Aktuelle Koordinaten des TCP an eine SPS senden

///ATTR SC,RW,SY
///LVARS 6,6,0,0,0,0,0,0
NOP
' ---------------------
' Sends TCP coordinates
' to SPS
' ---------------------
' Parameter Settings:
' S1C1G0208 - 1
' S1C1G0210 - 140
' S1C1G0211 - 141
' S1C1G0212 - 142
' ---------------------
' Read coordinates
' from registers
' X
GETREG LI000 MREG#(140)
' Y
GETREG LI002 MREG#(141)
' Z
GETREG LI004 MREG#(142)
' ---------------------
' Split integers
' into two bytes:
' copy to new INT:
SET LI001 LI000
SET LI003 LI002
SET LI005 LI004
' for diagnostic
' purposes store
' to INT:
SET I000 LI000
SET I001 LI002
SET I002 LI004
' Get the High Bytes:
DIV LI001 256
DIV LI003 256
DIV LI005 256
' for diagnostic
' purposes store
' to INT:
SET I003 LI001
SET I004 LI003
SET I005 LI005
' Store the High Bytes:
SET LB000 LI001
SET LB002 LI003
SET LB004 LI005
' Get Low Byte in INT
' by shifting by 256:
SET LI001 256
SET LI003 256
SET LI005 256
MUL LI001 LB000
MUL LI003 LB002
MUL LI005 LB004
' subtract high byte
' from original int:
SUB LI000 LI001
SUB LI002 LI003
SUB LI004 LI005
' only low byte remains.
' store low byte:
SET LB001 LI000
SET LB003 LI002
SET LB005 LI004
' ---------------------
' Write bytes to Output:
DOUT OG#(191) LB000
DOUT OG#(192) LB001
DOUT OG#(193) LB002
DOUT OG#(194) LB003
DOUT OG#(195) LB004
DOUT OG#(196) LB005
END