|
|
(20).将"初始移动"事件下的G0 G90 G(54~59) X Y A C S M3行复制到"第一次移动"事件下的PB_CMD_calc_g54行下面。
(21).在"初始移动"事件下的G0 G90 G(54~59) X Y A C S M3行下面添加G0 G90 G(54~59) 文本元素1 文本元素2 A C S M3行,
将文本元素1内容改成X$sx，将文本元素2内容改成Y$sy，
添加输出条件PB__CMD_check_block_initial_move_1，编辑TCL代码如下:
global dpp_path_type
global e1 e2 e3 d1 d2 d3 vx vy vz rad_a rad_c
global w1 w2 w3 s s1 s2 s3 s4 sx sy sz
global mom_pos mom_out_angle_pos
if {![string compare "5X" $dpp_path_type]} {
set rad_a [expr $mom_out_angle_pos(0)*0.01745329252]
set rad_c [expr $mom_out_angle_pos(1)*0.01745329252]
#******************计算刀尖跟随Xrtcp**********************
set e1 [expr cos($rad_c)-1.0]
set e2 [expr sin($rad_c)]
#变量d1,d2精确到小数点后6位，变量vx精确到小数点后3位
set d1 [expr round($e1*1000000.0)/1000000.0]
set d2 [expr round($e2*1000000.0)/1000000.0]
set vx [expr round($mom_pos(0)*1000.0)/1000.0]
#将变量d1转换成字符串s1，并且去除末尾多余0
set w1 [format "%.6f" $d1]
if {![string compare "-1.000000" $w1]} {
set s1 "-#101"
} elseif {![string compare "1.000000" $w1]} {
set s1 "#101"
} else {
if {[string index $w1 end-0] == "0"} {
if {[string index $w1 end-1] == "0"} {
if {[string index $w1 end-2] == "0"} {
if {[string index $w1 end-3] == "0"} {
if {[string index $w1 end-4] == "0"} {
if {[string index $w1 end-5] == "0"} {
set w1 [format "%d." [expr round($d1)]]
} else {
set w1 [format "%.1f" $d1]
}
} else {
set w1 [format "%.2f" $d1]
}
} else {
set w1 [format "%.3f" $d1]
}
} else {
set w1 [format "%.4f" $d1]
}
} else {
set w1 [format "%.5f" $d1]
}
}
if {$d1 != 0.0} {
set s1 [format "%s*#101" $w1]
} else {
set s1 "NONE"
}
}
#将变量d2转换成字符串s2，并且去除末尾多余0
set w2 [format "%.6f" $d2]
if {![string compare "-1.000000" $w2]} {
set s2 "-#102"
} elseif {![string compare "1.000000" $w2]} {
set s2 "+#102"
} else {
if {[string index $w2 end-0] == "0"} {
if {[string index $w2 end-1] == "0"} {
if {[string index $w2 end-2] == "0"} {
if {[string index $w2 end-3] == "0"} {
if {[string index $w2 end-4] == "0"} {
if {[string index $w2 end-5] == "0"} {
set w2 [format "%d." [expr round($d2)]]
} else {
set w2 [format "%.1f" $d2]
}
} else {
set w2 [format "%.2f" $d2]
}
} else {
set w2 [format "%.3f" $d2]
}
} else {
set w2 [format "%.4f" $d2]
}
} else {
set w2 [format "%.5f" $d2]
}
}
if {$d2 > 0.0} {
set s2 [format "+%s*#102" $w2]
} elseif {$d2 < 0.0} {
set s2 [format "%s*#102" $w2]
} else {
set s2 "NONE"
}
}
#将变量vx转换成字符串s4，并且去除末尾多余0
set w4 [format "%.3f" $vx]
if {[string index $w4 end-0] == "0"} {
if {[string index $w4 end-1] == "0"} {
if {[string index $w4 end-2] == "0"} {
set w4 [format "%d." [expr round($vx)]]
} else {
set w4 [format "%.1f" $vx]
}
} else {
set w4 [format "%.2f" $vx]
}
}
}
if {$vx > 0.0} {
set s4 [format "+%s" $w4]
} elseif {$vx < 0.0} {
set s4 [format "%s" $w4]
} else {
set s4 "NONE"
}
#格式化字符串s，保存到变量sx中，用于输出
if {[string compare "NONE" $s1] && ![string compare "NONE" $s2]} {
set s $s1
} elseif {![string compare "NONE" $s1] && [string compare "NONE" $s2]} {
set s $s2
} elseif {[string compare "NONE" $s1] && [string compare "NONE" $s2]} {
set s [format "%s%s" $s1 $s2]
} else {
set s "NONE"
}
if {[string compare "NONE" $s] && [string compare "NONE" $s4]} {
set sx [format "\[%s%s\]" $s $s4]
} elseif {![string compare "NONE" $s] && [string compare "NONE" $s4]} {
set sx $s4
} elseif {[string compare "NONE" $s] && ![string compare "NONE" $s4]} {
set sx [format "\[%s\]" $s]
} else {
set sx "0."
}
#******************计算刀尖跟随Yrtcp***************************
set e1 [expr cos($rad_a)*cos($rad_c)-1.0]
set e2 [expr -1.0*cos($rad_a)*sin($rad_c)]
set e3 [expr sin($rad_a)]
set d1 [expr round($e1*1000000.0)/1000000.0]
set d2 [expr round($e2*1000000.0)/1000000.0]
set d3 [expr round($e3*1000000.0)/1000000.0]
set vy [expr round($mom_pos(1)*10000.0)/10000.0]
set w1 [format "%.6f" $d1]
if {![string compare "-1.000000" $w1]} {
set s1 "-#102"
} elseif {![string compare "1.000000" $w1]} {
set s1 "#102"
} else {
if {[string index $w1 end-0] == "0"} {
if {[string index $w1 end-1] == "0"} {
if {[string index $w1 end-2] == "0"} {
if {[string index $w1 end-3] == "0"} {
if {[string index $w1 end-4] == "0"} {
if {[string index $w1 end-5] == "0"} {
set w1 [format "%d." [expr round($d1)]]
} else {
set w1 [format "%.1f" $d1]
}
} else {
set w1 [format "%.2f" $d1]
}
} else {
set w1 [format "%.3f" $d1]
}
} else {
set w1 [format "%.4f" $d1]
}
} else {
set w1 [format "%.5f" $d1]
}
}
if {$d1 != 0.0} {
set s1 [format "%s*#102" $w1]
} else {
set s1 "NONE"
}
}
set w2 [format "%.6f" $d2]
if {![string compare "-1.000000" $w2]} {
set s2 "-#101"
} elseif {![string compare "1.000000" $w2]} {
set s2 "+#101"
} else {
if {[string index $w2 end-0] == "0"} {
if {[string index $w2 end-1] == "0"} {
if {[string index $w2 end-2] == "0"} {
if {[string index $w2 end-3] == "0"} {
if {[string index $w2 end-4] == "0"} {
if {[string index $w2 end-5] == "0"} {
set w2 [format "%d." [expr round($d2)]]
} else {
set w2 [format "%.1f" $d2]
}
} else {
set w2 [format "%.2f" $d2]
}
} else {
set w2 [format "%.3f" $d2]
}
} else {
set w2 [format "%.4f" $d2]
}
} else {
set w2 [format "%.5f" $d2]
}
}
if {$d2 > 0.0} {
set s2 [format "+%s*#101" $w2]
} elseif {$d2 < 0.0} {
set s2 [format "%s*#101" $w2]
} else {
set s2 "NONE"
}
}
未完待续。。。。。
|
|
发表于