%SysCalibKinematicDemo.nc

#VAR
;Machine para
V.P.TableOffset_Z=118							;Platfomr to B origin
;Table center position
V.P.TableCenter_X=62.3895 						;Probe on Table center X position------------------------
V.P.TableCenter_Y=310.0845						;Probe on Table center Y Position-----------------------
V.P.TableCenter_Z=-61.849						;Probe on Table center Z position-----------------------
;Calibrate sphere position
V.L.CalSpherePos_X=-30.5						;Calibrate sphere on Table X position--------------------------
V.L.CalSpherePos_Y=-37							;Calibrate sphere on Table Y position--------------------------
V.L.CalSpherePos_Z=70							;Calibrate sphere on Table Z position--------------------------
;safe position parameter
V.L.SafePos_Z=30									;Probe safty postion Z

;MEAS PARA
N0140 V.P.RADIUS_TOOL
N0150 V.P.SAFETY_DISTANCE_POS
N0160 V.P.SAFETY_DISTANCE_MEAS
N0170 V.P.RADIUS_WORKPIECE
N0180 V.P.MEASURING_FEED
N0190 V.P.POSITIONING_FEED
N0200 V.P.KIN_TYP
N0210 V.P.KIN_TYP_VARIANT
V.CYC.KinID=57
N0220 ;  V.P.MAX_PRECISION                ( remove comment only if this mode is chosen )
N0230 ;  V.P.DIST_NORTH_POLE              ( remove comment only if this mode is chosen )
N0240 ;  V.P.LATITUDE                     ( remove comment only if this mode is chosen )
N0250 #ENDVAR

N0260 ( Geometry )
N0270 V.P.RADIUS_TOOL          = 0.5      ( tool radius [mm] )
N0280 V.P.SAFETY_DISTANCE_POS  = 10      	( safety distance around sphere during measurements for pre-positioning [mm] )
N0290 V.P.SAFETY_DISTANCE_MEAS = 10    	( safety distance around sphere during measurements [mm] )
N0300 V.P.RADIUS_WORKPIECE     = 12.5     ( radius of workpiece [mm] )
N0310; V.G.WZ_AKT.L=41
N0320 ;V.G.WZ_AKT.V.X=30
N0330 ;V.G.WZ_AKT.V.Y=35

N0340 ; real machine parameters
N0100 V.G.KIN[57].PARAM[0]=V.P.TableCenter_Z*10000	
N0110 V.G.KIN[57].PARAM[1]=-V.P.TableCenter_X*10000		
N0120 V.G.KIN[57].PARAM[2]=-V.P.TableCenter_Y*10000
N0130 V.G.KIN[57].PARAM[3]=0
N0140 V.G.KIN[57].PARAM[4]=0
N0150 V.G.KIN[57].PARAM[5]=V.P.TableOffset_Z*10000
N0160 V.G.KIN[57].PARAM[6]=0
N0170 V.G.KIN[57].PARAM[7]=0
N0180 V.G.KIN[57].PARAM[8]=V.P.TableOffset_Z*10000
N0190 V.G.KIN[57].PARAM[9]=0				
N0200 V.G.KIN[57].PARAM[10]=0
N0210 V.G.KIN[57].PARAM[11]=0
N0220 V.G.KIN[57].PARAM[12]=0	
N0230 V.G.KIN[57].PARAM[13]=0			
N0240 V.G.KIN[57].PARAM[14]=0


N0430 #KIN ID[V.CYC.KinID]

N0440 ( Velocity )
N0450 V.P.MEASURING_FEED       = 100     ( velocity for measuring (G100 blocks) [mm/min] )
N0460 V.P.POSITIONING_FEED     = 1000    ( velocity for positioning [mm/min] )

N0470 ( Kinematic )
N0480 V.P.KIN_TYP              = 57      ( number of kinematic )
N0490 V.P.KIN_TYP_VARIANT      = 2       ( variant of kinematic )

N0500 ( Measurement )
N0510 ;  V.P.DIST_NORTH_POLE    = 30      ( distance to sphere to omit North pole during Measurement [mm]; optional - remove comment only if this mode is chosen )
N0520 ;  V.P.LATITUDE           = 20      ( Latitude for measuring sphere [degree]; otpional - default 10 degree above Equator )

N0530 ( Result )
N0540 #VAR
N0550 ;  V.P.MAX_PRECISION      = 1       ( maximal tolerated deviation [mm]; optional - remove comment only if this mode is chosen)
N0560 V.L.PRINT              	= 2       ( print of measuring data: 1 German, 2 English, 0 no print; optional default: no print )
N0570 #ENDVAR

N0580 ( Path for message file )
N0590 #FILENAME [MSG="calibration_result.txt"]


N0750 $IF 1;$ELSE
N0760 ;===================================== V A R I A N T   2 =====================================;
N0770 ( array size is number of measuring proses, e.g. here 9 )
N0780 #VAR
N0790 V.P.MEAS_POSE[3][6];V.P.MEAS_POSE[3][9]
N0800 #ENDVAR

N0810 (     B-axis                      A-axis                    C-axis )
N0820 V.P.MEAS_POSE[1][0] = 5    V.P.MEAS_POSE[0][0] = 0   V.P.MEAS_POSE[2][0] = 60
N0830 V.P.MEAS_POSE[1][1] = 10   V.P.MEAS_POSE[0][1] = 0   V.P.MEAS_POSE[2][1] = -90
N0840 V.P.MEAS_POSE[1][2] = -35    V.P.MEAS_POSE[0][2] = 0   V.P.MEAS_POSE[2][2] = 90
N0850 V.P.MEAS_POSE[1][3] = -15   V.P.MEAS_POSE[0][3] = 0   V.P.MEAS_POSE[2][3] = -30
N0860 V.P.MEAS_POSE[1][4] = -25   V.P.MEAS_POSE[0][4] = 0   V.P.MEAS_POSE[2][4] = -60
N0870 V.P.MEAS_POSE[1][5] = 10   V.P.MEAS_POSE[0][5] = 0   V.P.MEAS_POSE[2][5] = 45
N0880 ;V.P.MEAS_POSE[1][6] =  10   V.P.MEAS_POSE[0][6] = 0   V.P.MEAS_POSE[2][6] = 270
N0890 ;V.P.MEAS_POSE[1][7] =  15   V.P.MEAS_POSE[0][7] = 0   V.P.MEAS_POSE[2][7] =  45
N0900 ;V.P.MEAS_POSE[1][8] =  15   V.P.MEAS_POSE[0][8] = 0   V.P.MEAS_POSE[2][8] =  84
N1240 $ENDIF

N1250 ;                                C A L L   S U B P R O G R A M                                ;

N1260 ( go to start position rough above sphere centre, given data are an example )
;Probe move to the top of the clibrate sphere 
G53
G01 G90 ZV.L.SafePos_Z FV.P.POSITIONING_FEED
G01 G90  X 32.731 Y 273.395 B0 C0 FV.P.POSITIONING_FEED
G01 G90 Z10 FV.P.MEASURING_FEED 
M0

N1310 ( measuring mode 1: measuring with several axes )
N1320 #MEAS MODE[1]

N1330 ( It might be necessary to set axis names and order by SET AX[...] to use desired kinematic, please look at the documentation. )

N1340 ( switch on parametrized kinematic )
N1350 #KIN ID[V.P.KIN_TYP]

N1360 L SysCalibDetermineKinematic.ecy
N1370 M30