Positionen vergleichen

;FOLD Position pruefen
DEFFCT  BOOL IN_POS(CHECKPOS :IN)
DECL E6POS CHECKPOS
DECL BOOL B_IN_POS
B_IN_POS=TRUE
IF (CHECKPOS.X<$POS_ACT.X-TolTrans) OR (CHECKPOS.X>$POS_ACT.X+TolTrans) THEN
 B_IN_POS=FALSE
ENDIF
IF (CHECKPOS.Y<$POS_ACT.Y-TolTrans) OR (CHECKPOS.Y>$POS_ACT.Y+TolTrans) THEN
 B_IN_POS=FALSE
ENDIF
IF (CHECKPOS.Z<$POS_ACT.Z-TolTrans) OR (CHECKPOS.Z>$POS_ACT.Z+TolTrans) THEN
 B_IN_POS=FALSE
ENDIF
IF (CHECKPOS.A<$POS_ACT.A-TolRot) OR (CHECKPOS.A>$POS_ACT.A+TolRot) THEN
 B_IN_POS=FALSE
ENDIF
IF (CHECKPOS.B<$POS_ACT.B-TolRot) OR (CHECKPOS.B>$POS_ACT.B+TolRot) THEN
 B_IN_POS=FALSE
ENDIF
IF (CHECKPOS.C<$POS_ACT.C-TolRot) OR (CHECKPOS.C>$POS_ACT.C+TolRot) THEN
 B_IN_POS=FALSE
ENDIF
IF (CHECKPOS.E1<$POS_ACT.E1-TolRot) OR (CHECKPOS.E1>$POS_ACT.E1+TolRot) THEN
 B_IN_POS=FALSE
ENDIF
IF (CHECKPOS.E2<$POS_ACT.E2-TolRot) OR (CHECKPOS.E2>$POS_ACT.E2+TolRot) THEN
 B_IN_POS=FALSE
ENDIF
RETURN  (B_IN_POS)
ENDFCT ;Function IN_POS
;ENDFOLD
;-----------------------------------------------------------
;FOLD Achsposition pruefen
DEFFCT  BOOL IN_AxPOS(CHECKPOS :IN)
DECL E6AXIS CHECKPOS
DECL BOOL B_IN_POS
B_IN_POS=TRUE
IF (CHECKPOS.A1<$AXIS_ACT.A1-TolRot) OR (CHECKPOS.A1>$AXIS_ACT.A1+TolRot) THEN
 B_IN_POS=FALSE
ENDIF
IF (CHECKPOS.A2<$AXIS_ACT.A2-TolRot) OR (CHECKPOS.A2>$AXIS_ACT.A2+TolRot) THEN
 B_IN_POS=FALSE
ENDIF
IF (CHECKPOS.A3<$AXIS_ACT.A3-TolRot) OR (CHECKPOS.A3>$AXIS_ACT.A3+TolRot) THEN
 B_IN_POS=FALSE
ENDIF
IF (CHECKPOS.A4<$AXIS_ACT.A4-TolRot) OR (CHECKPOS.A4>$AXIS_ACT.A4+TolRot) THEN
 B_IN_POS=FALSE
ENDIF
IF (CHECKPOS.A5<$AXIS_ACT.A5-TolRot) OR (CHECKPOS.A5>$AXIS_ACT.A5+TolRot) THEN
 B_IN_POS=FALSE
ENDIF
IF (CHECKPOS.A6<$AXIS_ACT.A6-TolRot) OR (CHECKPOS.A6>$AXIS_ACT.A6+TolRot) THEN
 B_IN_POS=FALSE
ENDIF
IF (CHECKPOS.E1<$AXIS_ACT.E1-TolRot) OR (CHECKPOS.E1>$AXIS_ACT.E1+TolRot) THEN
 B_IN_POS=FALSE
ENDIF
IF (CHECKPOS.E2<$AXIS_ACT.E2-TolRot) OR (CHECKPOS.E2>$AXIS_ACT.E2+TolRot) THEN
 B_IN_POS=FALSE
ENDIF
RETURN  (B_IN_POS)
ENDFCT ;Function IN_POS
;ENDFOLD