0  BEGIN PGM 40201_FR MM 
1  ;Programme qui permet de calculer la
2  ;trajectoire et de la parcourir pour
3  ;usiner une surface réglée 3D en cinq
4  ;axes.
5  FUNCTION TCPM F CONT AXIS SPAT PATHCTRL VECTOR
6  L  A+Q1016  B+Q1013  C+0 R0 FQ28 M3
7  L  Z+Q25 R0 FQ28
8  CALL LBL 1
9  CALL LBL 2
10 FN 9: IF +0 EQU +0 GOTO LBL 20
11 LBL 1 ;VALEURS DE DEPART
12 FN 0: Q30 =+0
13 FN 4: Q46 =+Q26 DIV +Q29
14 FN 0: Q31 =+Q1
15 FN 0: Q32 =+Q2
16 FN 1: Q33 =+Q3 + +Q23
17 FN 0: Q34 =+Q4
18 FN 0: Q35 =+Q5
19 FN 1: Q36 =+Q6 + +Q23
20 FN 1: Q37 =+Q33 + +Q24
21 FN 1: Q38 =+Q36 + +Q24
22 FN 0: Q39 =+Q1013
23 FN 1: Q61 =+Q3 + +Q23
24 FN 1: Q65 =+Q61 + +Q24
25 FN 1: Q62 =+Q6 + +Q23
26 FN 1: Q66 =+Q62 + +Q24
27 FN 1: Q63 =+Q9 + +Q23
28 FN 1: Q67 =+Q63 + +Q24
29 FN 1: Q64 =+Q12 + +Q23
30 FN 1: Q68 =+Q64 + +Q24
31 LBL 0
32 LBL 2 ;VALEURS DELTA
33 FN 2: Q51 =+Q10 - +Q1
34 FN 4: Q51 =+Q51 DIV +Q46
35 FN 2: Q52 =+Q11 - +Q2
36 FN 4: Q52 =+Q52 DIV +Q46
37 FN 2: Q53 =+Q12 - +Q3
38 FN 4: Q53 =+Q53 DIV +Q46
39 FN 2: Q54 =+Q7 - +Q4
40 FN 4: Q54 =+Q54 DIV +Q46
41 FN 2: Q55 =+Q8 - +Q5
42 FN 4: Q55 =+Q55 DIV +Q46
43 FN 2: Q56 =+Q9 - +Q6
44 FN 4: Q56 =+Q56 DIV +Q46
45 FN 0: Q43 =+Q1013
46 FN 12: IF +Q1013 LT +180 GOTO LBL 13
47 FN 2: Q43 =+Q1013 - +360
48 LBL 13
49 FN 0: Q45 =+Q1015
50 FN 12: IF +Q1015 LT +180 GOTO LBL 15
51 FN 2: Q45 =+Q1015 - +360
52 LBL 15
53 FN 2: Q50 =+Q45 - +Q43
54 FN 4: Q50 =+Q50 DIV +Q46
55 FN 0: Q40 =+Q21
56 FN 0: Q41 =+Q21
57 FN 8: Q47 =+Q54 LEN +Q55
58 FN 8: Q42 =+Q51 LEN +Q52
59 FN 1: Q42 =+Q42 + +Q47
60 FN 4: Q42 =+Q108 DIV +Q42
61 FN 3: Q42 =+Q42 * +4
62 FN 3: Q42 =+Q21 * +Q42
63 FN 4: Q42 =+Q42 DIV +2
64 FN 0: Q43 =+Q21
65 LBL 0
66 LBL 3 ;ACTUALISATION
67 FN 1: Q30 =+Q30 + +Q29
68 FN 1: Q31 =+Q31 + +Q51
69 FN 1: Q32 =+Q32 + +Q52
70 FN 1: Q33 =+Q33 + +Q53
71 FN 1: Q34 =+Q34 + +Q54
72 FN 1: Q35 =+Q35 + +Q55
73 FN 1: Q36 =+Q36 + +Q56
74 FN 1: Q37 =+Q33 + +Q108
75 FN 1: Q37 =+Q37 + +Q24
76 FN 1: Q38 =+Q36 + +Q108
77 FN 1: Q38 =+Q38 + +Q24
78 FN 0: Q40 =+Q42
79 FN 1: Q39 =+Q39 + +Q50
80 LBL 0
81 LBL 20
82 L  X+Q1  Y+Q2  A+Q1016  B+Q1013 R0 FQ28
83 L  Z+Q25 R0 FQ42
84 L  X+Q31  Y+Q32  Z+Q33 R0 FQ20
85 L  X+Q34  Y+Q35  Z+Q36  A+Q1014  B+Q1013 R0 FQ21
86 L  X+Q34  Y+Q35  Z+Q38 R0 FQ20
87 L  X+Q31  Y+Q32  Z+Q37  A+Q1016  B+Q1013 R0 FQ21
88 LBL 10
89 CALL LBL 3
90 L  X+Q31  Y+Q32  Z+Q33  A+Q1016  B+Q39 R0 FQ22
91 L  X+Q34  Y+Q35  Z+Q36  A+Q1014  B+Q39 R0 FQ40
92 FN 9: IF +Q30 EQU +Q26 GOTO LBL 99
93 FN 11: IF +Q30 GT +Q26 GOTO LBL 99
94 L
95 L  X+Q34  Y+Q35  Z+Q38  A+Q1014  B+Q39 R0 FQ27
96 L  X+Q31  Y+Q32  Z+Q37  A+Q1016  B+Q39 R0 FQ28
97 L  X+Q31  Y+Q32  Z+Q33  A+Q1016  B+Q39 R0 FQ42
98 FN 9: IF +Q30 EQU +Q26 GOTO LBL 10
99 FN 12: IF +Q30 LT +Q26 GOTO LBL 10
100 LBL 99
101 L  Z+Q25  A+0  B+0  C+0 R0 FQ28
102 FUNCTION RESET TCPM
103 END PGM 40201_FR MM