4.8. 其他作业程序

4.8. 其他作业程序

 

在示例程序上（用例），由CALL指令使用的各种作业程序都是关于参数初始值设置及测量专用圆轨迹生成的内容。

 

初始值参数设置程序

 

'-- 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

 

圆轨迹生成程序

 

'-- 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