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Programming Manual, 07/2010, 6FC5398-2BP40-0BA0
9
1.25.3.2 Subprogram call with parameter transfer (EXTERN).................................................................183
1.25.3.3 Number of program repetitions (P) ............................................................................................186
1.25.3.4 Modal subprogram call (MCALL) ...............................................................................................188
1.25.3.5 Indirect subprogram call (CALL) ................................................................................................190
1.25.3.6 Indirect subprogram call with specification of the calling program part
(CALL BLOCK ... TO ...) ............................................................................................................
191
1.25.3.7 Indirect call of a program programmed in ISO language (ISOCALL) ........................................192
1.25.3.8 Calling subroutine with path specification and parameters (PCALL).........................................193
1.25.3.9 Extend search path for subprogram calls (CALLPATH) ............................................................194
1.25.3.10 Execute external subroutine (EXTCALL)..............................................................................195
1.25.4 Cycles ........................................................................................................................................199
1.25.4.1 Cycles: Setting parameters for user cycles ...............................................................................199
1.26 Macro technique (DEFINE ... AS)..............................................................................................203
2 File and Program Management ............................................................................................................. 207
2.1 Program memory .......................................................................................................................207
2.2 Working memory (CHANDATA, COMPLETE, INITIAL) ............................................................212
2.3 Structuring instruction in step editor (SEFORM)........................................................................215
3 Protection zones.................................................................................................................................... 217
3.1 Definition of the protection zones (CPROTDEF, NPROTDEF) .................................................217
3.2 Activating/deactivating protection zones (CPROT, NPROT).....................................................221
3.3 Checking for protection zone violation, working area limitation and software limits
(CALCPOSI)...............................................................................................................................
225
4 Special Motion Commands.................................................................................................................... 233
4.1 Approaching coded positions (CAC, CIC, CDC, CACP, CACN) ...............................................233
4.2 Spline interpolation (ASPLINE, BSPLINE, CSPLINE, BAUTO, BNAT, BTAN, EAUTO,
ENAT, ETAN, PW, SD, PL) .......................................................................................................
234
4.3 Spline grouping (SPLINEPATH) ................................................................................................246
4.4 NC block compression (COMPON, COMPCURV, COMPCAD, COMPOF)..............................248
4.5 Polynomial interpolation (POLY, POLYPATH, PO, PL).............................................................251
4.6 Settable path reference (SPATH, UPATH)................................................................................257
4.7 Measurements with touch trigger probe (MEAS, MEAW) .........................................................260
4.8 Extended measuring function (MEASA, MEAWA, MEAC) (option)...........................................263
4.9 Special functions for OEM users (OEMIPO1, OEMIPO2, G810 to G829) ................................272
4.10 Feed reduction with corner deceleration (FENDNORM, G62, G621)........................................273
4.11 Programmed end-of-motion criterion (FINEA, COARSEA, IPOENDA, IPOBRKA,
ADISPOSA)................................................................................................................................
274
4.12 Programmable servo parameter set (SCPARA)........................................................................278
5 Coordinate transformation (FRAMES) ................................................................................................... 279
5.1 Coordinate transformation via frame variables ..........................................................................279
5.1.1 Predefined frame variable ($P_BFRAME, $P_IFRAME, $P_PFRAME, $P_ACTFRAME)........281
5.2 Frame variables / assigning values to frames ...........................................................................287
5.2.1 Assigning direct values (axis value, angle, scale) .....................................................................287
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