4.8. 기타 작업 프로그램

4.8. 기타 작업 프로그램

 

예시 프로그램에 CALL 명령에서 사용한 각종 작업 프로그램은 파라미터 초기값 설정 및 측정 용 원 궤적 생성 내용들입니다.

 

 

초기값 파라미터 설정 프로그램

 

'-- tool number to be corrected

     giToolNrCorr=1

     giToolNrOrig=25

     '-- moving pattern parameter

     giStPoseDir=0  '0:Y+, 1:X+, 2:Y-, 3:X-

     gdRadius=20

     gdMaxTrMov=20 'Max trnaslational moving distance

     gdOscDist=30 'center - up,down distance

     gdOrientLen=30 'Orientation Length

     gdMoveSpeed=100  'Moving speed

     END

 

 

원 궤적 생성 프로그램

 

'-- copy current pose to the start pose --

     gpStartP=P*

     '-- calculate poses for circle

     gpStartP.Z=gpStartP.Z - gdMaxTrMov

     gpCirPose1=gpStartP

     gpCirPose2=gpStartP

     gpCirPose3=gpStartP

     gpCirPose4=gpStartP

     IF giStPoseDir=0 THEN

     gpCirPose2.X=gpCirPose2.X - gdRadius

     gpCirPose2.Y=gpCirPose2.Y - gdRadius

     gpCirPose3.X=gpCirPose3.X - 0

     gpCirPose3.Y=gpCirPose3.Y - gdRadius*2

     gpCirPose4.X=gpCirPose4.X + gdRadius

     gpCirPose4.Y=gpCirPose4.Y - gdRadius

     ELSEIF giStPoseDir=1 THEN

     gpCirPose2.X=gpCirPose2.X - gdRadius

     gpCirPose2.Y=gpCirPose2.Y + gdRadius

     gpCirPose3.X=gpCirPose3.X - gdRadius*2

     gpCirPose3.Y=gpCirPose3.Y + 0

     gpCirPose4.X=gpCirPose4.X - gdRadius

     gpCirPose4.Y=gpCirPose4.Y - gdRadius

     ELSEIF giStPoseDir=2 THEN

     gpCirPose2.X=gpCirPose2.X + gdRadius

     gpCirPose2.Y=gpCirPose2.Y + gdRadius

     gpCirPose3.X=gpCirPose3.X + 0

     gpCirPose3.Y=gpCirPose3.Y + gdRadius*2

     gpCirPose4.X=gpCirPose4.X - gdRadius

     gpCirPose4.Y=gpCirPose4.Y + gdRadius

     ELSEIF giStPoseDir=3 THEN

     gpCirPose2.X=gpCirPose2.X + gdRadius

     gpCirPose2.Y=gpCirPose2.Y - gdRadius

     gpCirPose3.X=gpCirPose3.X + gdRadius*2

     gpCirPose3.Y=gpCirPose3.Y - 0

     gpCirPose4.X=gpCirPose4.X + gdRadius

     gpCirPose4.Y=gpCirPose4.Y + gdRadius

     ENDIF

     END