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- Copy the "Calling Program" code into a new file in Motion Composer
- Modify the axis names to reflect the axes used to create the spiral
- Save as a PGM file.
- Open scope and configure to collect the position command of the X/Y axes.
- Compile and run the file
- Change scope display mode to 2D to view the path of the X/Y axes commanded position.
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// Macro Implementation// Spiral($x,$y,$rad,$count,$speed) //$x and $y are the location of the center of the spiral. This implementation changes the radius at the 0 and 180 degree points.//the starting angle is 0 so the starting location of the X axis is offset from the circle center by the radius//$rad is the maximum radius of the spiral//$count is the number of iterations of the spiral//$speed is the velocity used along the spiral path//Comments://A critical section is used to ensure continuous motion through the "For-Next" loop. Otherwise the motion could stop during the //variable increment and test//Macro's cannot declare variables so a task variable ($task0) is used as the index variable for the loop//Change to a different task or global variable if the $task0 is used in the calling program for other purposes#MACRO Spiral($x,$y,$rad,$count,$speed) G0 X $x+$rad Y $y \ CRITICAL START 600 \ for $task0=$count To 1 STEP -1 \ G2 P0 Q180 R $task0*$rad/$count \ G2 P180 Q0 R ($task0-0.5)*$rad/$count \ next $task0 \ CRITICAL END \ //END |
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