Siemens SINUMERIK 840D sl Programming Manual page 290

Coordinate transformations (frames)
5.6 Frame calculation from three measuring points in space (MEAFRAME)
Setting measuring points:
Program code
DEF REAL IDEAL_POINT[3,3]=SET(10.0,0.0,0.0,0.0,10.0,0.0,0.0,0.0,10.0)
DEF REAL MEAS_POINT[3,3]=SET(10.1,0.2,-0.2,-0.2,10.2,0.1,-0.2,0.2,9.8)
DEF REAL FIT_QUALITY=0
DEF REAL ROT_FRAME_LIMIT=5
DEF REAL FIT_QUALITY_LIMIT=3
DEF REAL SHOW_MCS_POS1[3]
DEF REAL SHOW_MCS_POS2[3]
DEF REAL SHOW_MCS_POS3[3]
Program code
N100 G01 G90 F5000
N110 X0 Y0 Z0
N200 CORR_FRAME=MEAFRAME(IDEAL_POINT,MEAS_POINT,FIT_QUALITY)
N230 IF FIT_QUALITY < 0
SETAL(65000)
GOTOF NO_FRAME
ENDIF
N240 IF FIT_QUALITY > FIT_QUALITY_LIMIT
SETAL(65010)
GOTOF NO_FRAME
ENDIF
N250 IF CORR_FRAME[X,RT] > ROT_FRAME_LIMIT
SETAL(65020)
GOTOF NO_FRAME
ENDIF
N260 IF CORR_FRAME[Y,RT] > ROT_FRAME_LIMIT
SETAL(65021)
GOTOF NO_FRAME
ENDIF
N270 IF CORR_FRAME[Z,RT] > ROT_FRAME_LIMIT
SETAL(65022)
GOTOF NO_FRAME
ENDIF
N300 $P_IFRAME=CORR_FRAME
290
Comment
; Permits max. five degree rotation of the part
position
; Permits max. three mm offset between the
ideal and the measured triangle
Comment
; Limiting the 1st RPY angle
; Limiting the 2nd RPY angle
; Limiting the 3rd RPY angle
; Activate sample frame with settable
frame.
; Check frame by positioning the geometry
axes to the ideal point.
Programming Manual, 03/2013, 6FC5398-2BP40-3BA1
; For test.
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