Slia：创建页面，内容为“== Description == This program is used to establish a new origin in a dual arm configuration.
The CMM shall be already aligned with the common reference system…”

2018-06-14T09:29:00Z

创建页面，内容为“== Description == This program is used to establish a new origin in a dual arm configuration. The CMM shall be already aligned with the common reference system…”

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== Description ==
This program is used to establish a new origin in a dual arm configuration. 
The CMM shall be already aligned with the common reference system. 
The program runs in [[CNC Mode|CNC mode]], it is necessary to [[assign]] the [[variables]] to define the probe name and the safety distance in Y. 
This program runs together with the [[Program to Create Origin of Arm1 (Server) CMM in Dual Arm Configuration|relative Arm1 (Server) program]] which shall be executed prior the execution of the Arm2 (Client) program. 

== Variables to be Assigned ==
In order to have the program run it is necessary to assign the following variables: 

<code>PROBE_NAME=ASSIGN/'P1_0_0P0_0'</code> Name of the probe 
<code>SAFEY=ASSIGN/200</code> Safety Distance from the sphere 

== Program ==

<code>
MODE/PROG,MAN 

DELETE/F(SPHERE_ORIG) 
USE/F(SPHERE_ORIG) 

DECL/DOUBLE,XX,YY,ZZ,SAFEY 
DECL/CHAR,100,PROBE_NAME 

PROBE_NAME=ASSIGN/'P2_0_0P0_0' 
SAFEY=ASSIGN/200 

SNSLCT/SA(@PROBE_NAME) 

XX=OBTAIN/F(SPHERE_ORIG),4 
YY=OBTAIN/F(SPHERE_ORIG),5 
ZZ=OBTAIN/F(SPHERE_ORIG),6 

SNSET/APPRCH,5.0000 
SNSET/RETRCT,5.0000 
SNSET/SEARCH,10.0000 

GOTO/xx,yy+safey,zz 
F(SPHERE_ARM2)=FEAT/SPHERE,OUTER,CART,XX,YY,ZZ,25.4,0.00000000,0.00000000,1.00000000 
MEAS/SPHERE,F(SPHERE_ARM2),5 
ENDMES 
GOTO/xx,yy+safey,zz 

V(TEXT)=VFORM/ALL 
DISPLY/STOR,V(TEXT) 
T(3D)=TOL/DISTB,NOMINL,0.0000,-0.0200,0.0200,PT2PT 
T(DX)=TOL/DISTB,NOMINL,0.0000,-0.0200,0.0200,XAXIS 
T(DY)=TOL/DISTB,NOMINL,0.0000,-0.0200,0.0200,YAXIS 
T(DZ)=TOL/DISTB,NOMINL,0.0000,-0.0200,0.0200,ZAXIS 

OUTPUT/FA(SPHERE_ORIG),FA(SPHERE_ARM2),TA(3D) 
OUTPUT/FA(SPHERE_ORIG),FA(SPHERE_ARM2),TA(DX) 
OUTPUT/FA(SPHERE_ORIG),FA(SPHERE_ARM2),TA(DY) 
OUTPUT/FA(SPHERE_ORIG),FA(SPHERE_ARM2),TA(DZ) 

DECL/DOUBLE,XDEV,YDEV,ZDEV,3DDEV 
XDEV=OBTAIN/TA(DX),3 
YDEV=OBTAIN/TA(DY),3 
ZDEV=OBTAIN/TA(DZ),3 
3DDEV=OBTAIN/TA(3D),3 

DISPLY/OFF 

DECL/CHAR,100,txt 
txt=ASSIGN/CONCAT('The deviation on the origin is:',CHR(10),'X: ',STR(XDEV),CHR(10),'Y: ',STR(YDEV),CHR(10),'Z ',STR(ZDEV),CHR(10),'3D: ',STR(3DDEV),CHR(10),CHR(10),'DO YOU WANT TO APPLY THE CORRECTION? (1-YES 0-NO)' 

TEXT/QUERY,(AN_QUERY),40,N,L,TXT 
IF/(AN_QUERY.EQ.1) 
D(ORIG_ARM2) = TRANS/XORIG,FA(SPHERE_ARM2),YORIG,FA(SPHERE_ARM2),ZORIG,FA(SPHERE_ARM2) 
D(ORIG_ARM2) = TRANS/XORIG,-XX,YORIG,-YY,ZORIG,-ZZ 
SETMACREF/TRANS,D(ORIG_ARM2) 
ENDIF 

RECALL/D(MAC) 

ENDFIL
</code>

[[it:Programma per Creare l'origine del braccio slave in configurazione Dual Arm]]
[[zh-cn:在双臂配置中创建第2机械臂（客户端）CMM原点的程序]]
[[pt:Programa para criar a origem do braço 2 (cliente) CMM na configuração do braço duplo]]
[[de:Programm zum Erstellen des Ursprungs von Arm 2 (Client) CMM in Dualarm-Konfiguration]]
[[es:Programa para crear el origen del brazo 2 (cliente) CMM en la configuración de doble brazo]]
[[en:Program to Create Origin of Arm 2 (Client) CMM in Dual Arm Configuration]]

在双臂配置中创建第2机械臂（客户端）CMM原点的程序 - 版本历史

Slia：创建页面，内容为“== Description == This program is used to establish a new origin in a dual arm configuration. The CMM shall be already aligned with the common reference system…”

Slia：创建页面，内容为“== Description == This program is used to establish a new origin in a dual arm configuration.
The CMM shall be already aligned with the common reference system…”