Parker Hannifin
148 Programmer’s Guide
Example
The following program results in a circle instead of a straight line
because of the transformation described in program 7 (PROG7).
PROG7
PROGRAM
P12361= sin( P12360) : REM Describe transformation in PROG7
P12617= cos(P12360) : REM Describe transformation in PROG7
ENDP
PROG0
ATTACH MASTER0
ATTACH SLAVE0 AXIS0 "X"
ATTACH SLAVE1 AXIS1 "Y"
PPU X 2000 Y 2000 : REM Scale commands to engineering units
ACC 100 DEC 100 STP 0 VEL 0
INVK PROG7 : REM Tell MASTER0 where the transformation are
INVK ON : REM Turn on the Kinematics
PROGRAM0_start
X / 0.2 : REM Incremental move in Cartesian space
GOTO start
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