BEGIN PGM COMP_BROT MM
FN 10: IF +Q312 NE +4 GOTO LBL 30
; ****** A-Achse ******
L IA+Q50 R0 FQ59
FN 9: IF +Q337 EQU +0 GOTO LBL 199
FN 11: IF +Q305 GT +0 GOTO LBL 40
FN 18: SYSREAD Q6 = ID 270 NR 1 IDX 4
Q6 = Q6 % 360
FN 22: FUNCT Q1 FNR830 PIN2 PIN4 PEX+Q6 PEX+0 ; Preset setzen
FN 9: IF +0 EQU +0 GOTO LBL 199
LBL 40
FN 9: IF +Q303 EQU +0 GOTO LBL 50
FN 18: SYSREAD Q6 = ID 240 NR 1 IDX 4
Q6 = Q6 % 360
FN 17: SYSWRITE ID 508 NR Q305 IDX 4 = +Q6 ; A-OFFS beschreiben
FN 9: IF +0 EQU +0 GOTO LBL 199
LBL 50
Q6 = Q6 % 360
FN 17: SYSWRITE ID 500 NRQ305 IDX4 = +Q6
FN 9: IF +0 EQU +0 GOTO LBL 199
LBL 30
FN 10: IF +Q312 NE +5 GOTO LBL 31
; ****** B-Achse ******
L IB+Q50 R0 FQ59
FN 9: IF +Q337 EQU +0 GOTO LBL 199
FN 11: IF +Q305 GT +0 GOTO LBL 41
FN 18: SYSREAD Q6 = ID 270 NR 1 IDX 5
Q6 = Q6 % 360
FN 22: FUNCT Q1 FNR830 PIN2 PIN5 PEX+Q6 PEX+0 ; Preset setzen
FN 9: IF +0 EQU +0 GOTO LBL 199
LBL 41
FN 9: IF +Q303 EQU +0 GOTO LBL 51
FN 18: SYSREAD Q6 = ID 240 NR 1 IDX 5
Q6 = Q6 % 360
FN 17: SYSWRITE ID 508 NR Q305 IDX 5 = +Q6 ; B-OFFS beschreiben
FN 9: IF +0 EQU +0 GOTO LBL 199
LBL 51
Q6 = Q6 % 360
FN 17: SYSWRITE ID 500 NRQ305 IDX5 = +Q6
FN 9: IF +0 EQU +0 GOTO LBL 199
LBL 31
FN 10: IF +Q312 NE +6 GOTO LBL 32
; ****** C-Achse ******
L IC+Q50 R0 FQ59
FN 9: IF +Q337 EQU +0 GOTO LBL 199
FN 11: IF +Q305 GT +0 GOTO LBL 42
FN 18: SYSREAD Q6 = ID 270 NR 1 IDX 6
Q6 = Q6 % 360
FN 22: FUNCT Q1 FNR830 PIN2 PIN6 PEX+Q6 PEX+0 ; Preset setzen
FN 9: IF +0 EQU +0 GOTO LBL 199
LBL 42
FN 9: IF +Q303 EQU +0 GOTO LBL 52
FN 18: SYSREAD Q6 = ID 240 NR 1 IDX 6
Q6 = Q6 % 360
FN 17: SYSWRITE ID 508 NR Q305 IDX 6 = +Q6 ; C-OFFS beschreiben
FN 9: IF +0 EQU +0 GOTO LBL 199
LBL 52
Q6 = Q6 % 360
FN 17: SYSWRITE ID 500 NRQ305 IDX6 = +Q6
FN 9: IF +0 EQU +0 GOTO LBL 199
LBL 32
FN 14: ERROR= 1019 ; Keine Drehachse definiert
LBL 199
END PGM COMP_BROT MM
