Ver el código de «Programa para crear la alineación de la MMC Arm2 (Cliente) en la configuración de doble brazo»

== Description ==
This program is used to establish a new software alignment in a dual arm configuration.<br />
The current software alignment, if present, will be wiped and overwritten with the new one.<br />
The program runs in MAN mode, it is necessary to [[assign]] the [[variables]] to define the probe name and the sphere diameter.<br />
This program runs together the [[Program to Create the Alignment of Arm1 (Server) CMM in Dual Arm Configuration|relative Arm1 (Server) program]] which shall be started prior startthe Arm2 (Client) program.<br />

== Variables to be Assigned ==
In order to have the program run it is necessary to assign the following variables:<br />

<code>PROBE_NAME=ASSIGN/'P1_0_0P0_0'</code>  Name of the probe<br />
<code>DIAMETER=ASSIGN/25</code> Diameter of the sphere   <br />

== Program ==

<code>

DECL/CHAR,100,STR1,STR2,STR3,STR4<br />
STR1=ASSIGN/'THIS PROGRAM WILL WIPE THE CURRENT DUAL ARM ALIGNMENT!!!!'<br />
STR2=ASSIGN/'ARE YOU SURE YOU WANT TO CONTINUE? '<br />
STR3=ASSIGN/' THE OPERATION HAVE NO UNDO!!!  1- YES OTHER - NO'<br />
STR4=ASSIGN/CONCAT(STR1,CHR(10),CHR(10),STR2,CHR(10),CHR(10),STR3)<br />
TEXT/QUERY,(AN_QUERY),40,AN,L,STR4<br />

IF/(AN_QUERY.EQ.1)<br />
	JUMPTO/(RUN)<br />
ELSE<br />
	JUMPTO/(FINISH)<br />
ENDIF<br />


(RUN)<br />
	STR1=ASSIGN/'THE SENSOR MOUNT SHALL BE SET AS PER THE SINGLE ARM CONGURATION.'<br />
	STR2=ASSIGN/'IF IT HAS BEEN DONE YOU CAN CONTINUE.'<br />
	STR3=ASSIGN/'OK TO CONINUE?  1- YES OTHER - NO'<br />
	STR4=ASSIGN/CONCAT(STR1,CHR(10),CHR(10),STR2,CHR(10),CHR(10),STR3)<br />
	TEXT/QUERY,(AN_QUERY),40,AN,L,STR4<br />
	
	IF/(AN_QUERY.NE.1)<br />
		JUMPTO/(FINISH)<br />
	ENDIF<br />

	
DECL/DOUBLE,DIAMETER<br />
DECL/CHAR,100,PROBE_NAME<br />
PROBE_NAME=ASSIGN/'P1_0_0P0_0'<br />
DIAMETER=ASSIGN/25<br />


SNSLCT/SA(@PROBE_NAME)<br />

SETMACREF/INIT<br />
RECALL/D(MAC)<br />

TEXT/MAN,'Measure sphere 1'<br />
F(ARM2_SPH_1)=FEAT/SPHERE,OUTER,CART,0,0,0,DIAMETER<br />
MEAS/SPHERE,F(ARM2_SPH_1),5<br />
ENDMES<br />

TEXT/MAN,'Measure sphere 2'<br />
F(ARM2_SPH_2)=FEAT/SPHERE,OUTER,CART,0,0,0,DIAMETER<br />
MEAS/SPHERE,F(ARM2_SPH_2),5<br />
ENDMES<br />

TEXT/MAN,'Measure sphere 3'<br />
F(ARM2_SPH_3)=FEAT/SPHERE,OUTER,CART,0,0,0,DIAMETER<br />
MEAS/SPHERE,F(ARM2_SPH_3),5<br />
ENDMES<br />

TEXT/MAN,'Measure sphere 4'<br />
F(ARM2_SPH_4)=FEAT/SPHERE,OUTER,CART,0,0,0,DIAMETER<br />
MEAS/SPHERE,F(ARM2_SPH_4),5<br />
ENDMES<br />

RECALL/D(MAC)<br />

DELETE/F(ARM1_SPH_1)<br />
DELETE/F(ARM1_SPH_2)<br />
DELETE/F(ARM1_SPH_3)<br />
DELETE/F(ARM1_SPH_4)<br />

USE/F(ARM1_SPH_1)<br />
USE/F(ARM1_SPH_2)<br />
USE/F(ARM1_SPH_3)<br />
USE/F(ARM1_SPH_4)<br />

DECL/DOUBLE,XX,YY,ZZ<br />
XX=OBTAIN/F(ARM1_SPH_1),4<br />
YY=OBTAIN/F(ARM1_SPH_1),5<br />
ZZ=OBTAIN/F(ARM1_SPH_1),6<br />
F(ARM2_SPH_1)=FEAT/SPHERE,OUTER,CART,XX,YY,ZZ,DIAMETER<br />
XX=OBTAIN/F(ARM1_SPH_2),4<br />
YY=OBTAIN/F(ARM1_SPH_2),5<br />
ZZ=OBTAIN/F(ARM1_SPH_2),6<br />
F(ARM2_SPH_2)=FEAT/SPHERE,OUTER,CART,XX,YY,ZZ,DIAMETER<br />

XX=OBTAIN/F(ARM1_SPH_3),4<br />
YY=OBTAIN/F(ARM1_SPH_3),5<br />
ZZ=OBTAIN/F(ARM1_SPH_3),6<br />
F(ARM2_SPH_3)=FEAT/SPHERE,OUTER,CART,XX,YY,ZZ,DIAMETER<br />

XX=OBTAIN/F(ARM1_SPH_4),4<br />
YY=OBTAIN/F(ARM1_SPH_4),5<br />
ZZ=OBTAIN/F(ARM1_SPH_4),6<br />
F(ARM2_SPH_4)=FEAT/SPHERE,OUTER,CART,XX,YY,ZZ,DIAMETER<br />
D(ARM2_DUAL_ALIGNMENT) = LOCATE/FA(ARM2_SPH_1),FA(ARM2_SPH_2),FA(ARM2_SPH_3),FA(ARM2_SPH_4)<br />

SETMACREF/ROTATE,D(ARM2_DUAL_ALIGNMENT)<br />
SETMACREF/TRANS,D(ARM2_DUAL_ALIGNMENT)<br />

DID(C3TRMATX)=DEVICE/STOR,'C:\METROSTAFF\ARCOCAD INSPECTION\DEFAULT\DUAL ARM - ARM 2 - ALIGNMENT.PCS'<br />
OPEN/DID(C3TRMATX),PCS<br />
SAVE/D(ARM2_DUAL_ALIGNMENT),DID(C3TRMATX)<br />
CLOSE/DID(C3TRMATX)<br />

STR1=ASSIGN/'THE SENSOR MOUNT NOW SHALL BE SET AS PER THE DUAL CONGURATION.'<br />
STR2=ASSIGN/'IF YOU WILL NOT DO THEN THE ALIGNMENT WILL NOT WORK.'<br />
STR3=ASSIGN/'ALSO REMEMBER TO RUN NOW THE ORIG SYNCHRONIZATION PROGRAM'<br />
STR4=ASSIGN/CONCAT(STR1,CHR(10),CHR(10),STR2,CHR(10),CHR(10),STR3)<br />
TEXT/QUERY,(AN_QUERY),40,AN,L,STR4<br />

(FINISH)<br />
ENDFIL<br />
</code>


[[it:Programma per Creare l'allineamento del braccio slave in configurazione Dual Arm]]
[[zh-cn:用于在双臂配置中创建Arm2（客户端）CMM对齐的程序]]
[[pt:Programa para Criar o Alinhamento do Arm2 (Cliente) CMM na Configuração de Braço Duplo]]
[[de:Programm zum Erstellen der Ausrichtung von Arm2 (Client) CMM in Dual-Arm-Konfiguration]]
[[es:Programa para crear la alineación de la MMC Arm2 (Cliente) en la configuración de doble brazo]]
[[en:Program to Create the Alignment of Arm2 (Client) CMM in Dual Arm Configuration]]