Mostrar código-fonte de Programa para criar a origem do CMM do Arm1 (servidor) na configuração de braço duplo

== Description ==
This program is used to establish a new origin in a dual arm configuration.<br />
The CMM shall be already aligned with the common reference system.<br />
The program runs in [[CNC Mode|CNC mode]], it is necessary to [[assign]] the [[variables]] to define the probe name, the position of the reface sphere and the safety distance in Y.<br />
The Arm 1 program shall be executed together with the [[Program to Create Origin of Arm 2 (Client) CMM in Dual Arm Configuration|execution of the Arm2 (Client) program]].<br />

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

<code>PROBE_NAME=ASSIGN/'P1_0_0P0_0'</code>  Name of the probe<br />
<code>SAFEY=ASSIGN/200</code> Safety Distance from the sphere   <br />
<code>XX=ASSIGN/651.07</code> X absolute position of the reference sphere in MAC coordinate system<br />
<code>YY=ASSIGN/510.95</code> Y absolute position of the reference sphere in MAC coordinate system<br />
<code>ZZ=ASSIGN/-286.67</code> Z absolute position of the reference sphere in MAC coordinate system<br />

== Program ==

<code>
MODE/PROG,MAN<br />

DECL/DOUBLE,XX,YY,ZZ,SAFEY<br />
DECL/CHAR,100,PROBE_NAME<br />

PROBE_NAME=ASSIGN/'P1_0_0P0_0'<br />
SAFEY=ASSIGN/200<br />
XX=ASSIGN/651.07<br />
YY=ASSIGN/510.95<br />
ZZ=ASSIGN/-286.67<br />

SNSLCT/S(@PROBE_NAME)<br />

SYNCRO/PROG,MAN<br />
GOTO/xx,yy-safey,zz<br />
	F(SPHERE_ARM1)=FEAT/SPHERE,OUTER,CART,xx,yy,zz,25.4,0.00000000,0.00000000,1.00000000<br />
	MEAS/SPHERE,F(SPHERE_ARM1),5<br />
	ENDMES<br />
GOTO/xx,yy-safeY,zz<br />

DECL/DOUBLE,xx,yy,zz<br />
xx=OBTAIN/FA(Sphere_ARM1),4<br />
YY=OBTAIN/FA(Sphere_ARM1),5<br />
ZZ=OBTAIN/FA(Sphere_ARM1),6<br />

F(SPHERE_ORIG)=FEAT/SPHERE,OUTER,CART,xx,yy,zz,25.4,0.00000000,0.00000000,1.00000000<br />
FA(SPHERE_ORIG)=FEAT/SPHERE,OUTER,CART,xx,yy,zz,25.4,0.00000000,0.00000000,1.00000000<br />

SHARE/F(SPHERE_ORIG)<br />

ENDFIL</code>



[[it:Programma per creare l'origine di Arm1 (Server) CMM nella configurazione a doppio braccio]]
[[zh-cn:在双臂配置中创建Arm1（服务器）CMM的原点的程序]]
[[pt:Programa para criar a origem do CMM do Arm1 (servidor) na configuração de braço duplo]]
[[de:Programm zum Erstellen des Ursprungs des Arm1 (Server) CMM in der Dual-Arm-Konfiguration]]
[[es:Programa para crear el origen de la MMC Arm1 (Server) en la configuración de doble brazo]]
[[en:Program to Create Origin of Arm1 (Server) CMM in Dual Arm Configuration]]