MITSU DRAW

Rem ****** ******
Rem MITSU DRAW
Rem
Rem ****** ******
Rem
Rem Set the joint interpolation operation
Rem to 50 percent of the maximum speed
JOvrd 50
Rem
Rem joint interpolation,
Rem linear interpolation and
Rem circular interpolation to 50 percent
Rem of the maximum speed
Ovrd 50
Rem
Rem Set the linear interpolation and
Rem circular interpolation speed to 30mm/s
Spd 30
Rem
Rem
Rem variables for task “MITSU DRAW”
Def Pos PHome, PA, PB, PC, PD, HSafe, PMID, M1, M2, M3, M4, M5, M6, M7
Def Float Radius
Rem
Rem Initial values for task “MITSU DRAW”
PHome = (+140.00,+0.00,+425.00,-179.00,+0.20,-179.00,+0.00,+0.00)(7,0)
PA = (+140.00,-80.00,+375.00,-179.00,+0.20,-179.00,+0.00,+0.00)(7,0)
PB = PA + (+0.00,+200.00,+0.00)
PC = PA + (+260.00,+200.00,+0.00)
PD = PA + (+260.00,+0.00, +0.00)
Rem
Rem PMID = PA + ((PD.X – PA.X)/2.0, (PB.Y – PA.Y)/2.0, 0)
PMID = PA
PMID.X = (PA.X + PD.X)/2.0
PMID.Y = (PA.Y + PB.Y)/2.0
Radius = (PB.Y – PA.Y)/2.0
Rem
M1 = PMID
M2 = PMID
M3 = PMID
M4 = PMID
M1.Y = PMID.Y + Radius
M3.Y = PMID.Y – Radius
M2.X = PMID.X – Radius
M4.X = PMID.X + Radius
M5 = PMID
M6 = PMID
M5.X = PMID.X – Radius * Sin(Rad(30))
M6.X = PMID.X – Radius * Sin(Rad(30))
M5.Y = PMID.Y + Radius * Sin(Rad(60))
M6.Y = PMID.Y – Radius * Sin(Rad(60))
M7 = M5
M7.X = M5.X + Radius
Rem
HSafe = ( +0.00,+0.00,+30.00)
Rem
*bgn
Mov PHome
M_Out(4) = 1
M_Out(5) = 0
Wait M_In(3) = 1
M_Out(4) = 0
M_Out(5) = 1
Rem !Mvs PA + HSafe
Rem !Mvs PA
Rem !Mvs PB
Rem !Mvs PC
Rem !Mvs PD
Rem !Mvs PA
Mvs M7 + HSafe + HSafe
Mvs M7
Mvr M7, PMID, M5
Mvs M5 + HSafe + HSafe
Mvs M2 + HSafe + HSafe
Mvs M2
Rem Mvr start point, middle point, end point
Mvr M2, M1, M4
Mvr M4, M3, M2
Mvs M2 + HSafe + HSafe
Mvs M5 + HSafe + HSafe
Mvs M5 + HSafe
Mvs M5
Mvr M5, PMID, M6
Mvs M6 + HSafe + HSafe
M_Out(4) = 1
M_Out(5) = 0
Wait M_In(3) = 1
Mov PHome
Rem !Mvs PMID + HSafe + HSafe
Rem !Wait M_In(3) = 1
Rem !Mvs M1 + HSafe + HSafe
Rem !Wait M_In(3) = 1
Rem !Mvs M2 + HSafe + HSafe
Rem !Wait M_In(3) = 1
Rem !Mvs M3 + HSafe + HSafe
Rem !Wait M_In(3) = 1
Rem !Mvs M4 + HSafe + HSafe
Rem !Wait M_In(3) = 1
Rem !Mvs PA + HSafe + HSafe
M_Out(4) = 0
Rem
Rem Wait M_In(3) = 1
GoTo *bgn
End