Hallo
ich bin dabei mit Touchsense ein Base KOSY zu vermessen. Die Punkte werden auch aufgenommen, aber irgendwie nicht weiter verarbeitet.
ACCESS RVP
&REL 32
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEF WKS_EINMESS_TISCH( )
;FOLD INI
;FOLD BASISTECH INI
GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )
INTERRUPT ON 3
BAS (#INITMOV,0 )
;ENDFOLD (BASISTECH INI)
;FOLD USER INI
;Make your modifications here
;ENDFOLD (USER INI)
;ENDFOLD (INI)
;FOLD PTP P1 Vel=1 % PDAT1 Tool[5]:Kugeltaster Base[0];%{PE}%R 5.5.32,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:1, 7:PDAT1
$BWDSTART=FALSE
PDAT_ACT=PPDAT1
FDAT_ACT=FP1
BAS(#PTP_PARAMS,1)
PTP XP1
;ENDFOLD
;FOLD LIN P2 Vel=0.1 m/s CPDAT1 SEARCH VIA P3 CD1 PA0 Tool[0] Base[0];%{PE}%R 1.2.3,%MKUKATPTOUCHSENSE,%CSEARCH,%VNORMAL,%P 2:P2, 4:0.1, 6:CPDAT1, 8:P3, 9:CD1, 10:PA0
$BWDSTART=FALSE
H70(2,CD0,POS_DUMMY)
LDAT_ACT=LCPDAT1
FDAT_ACT=FP2
BAS(#CP_PARAMS,0.1)
LIN XP2 C_DIS
H70(11,CD0,XP3)
H70(12,CD0,XP2)
H70(13,VCD1,XP3)
H70(3,VCD1,XP2,ZPA0)
;ENDFOLD
;FOLD LIN P4 Vel=0.1 m/s CPDAT2 SEARCH VIA P5 CD2 PA0 Tool[0] Base[0];%{PE}%R 1.2.3,%MKUKATPTOUCHSENSE,%CSEARCH,%VNORMAL,%P 2:P4, 4:0.1, 6:CPDAT2, 8:P5, 9:CD2, 10:PA0
$BWDSTART=FALSE
H70(2,CD0,POS_DUMMY)
LDAT_ACT=LCPDAT2
FDAT_ACT=FP4
BAS(#CP_PARAMS,0.1)
LIN XP4 C_DIS
H70(11,CD0,XP5)
H70(12,CD0,XP4)
H70(13,VCD2,XP5)
H70(3,VCD2,XP4,ZPA0)
;ENDFOLD
;FOLD LIN P6 Vel=0.1 m/s CPDAT3 SEARCH VIA P7 CD3 PA0 Tool[0] Base[0];%{PE}%R 1.2.3,%MKUKATPTOUCHSENSE,%CSEARCH,%VNORMAL,%P 2:P6, 4:0.1, 6:CPDAT3, 8:P7, 9:CD3, 10:PA0
$BWDSTART=FALSE
H70(2,CD0,POS_DUMMY)
LDAT_ACT=LCPDAT3
FDAT_ACT=FP6
BAS(#CP_PARAMS,0.1)
LIN XP6 C_DIS
H70(11,CD0,XP7)
H70(12,CD0,XP6)
H70(13,VCD3,XP7)
H70(3,VCD3,XP6,ZPA0)
;ENDFOLD
;FOLD LIN P8 Vel=0.1 m/s CPDAT4 Tool[5]:Kugeltaster Base[0];%{PE}%R 5.5.32,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P8, 3:, 5:0.1, 7:CPDAT4
$BWDSTART=FALSE
LDAT_ACT=LCPDAT4
FDAT_ACT=FP8
BAS(#CP_PARAMS,0.1)
LIN XP8
;ENDFOLD
;FOLD LIN P9 Vel=0.1 m/s CPDAT5 SEARCH VIA P10 CD4 PA0 Tool[0] Base[0];%{PE}%R 1.2.3,%MKUKATPTOUCHSENSE,%CSEARCH,%VNORMAL,%P 2:P9, 4:0.1, 6:CPDAT5, 8:P10, 9:CD4, 10:PA0
$BWDSTART=FALSE
H70(2,CD0,POS_DUMMY)
LDAT_ACT=LCPDAT5
FDAT_ACT=FP9
BAS(#CP_PARAMS,0.1)
LIN XP9 C_DIS
H70(11,CD0,XP10)
H70(12,CD0,XP9)
H70(13,VCD4,XP10)
H70(3,VCD4,XP9,ZPA0)
;ENDFOLD
;FOLD LIN P11 Vel=0.1 m/s CPDAT6 SEARCH VIA P12 CD5 PA0 Tool[0] Base[0];%{PE}%R 1.2.3,%MKUKATPTOUCHSENSE,%CSEARCH,%VNORMAL,%P 2:P11, 4:0.1, 6:CPDAT6, 8:P12, 9:CD5, 10:PA0
$BWDSTART=FALSE
H70(2,CD0,POS_DUMMY)
LDAT_ACT=LCPDAT6
FDAT_ACT=FP11
BAS(#CP_PARAMS,0.1)
LIN XP11 C_DIS
H70(11,CD0,XP12)
H70(12,CD0,XP11)
H70(13,VCD5,XP12)
H70(3,VCD5,XP11,ZPA0)
;ENDFOLD
;FOLD LIN P13 Vel=0.1 m/s CPDAT7 Tool[5]:Kugeltaster Base[0];%{PE}%R 5.5.32,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P13, 3:, 5:0.1, 7:CPDAT7
$BWDSTART=FALSE
LDAT_ACT=LCPDAT7
FDAT_ACT=FP13
BAS(#CP_PARAMS,0.1)
LIN XP13
;ENDFOLD
;FOLD LIN P14 Vel=0.1 m/s CPDAT8 SEARCH VIA P15 CD6 PA0 Tool[0] Base[0];%{PE}%R 1.2.3,%MKUKATPTOUCHSENSE,%CSEARCH,%VNORMAL,%P 2:P14, 4:0.1, 6:CPDAT8, 8:P15, 9:CD6, 10:PA0
$BWDSTART=FALSE
H70(2,CD0,POS_DUMMY)
LDAT_ACT=LCPDAT8
FDAT_ACT=FP14
BAS(#CP_PARAMS,0.1)
LIN XP14 C_DIS
H70(11,CD0,XP15)
H70(12,CD0,XP14)
H70(13,VCD6,XP15)
H70(3,VCD6,XP14,ZPA0)
;ENDFOLD
;FOLD LIN P16 Vel=0.1 m/s CPDAT9 Tool[5]:Kugeltaster Base[0];%{PE}%R 5.5.32,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P16, 3:, 5:0.1, 7:CPDAT9
$BWDSTART=FALSE
LDAT_ACT=LCPDAT9
FDAT_ACT=FP16
BAS(#CP_PARAMS,0.1)
LIN XP16
;ENDFOLD
;Zuordnung Messdaten
Teil_pos[1].X=VCD1.MES_X
Teil_pos[1].Y=VCD1.MES_Y
Teil_pos[1].Z=VCD1.MES_Z
Teil_pos[2].X=VCD2.MES_X
Teil_pos[2].Y=VCD2.MES_Y
Teil_pos[2].Z=VCD2.MES_Z
Teil_pos[3].X=VCD3.MES_X
Teil_pos[3].Y=VCD3.MES_Y
Teil_pos[3].Z=VCD3.MES_Z
Teil_pos[4].X=VCD4.MES_X
Teil_pos[4].Y=VCD4.MES_Y
Teil_pos[4].Z=VCD4.MES_Z
Teil_pos[5].X=VCD5.MES_X
Teil_pos[5].Y=VCD5.MES_Y
Teil_pos[5].Z=VCD5.MES_Z
Teil_pos[6].X=VCD6.MES_X
Teil_pos[6].Y=VCD6.MES_Y
Teil_pos[6].Z=VCD6.MES_Z
Base_neu=Base_verschieben()
;Base_ws=$BASE:Base_neu
;Radiuskorrektur Taster
Base_neu=Base_neu:Base_korrigiert
BASE_DATA[7]=Base_neu
END
;-------------------------------------------------------
DEFFCT FRAME Base_verschieben()
a=frame2vec(1)
b=frame2vec(2)
b=vec_diff(b,a)
c=frame2vec(3)
c=vec_diff(c,a)
;Ebene in Koordinatenform berechnen
n=kreuz(b,c)
d=skalar(n,a)
; in Hesse'sche Normalform bringen
d=d/vec_betrag(n)
n=vec_norm(n)
IF d<0 THEN
d=-d
n.x=-n.x
n.y=-n.y
n.z=-n.z
ENDIF
;---- Gerade auf Ebene aus Projektionen von p4, p5 auf Ebene (neue y-Achse)---
p4=frame2vec(4)
p5=frame2vec(5)
t_04=(d-skalar(n,p4))/skalar(n,n)
t_05=(d-skalar(n,p5))/skalar(n,n)
f_p4=vec_sum(p4,mult_vec_skal(t_04,n))
f_p5=vec_sum(p5,mult_vec_skal(t_05,n))
y_neu=vec_diff(f_p4,f_p5)
y_neu=vec_norm(y_neu)
; ----- neuer Ursprung und neue x-Achse aus Projektion von p6 auf Ebene----
p6=frame2vec(6)
t_06=(d-skalar(n,p6))/skalar(n,n)
f_p6=vec_sum(p6,mult_vec_skal(t_06,n))
;Fußpunkt fp6-> y-Achse
t2_06=skalar(vec_diff(f_p6,f_p5),y_neu)/skalar(y_neu,y_neu)
O_neu=vec_sum(f_p5,mult_vec_skal(t2_06,y_neu))
x_neu=vec_diff(f_p6,O_neu)
x_neu=vec_norm(x_neu)
;--- neue z-Achse ----
z_neu=kreuz(x_neu,y_neu)
; ----- Eulerwinkel aus neuen Einheitsvektoren ---------
A_neu=atan2(x_neu.y,x_neu.x)
B_neu=-90+acos(x_neu.z)
C_neu=atan2(y_neu.z,z_neu.z)
Base_neu.X=O_neu.x
Base_neu.Y=O_neu.y
Base_neu.Z=O_neu.z
Base_neu.A=A_neu
Base_neu.B=B_neu
Base_neu.C=C_neu
RETURN Base_neu
ENDFCT
;------- Hilfsfunktionen ---------
DEFFCT REAL Skalar(r:IN,s:IN)
; berechnet das Skalarprodukt t = r * s
DECL VEKTOR3 r,s
real t
t=r.x*s.x+r.y*s.y+r.z*s.z
RETURN t
ENDFCT
DEFFCT VEKTOR3 Kreuz(r:IN,s:IN)
; berechnet das Kreuzprodukt t = r x s
DECL VEKTOR3 r,s,t
t.x=r.y*s.z-r.z*s.y
t.y=r.z*s.x-r.x*s.z
t.z=r.x*s.y-r.y*s.x
RETURN t
ENDFCT
;----- positionsvektor aus messpunkten lesen -----
DEFFCT VEKTOR3 Frame2vec(I:In)
int I
DECL VEKTOR3 r
r.x=Teil_pos[I].x
r.y=Teil_pos[I].y
r.z=Teil_pos[I].z
RETURN r
ENDFCT
; ------ vektoraddition --------
DEFFCT VEKTOR3 vec_sum(r:IN,s:IN)
; berechne Vektor t=r+s
DECL VEKTOR3 r,s,t
t.x=r.x+s.x
t.y=r.y+s.y
t.z=r.z+s.z
RETURN t
ENDFCT
; ------ vektordifferenz --------
DEFFCT VEKTOR3 vec_diff(r:IN,s:IN)
; berechne Vektor t=r-s
DECL VEKTOR3 r,s,t
t.x=r.x-s.x
t.y=r.y-s.y
t.z=r.z-s.z
RETURN t
ENDFCT
; ------ Betrag eines Vektors -------
DEFFCT REAL vec_betrag(r:IN)
DECL VEKTOR3 r
REAL betrag
betrag= sqrt( r.x*r.x+r.y*r.y+r.z*r.z)
return betrag
ENDFCT
; -------- normiere Vektor -------
DEFFCT VEKTOR3 vec_norm(r:IN)
DECL VEKTOR3 r,t
real bet_r
bet_r=vec_betrag(r)
t.x=r.x/bet_r
t.y=r.y/bet_r
t.z=r.z/bet_r
RETURN t
ENDFCT
; ----- multiplikation skalar mit vektor --------
DEFFCT VEKTOR3 mult_vec_skal(s:IN,r:in)
DECL VEKTOR3 r,t
real s
Das blaue habe ich drangehängt ..... das ganze ist die src datei.
Meine dat Datei sieht so aus
&ACCESS RVP
&REL 32
&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe
&PARAM EDITMASK = *
DEFDAT WKS_EINMESS_TISCH
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
EXT BAS (BAS_COMMAND :IN,REAL :IN )
DECL INT SUCCESS
;ENDFOLD (BASISTECH EXT)
;FOLD TOUCHSENS EXT
EXT H70 (INT :IN,SRCH_TYP_2 :OUT,E6POS :IN,SRCH_TYP_3 :IN,SRCH_TYP_2 :IN,SRCH_TYP_2 :IN,SRCH_TYP_2 :IN,SRCH_TYP_2 :IN,SRCH_TYP_2 :IN,INT :IN )
;ENDFOLD (TOUCHSENS EXT)
;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
;Make here your modifications
;ENDFOLD (USER EXT)
;ENDFOLD (EXTERNAL DECLARATIONS)
DECL BASIS_SUGG_T LAST_BASIS={POINT1[] "P16 ",POINT2[] "P16 ",CP_PARAMS[] "CPDAT9 ",PTP_PARAMS[] "PDAT1 ",CONT[] " ",CP_VEL[] "0.1 ",PTP_VEL[] "100 ",SYNC_PARAMS[] "SYNCDAT ",SPL_NAME[] "S0 "}
DECL E6POS XP1={X 1766.22205,Y 145.330002,Z 543.59729,A 0.0506402403,B -0.00144585001,C -179.974594,S 6,T 27,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP1={TOOL_NO 5,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT1={VEL 100.0,ACC 50.0,APO_DIST 100.0}
DECL TS_SUGG_T LAST_TS={CD[] "CD6 ",PA[] "PA0 ",PRF_SET[] "PF0 "}
DECL E6POS XP2={X 1596.14197,Y 178.693893,Z 855.469727,A 96.5071564,B 89.9751129,C 96.4559708,S 6,T 27,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL E6POS XP3={X 1596.14404,Y 178.694794,Z 855.120422,A 95.174942,B 89.9750595,C 95.1235962,S 6,T 27,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP2={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT1={VEL 2.0,ACC 1.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
DECL SRCH_TYP_2 VCD1={OPT 0,CAL_MODE TRUE,SRCH_OK FALSE,CAL_VAL 0.0,MES_VAL 0.0,OFFSET 0.0,TCH_RESULT_A 0.0,TCH_RESULT_B 0.0,TCH_RESULT_C 0.0,TCH_RESULT_D 0.0,TCH_RESULT_E 0.0,TCH_RESULT_F 0.0,B_X 0.0,B_Y 0.0,B_Z 0.0,W_X 0.0,W_Y 0.0,W_Z 0.0,REF_X 0.0,REF_Y 0.0,REF_Z 0.0,MES_X 0.0,MES_Y 0.0,MES_Z 0.0}
DECL SRCH_TYP_3 ZPA0={MODE 1,SECMODE 0,APO 0,DIST 1.0,VEL 1.0,TOL 10.0,RET 1}
DECL E6POS XP4={X 1694.41296,Y 194.677704,Z 854.88147,A 95.6973267,B 89.9752274,C 95.6459274,S 6,T 27,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL E6POS XP5={X 1694.41797,Y 194.678894,Z 854.485413,A 96.8262634,B 89.9755173,C 96.7747192,S 6,T 27,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP4={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT2={VEL 2.0,ACC 1.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
DECL SRCH_TYP_2 VCD2={OPT 0,CAL_MODE TRUE,SRCH_OK FALSE,CAL_VAL 0.0,MES_VAL 0.0,OFFSET 0.0,TCH_RESULT_A 0.0,TCH_RESULT_B 0.0,TCH_RESULT_C 0.0,TCH_RESULT_D 0.0,TCH_RESULT_E 0.0,TCH_RESULT_F 0.0,B_X 0.0,B_Y 0.0,B_Z 0.0,W_X 0.0,W_Y 0.0,W_Z 0.0,REF_X 0.0,REF_Y 0.0,REF_Z 0.0,MES_X 0.0,MES_Y 0.0,MES_Z 0.0}
DECL E6POS XP6={X 1694.422,Y 105.380798,Z 854.906311,A 96.2251663,B 89.9761734,C 96.1697006,S 6,T 27,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL E6POS XP7={X 1694.41895,Y 105.380501,Z 854.542175,A 97.2655411,B 89.9762268,C 97.2100906,S 6,T 27,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP6={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT3={VEL 2.0,ACC 1.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
DECL SRCH_TYP_2 VCD3={OPT 0,CAL_MODE TRUE,SRCH_OK FALSE,CAL_VAL 0.0,MES_VAL 0.0,OFFSET 0.0,TCH_RESULT_A 0.0,TCH_RESULT_B 0.0,TCH_RESULT_C 0.0,TCH_RESULT_D 0.0,TCH_RESULT_E 0.0,TCH_RESULT_F 0.0,B_X 0.0,B_Y 0.0,B_Z 0.0,W_X 0.0,W_Y 0.0,W_Z 0.0,REF_X 0.0,REF_Y 0.0,REF_Z 0.0,MES_X 0.0,MES_Y 0.0,MES_Z 0.0}
DECL E6POS XP8={X 1814.52795,Y 84.8662567,Z 522.624695,A 0.0555093214,B 0.00386258401,C -179.976593,S 6,T 27,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP8={TOOL_NO 5,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT4={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
DECL E6POS XP9={X 1693.849,Y 86.1434326,Z 847.049316,A 98.1787033,B 89.9763336,C 98.1231079,S 6,T 27,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL E6POS XP10={X 1693.84705,Y 86.4798431,Z 847.053284,A 97.6974411,B 89.9760666,C 97.6419601,S 6,T 27,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP9={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT5={VEL 2.0,ACC 1.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
DECL SRCH_TYP_2 VCD4={OPT 0,CAL_MODE TRUE,SRCH_OK FALSE,CAL_VAL 0.0,MES_VAL 0.0,OFFSET 0.0,TCH_RESULT_A 0.0,TCH_RESULT_B 0.0,TCH_RESULT_C 0.0,TCH_RESULT_D 0.0,TCH_RESULT_E 0.0,TCH_RESULT_F 0.0,B_X 0.0,B_Y 0.0,B_Z 0.0,W_X 0.0,W_Y 0.0,W_Z 0.0,REF_X 0.0,REF_Y 0.0,REF_Z 0.0,MES_X 0.0,MES_Y 0.0,MES_Z 0.0}
DECL E6POS XP11={X 1592.09595,Y 87.5279999,Z 846.932495,A 108.731499,B 89.9765472,C 108.676598,S 6,T 27,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL E6POS XP12={X 1592.09998,Y 88.0637436,Z 846.936523,A 108.3629,B 89.9768829,C 108.308197,S 6,T 27,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP11={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT6={VEL 2.0,ACC 1.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
DECL SRCH_TYP_2 VCD5={OPT 0,CAL_MODE TRUE,SRCH_OK FALSE,CAL_VAL 0.0,MES_VAL 0.0,OFFSET 0.0,TCH_RESULT_A 0.0,TCH_RESULT_B 0.0,TCH_RESULT_C 0.0,TCH_RESULT_D 0.0,TCH_RESULT_E 0.0,TCH_RESULT_F 0.0,B_X 0.0,B_Y 0.0,B_Z 0.0,W_X 0.0,W_Y 0.0,W_Z 0.0,REF_X 0.0,REF_Y 0.0,REF_Z 0.0,MES_X 0.0,MES_Y 0.0,MES_Z 0.0}
DECL E6POS XP13={X 1679.32996,Y 87.6363068,Z 513.467224,A 0.0554309711,B 0.0116463201,C -179.977997,S 6,T 27,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP13={TOOL_NO 5,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT7={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
DECL E6POS XP14={X 1561.73804,Y 124.000702,Z 846.883911,A 118.670502,B 89.9752426,C 118.614899,S 6,T 27,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL E6POS XP15={X 1562.32898,Y 123.996597,Z 846.878479,A 119.780998,B 89.9754105,C 119.725403,S 6,T 27,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP14={TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT8={VEL 2.0,ACC 1.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
DECL SRCH_TYP_2 VCD6={OPT 0,CAL_MODE TRUE,SRCH_OK FALSE,CAL_VAL 0.0,MES_VAL 0.0,OFFSET 0.0,TCH_RESULT_A 0.0,TCH_RESULT_B 0.0,TCH_RESULT_C 0.0,TCH_RESULT_D 0.0,TCH_RESULT_E 0.0,TCH_RESULT_F 0.0,B_X 0.0,B_Y 0.0,B_Z 0.0,W_X 0.0,W_Y 0.0,W_Z 0.0,REF_X 0.0,REF_Y 0.0,REF_Z 0.0,MES_X 0.0,MES_Y 0.0,MES_Z 0.0}
DECL E6POS XP16={X 1680.14795,Y 124.981796,Z 602.066284,A 0.0564037897,B 0.00976303034,C -179.977005,S 6,T 27,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP16={TOOL_NO 5,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL LDAT LCPDAT9={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR,CIRC_TYP #BASE,JERK_FAC 50.0}
;gemessene Positionen
DECL POS Teil_pos[6]
Teil_pos[1]={X 1675.125,Y 586.806396,Z 674.062195}
Teil_pos[2]={X 1696.64734,Y 587.034851,Z 600.857727}
Teil_pos[3]={X 1640.38171,Y 587.019043,Z 600.881287}
Teil_pos[4]={X 1617.61792,Y 579.482178,Z 600.852173}
Teil_pos[5]={X 1617.25745,Y 579.512268,Z 699.502869}
Teil_pos[6]={X 1651.49536,Y 579.463135,Z 727.860046}
;------ Variablen f?r KOS-Verschiebung ---------
STRUC VEKTOR3 REAL x,y,z
DECL VEKTOR3 a={x 1675.125,y 586.806396,z 674.062195}
DECL VEKTOR3 b={x 21.5223389,y 0.22845459,z -73.2044678}
DECL VEKTOR3 c={x -34.7432861,y 0.212646484,z -73.1809082}
DECL VEKTOR3 n={x -0.000279681233,y 0.999995351,z 0.0030385321}
DECL VEKTOR3 p4={x 1617.61792,y 579.482178,z 600.852173}
DECL VEKTOR3 p5={x 1617.25745,y 579.512268,z 699.502869}
DECL VEKTOR3 p6={x 1651.49536,y 579.463135,z 727.860046}
DECL VEKTOR3 f_p4={x 1617.61584,y 587.012695,z 600.875061}
DECL VEKTOR3 f_p5={x 1617.25549,y 586.71283,z 699.524719}
DECL VEKTOR3 f_p6={x 1651.49341,y 586.636292,z 727.881836}
DECL VEKTOR3 x_neu={x 0.999993205,y 0.000270151242,z 0.00365415099}
DECL VEKTOR3 y_neu={x 0.00365280034,y 0.00303966925,z -0.999988735}
DECL VEKTOR3 z_neu={x -0.000281255605,y 0.999995291,z 0.00303866179}
DECL VEKTOR3 O_neu={x 1617.15234,y 586.627014,z 727.756348}
REAL d=588.383362
REAL t_04=7.53057861
REAL t_05=7.20062256
REAL t_06=7.17321777
REAL t2_06=-28.231966
REAL A_neu=0.0154786324
REAL B_neu=-0.209373474
REAL C_neu=-89.8258972
DECL FRAME Base_neu={X 1622.17737,Y 562.673645,Z 722.701843,A 0.0154786324,B -0.209373474,C -89.8258972}
DECL FRAME Base_ws={X 1881.78894,Y 102.572769,Z 603.184937,A -127.724251,B -0.0363235474,C -0.272994876}
DECL FRAME Base_korrigiert={X 5.0,Y 5.0,Z 0,A 0.0,B 0.0,C 0.0}
ENDDAT
Die von touchsense werden gespeichert aber die mathematik wird nicht ausgeführt. Kann mir einer sagen warum
gruß
