Siemens SINUMERIK 840D sl Programming Manual page 229

;Measure kinematics
;Mixed kinematics with a B axis around Y and C axis around Z (MIXED_BC).
;Calibration sphere at 2*45 degrees, directly mounted on a table.
;WO in G56. Only the position of the calibration sphere
;has to be specified in the initial state of the kinematics (B=0 C=0).
;Determine G56 with measuring spigot in the JOG mode and approach in XY,
;then set sphere north pole Z=0.
;Swivel data must be entered according to the machine drawing dimensions -> _SDA _SDE.
;Intermediate positions are approached with active TRAORI.
;To do this, using the online tool offset TOFFL, the TCP
;is shifted to the center of the measuring sphere.
;Measuring positions for MIXED_BC
;P1 .. P3 rotary axis 1
;P4 .. P6 rotary axis 2
DEF REAL _P1[2]=SET(0,0) ;Measuring point P1 rotary axis 1(B), rotary axis 2(C)
DEF REAL _P2[2]=SET(45,0)
DEF REAL _P3[2]=SET(-45,0)
DEF REAL _P4[2]=SET(0,0)
DEF REAL _P5[2]=SET(0,90)
DEF REAL _P6[2]=SET(0,180)
DEF REAL _BALL=25 ;Calibration sphere diameter
DEF REAL _SAVB=1 ;Safety clearance above the calibration sphere
DEF REAL _U_FA, _U_TSA
;Pre-assign measuring parameters
_U_FA=_SAVB*3
_U_TSA=_SAVB*4
REPEAT _SDA _SDE ;Read-in swivel data set
MSG(" load transformation data. OK ?? ")
M0
STOPRE
MSG()
;GOTOF _MCA ;Only calculate kinematics _OVR[40] to _OVR[71] OK
G17
CYCLE800()
ORIAXES ORIMKS
TRAORI
G56
T="3D-TASTER" D1
M6
IF (NOT $P_SEARCH) AND (NOT $P_ISTEST) AND (NOT $P_SIM)
_OVR[40]=0 ;Zero the measuring counter
ENDIF
Measuring cycles
Programming Manual, 12/2017, 6FC5398-4BP40-6BA1
Measuring variants
3.3 Measure workpiece (milling)
229