAME=ASSIGN/'P2_0_0P0_0'<br />
SAFEY=ASSIGN/200<br />

SNSLCT/SA(@PROBE_NAME)<br />

XX=OBTAIN/F(SPHERE_ORIG),4<br />
YY=OBTAIN/F(SPHERE_ORIG),5<br />
ZZ=OBTAIN/F(SPHERE_ORIG),6<br />


SNSET/APPRCH,5.0000<br />
SNSET/RETRCT,5.0000<br />
SNSET/SEARCH,10.0000<br />

GOTO/xx,yy+safey,zz<br />
	F(SPHERE_ARM2)=FEAT/SPHERE,OUTER,CART,XX,YY,ZZ,25.4,0.00000000,0.00000000,1.00000000<br />
	MEAS/SPHERE,F(SPHERE_ARM2),5<br />
	ENDMES<br />
GOTO/xx,yy+safey,zz<br />

V(TEXT)=VFORM/ALL<br />
DISPLY/STOR,V(TEXT)<br />
	T(3D)=TOL/DISTB,NOMINL,0.0000,-0.0200,0.0200,PT2PT<br />
	T(DX)=TOL/DISTB,NOMINL,0.0000,-0.0200,0.0200,XAXIS<br />
	T(DY)=TOL/DISTB,NOMINL,0.0000,-0.0200,0.0200,YAXIS<br />
	T(DZ)=TOL/DISTB,NOMINL,0.0000,-0.0200,0.0200,ZAXIS<br />
	
	
	OUTPUT/FA(SPHERE_ORIG),FA(SPHERE_ARM2),TA(3D)<br />
	OUTPUT/FA(SPHERE_ORIG),FA(SPHERE_ARM2),TA(DX)<br />
	OUTPUT/FA(SPHERE_ORIG),FA(SPHERE_ARM2),TA(DY)<br />
	OUTPUT/FA(SPHERE_ORIG),FA(SPHERE_ARM2),TA(DZ)<br />
	
	DECL/DOUBLE,XDEV,YDEV,ZDEV,3DDEV<br />
	XDEV=OBTAIN/TA(DX),3<br />
	YDEV=OBTAIN/TA(DY),3<br />
	ZDEV=OBTAIN/TA(DZ),3<br />
	3DDEV=OBTAIN/TA(3D),3<br />

DISPLY/OFF<br />

DECL/CHAR,100,txt<br />
txt=ASSIGN/CONCAT('The deviation on the origin is:',CHR(10),'X: ',STR(XDEV),CHR(10),'Y: ',STR(YDEV),CHR(10),'Z ',STR(ZDEV),CHR(10),'3D: ',STR(3DDEV),CHR(10),CHR(10),'DO YOU WANT TO APPLY THE CORRECTION? (1-YES 0-NO)'<br />			

TEXT/QUERY,(AN_QUERY),40,N,L,TXT<br />
IF/(AN_QUERY.EQ.1)<br />
	D(ORIG_ARM2) = TRANS/XORIG,FA(SPHERE_ARM2),YORIG,FA(SPHERE_ARM2),ZORIG,FA(SPHERE_ARM2)<br />
	D(ORIG_ARM2) = TRANS/XORIG,-XX,YORIG,-YY,ZORIG,-ZZ<br />
	SETMACREF/TRANS,D(ORIG_ARM2)<br />
ENDIF<br />

RECALL/D(MAC)<br />

ENDFIL
</code>

[[it:Programma per Creare l'origine del braccio slave in configurazione Dual Arm]]
[[zh-cn:在双臂配置中创建第2机械臂（客户端）CMM原点的程序]]
[[pt:Programa para criar a origem do braço 2 (cliente) CMM na configuração do braço duplo]]
[[de:Programm zum Erstellen des Ursprungs von Arm 2 (Client) CMM in Dualarm-Konfiguration]]
[[es:Programa para crear el origen del brazo 2 (cliente) CMM en la configuración de doble brazo]]
[[en:Program to Create Origin of Arm 2 (Client) CMM in Dual Arm Configuration]]