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说明:机器上装了个四轴,尾座,及连接两者的连接板。在连接板上有一个能转动0度和90度的旋转气缸。四轴为A轴,旋转气缸为C轴。5 I2 s/ O2 T1 | R; l
O7015;
# \' h) a/ X' s! ]8 u) a: GG91G28Z0.;
- J, ~0 ?) h1 E9 Z: D% b3 U4 @/ NG40G80G49G69;
; K4 q% v4 b3 S7 \& V7 R5 o& TM06T21;$ D9 R! E2 z1 u: C7 @
M19;(准确定位)3 x+ u8 C4 {3 q" v! P
M17;(探针打开)
$ N4 Q, Y5 C/ _9 tM81;(C轴松开)' w) g" j$ Q3 ~6 x' d
M72;(四轴松开)
2 C+ c$ x* ?$ u8 Q7 O8 g* D5 JG90 G0 G54.1 P10 A20. M82;(M82为C轴旋转至90度)
+ l0 j1 k, |+ n! \$ p7 ^; mM71;(四轴锁紧)( x: ]( r- e& @4 J# g6 t
M80;(C轴锁紧)( D i) m- F+ w; W
#7441=#580-[#581-#7182];$ G1 z9 f8 o- q! r7 e' s
#7442=#581-[#580-#7181];
/ K3 Y9 x8 ?$ Q; L9 F' p#7443=#7183;
$ y/ ^* l8 i) G( uG65 P7200 A20. S123 W125 X0. Y0. Z0.;(意思是坐标g54.1P23旋转20度,后得到的新坐标为G54.1P25)
" `; Y5 e) F4 U* f/ n; {G00 G90 G54.1 P26 Y-54.1;- ]$ B. h: R0 C* U
G00 G90 G54.1 P26 X-18.75; j4 w, R* [% k' C: g) s0 p" o
......3 K3 z# P0 b# r6 p6 y9 V7 `3 Z
....... d) @3 r/ q, `& ]9 D
M30;9 @8 o! f8 W/ U& u1 N
, b2 N; O' O0 u3 K& t2 D2 r
O7200;; E( o- m# y/ p# d O
G5.1 Q0;
! p2 k' V. F" R! r& M) B& {IF[#2EQ2]GOTO200; e7 @0 d X7 |4 X. k4 a
N200;" T1 z) ] S( i6 Q
#8=#580;(C轴旋转中心X)
) I' l$ v' \% u* g' v, e$ i$ V- ?; Q#9=#581;(C轴旋转中心Y)! O) S3 l* n' e& r) f, V: p& [
#10=#582;(A轴旋转中心Y)0 ?: w3 @% T# M* k
#11=#583;(A轴旋转中心Z), f9 i- Y4 [7 T i r8 Y+ s3 F6 d
GOTO300;
/ M& c/ V" F/ i1 i. I2 B- @N300;
5 l% m3 E0 g9 w7 t+ D! s0 P" ]5 c% B. C#12=#0;(THERMAL X)
& d3 x3 S+ L& F4 Y' Q! \! h2 U#13=#0;(THERMAL Y)% P; G. t5 P5 s! g: x$ s& E
#14=#600;(THERMAL Z)(#600是Z 向探针的温度 补偿值,这个由探针确定,一般在0.01以内在本程式中为已知的)' t% C' J0 _- p2 Q+ k! ]9 y
IF[#19NE#23]GOTO1;" F0 u: H* m+ ~$ F& ?: a
#3000=91;
5 x# S; k9 n$ y6 D. D/ s/ W5 I' ^* ^N1;7 [( x o3 ~# K3 A
IF[#19GT100]GOTO2;
5 a( a0 R' i5 v3 n3 g5 k+ s1 iN2;1 \7 L! m- c4 {1 l
#19=#19-101;
% p# h$ A1 Z& x1 }4 A7 ^#100=#19*20;6 S3 k3 f2 [& Y2 ~ Z" e. ~
#101=[#[7001+#100]+#24]-#8;(X DISTANCE FROM ROT X)' I9 w9 U: ~( ?% s+ U4 M
#102=[#[7002+#100]+#25]-#9;(Y DISTANCE FROM ROT Y)
- `5 U3 F' F1 z* s1 U" W#108=[#[7003+#100]+#26]-#11;(Z DISTANCE FROM ROT Z)# p2 Q; B$ S2 {% c9 [0 y& V. u
N3;
4 @6 a W# V; j n; ]#101=#101-#12;- c5 Y) ?% F" k" A
#102=#102-#13;( t& y3 Z0 z+ T1 U5 E& ?6 [2 a' h
#108=#108-#14;
5 B8 Y( a: G1 ?& x1 N4 w#103=ATAN[#102/#101]/[1];
2 ~! q4 |+ j$ o, }1 m#104=#102/SIN[#103]
" p" j, g) a4 ^3 B#105=#103+#3;(NEW C ANGLE)
: r, S3 G: v4 D9 G7 {8 W: M#106=COS[#105]*#104;(NEW X)
$ B5 u! p& @+ u% }% Y3 e#107=SIN[#105]*#104;(NEW Y)9 b0 o7 C" k7 A% |" s$ d
#120=#107+[#9-#10];
- ~0 k( R; W: m: F#109=ATAN[#108/#120]/[1];
3 k9 r6 n1 f5 |- N#110=#108/SIN[#109];(RADIUS)
\6 W( w% }6 S `#111=#109+#1;(NEW A ANGLE)" |5 w7 X8 N) v0 w
#112=COS[#111]*#110;(NEW Y)
" B: C/ A3 s7 h1 Z4 t3 A#113=SIN[#111]*#110;(NEW Z)0 U% G9 `9 b8 H( d' Q
#114=#8+#106+#12;(X WCS POSSITION)* t8 W! w& m1 Y) }
#115=#10+#112+#13;(Y WCS POSSITION)+ j v' O; p2 D; L0 B2 b
#116=#11+#113+#14;(Z WCS POSSITION)
1 E" e U) t5 z' a) E6 T/ j$ L#117=#0;
: Z7 @; m* _" S$ Q, w0 n#118=#0.;
. E6 U. A0 M2 M, S#119=#0.;
9 k& \1 c7 W- x5 I" _* TIF[#20EQ#0]GOTO60
' b6 P1 m6 s2 ~8 N) uN60;
0 u" W! L# B2 C: ^3 HIF[#23EQ#0]GOTO20;! R( R7 S9 J7 w# @( x3 ~: k3 p
IF[#23GT100]GOTO10;; o/ U: E. F1 P: U$ [8 n
N10;8 f7 x4 I$ B8 \1 F( Y
#23=#23-101;
5 i0 ]% T4 @6 a$ s) v5 G#100=#23*20;
- @# [5 i. k* f( G1 x U#[7001+#100]=#114+#1172 B5 S1 r t2 x% C ] @! s
#[7002+#100]=#115+#1185 N) T/ H9 A, A9 `! {+ o H' v" {1 q
#[7003+#100]=#116+#1198 g% i1 e0 q D4 U4 b7 }' L4 s
N20;3 s- a# h% ` W9 [
M99;
8 ~% L/ |. v. S* o' ]: j* c1 G哪位大侠能看出红色标记处的数学原理?) w- i0 g [. f8 d4 f: |3 o! P6 w$ ^
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