Coordinate transformation (FRAMES)
5.6 Frame calculation from three measuring points in space (MEAFRAME)
Job planning
300 Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
Program code Comments
N100 G01 G90 F5000
N110 X0 Y0 Z0
N200 CORR_FRAME=MEAFRAME(IDEAL_POINT,MEAS
_POINT,FIT_QUALITY)
N230 IF FIT_QUALITY < 0
SETAL(65000)
GOTOF NO_FRAME
ENDIF
N240 IF FIT_QUALITY > FIT_QUALITY_LIMIT
SETAL(65010)
GOTOF NO_FRAME
ENDIF
N250 IF CORR_FRAME[X,RT] > ROT_FRAME_LIMIT ; Limiting the 1st RPY angle
SETAL(65020)
GOTOF NO_FRAME
ENDIF
N260 IF CORR_FRAME[Y,RT] > ROT_FRAME_LIMIT ; Limiting the 2nd RPY angle
SETAL(65021)
GOTOF NO_FRAME
ENDIF
N270 IF CORR_FRAME[Z,RT] > ROT_FRAME_LIMIT ; Limiting the 3rd RPY angle
SETAL(65022)
GOTOF NO_FRAME
ENDIF
N300 $P_IFRAME=CORR_FRAME ; Activating sample frame with
settable frame
; Check frame by positioning the
geometry axes to the ideal point
N400 X=IDEAL_POINT[0,0] Y=IDEAL_POINT[0,1]
Z=IDEAL_POINT[0,2]
N410 SHOW_MCS_POS1[0]=$AA_IM[X]
N410 SHOW_MCS_POS1[1]=$AA_IM[X]
N430 SHOW_MCS_POS1[2]=$AA_IM[Z]
N500 X=IDEAL_POINT[1,0] Y=IDEAL_POINT[1,1]
Z=IDEAL_POINT[1,2]
N510 SHOW_MCS_POS2[0]=$AA_IM[X]
N520 SHOW_MCS_POS2[1]=$AA_IM[Y]
N530 SHOW_MCS_POS2[2]=$AA_IM[Z]
N600 X=IDEAL_POINT[2,0] Y=IDEAL_POINT[2,1]
Z=IDEAL_POINT[2,2]
N610 SHOW_MCS_POS3[0]=$AA_IM[X]
N620 SHOW_MCS_POS3[1]=$AA_IM[Y]
N630 SHOW_MCS_POS3[2]=$AA_IM[Z]
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