Siemens SINUMERIK 840D sl Programming Manual page 49

Program example
; home ;defined start position
N1 G0 RA1=0 RA2=-90 RA3=110 RA4=0 RA5=-20 RA6=0
N2 TRAORI ;activation of ROBX transformation for Cartesian traversing
; $P_UIFR[1]=CTRANS(X,(1767),Y,(197),Z,907):CROT(X,0,Y,0,Z,-52)
; actual value of the work offset G54 (X0,G54 ; Y0,G54)
N3 G54 ;activation of the work offset
N4 G0 A0 B0 C0
; alignment of the orientation axes orthogonally to the X,Y,Z axes of the work offset
activated in G54
N5 G0 X20 Y20 ; starting point in X,Y (pole) for measuring cycle 961
N6 G0 Z-10 ; starting point in Z for measuring cycle 961
N7 CYCLE961(30106,10001,1,134,28,-28,10,20,20,,,0,0,-52.131723,,1,10,100,1,,1,)
; determination of the zero in X,Y and the rotation of the workpiece around the Z axis
N8 G0 Z50 ; safety clearance for repositioning
N9 G0 A0 B0 C0
; alignment of the orientation axes orthogonally to the X,Y,Z axes of the work offset
activated in G54
N10 G0 X-70 Y60 ; starting point in X,Y (pole) for measuring cycle 978
N11 G0 Z20 ; starting point in Z for measuring cycle 978
N12 CYCLE978(100,10001,,1,0,30,100,3,2,1,"",,0,1.01,1.01,-1.01,0.34,1,0,,1,1)
; determination of the zero in Z
N13 G0 Z50 ; safety clearance for repositioning
N14 G0 A0 B0 C0
; alignment of the orientation axes orthogonally to the X,Y,Z axes of the work offset
activated in G54
N15 G0 X-107 Y-117 ; starting point in X,Y (pole) for measuring cycle 998
N16 G0 Z20 ; starting point in Z for measuring cycle 998
N17 CYCLE998(100106,1,,1,1,0,0,30,100,,,,103,,40,115,1,,1,)
;determination of the rotation around the X,Y axis of the workpiece with reference to MCS
N18 G0 Z50 ; safety clearance for repositioning
N19 G0 A0 B0 C0
; alignment of the orientation axes orthogonally to the X,Y,Z axes of the work offset
activated in G54
N20 G0 X-70 Y-60 ; starting point in X,Y (pole) for measuring cycle 978
SINUMERIK Run MyRobot /Direct Control
Programming Manual, 12/2018, A5E45237742B AB
6.2 Program example - measuring cycles
Examples
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