ScaraRobot_SM.mc

 
#include <SysDef.mh>
 
//Define encoder simulation or real motors on a MiniMACS6  → The file "Motors\Maxon_XYZ.mc" must be adapted before start
#define MINIMACS6_MOTORS        1
#define SIMULATION              2
 
#define MACHINE                 SIMULATION
 
 
#include "include\UserInterface.mh"
 
 
#include "include\MachineSpecification.mh"
 
 
#include "include\Global_Variables.mh"
 
 
#include "include\General_Functions.mc"
#include "include\AxisSetup.mc"
 
/*
** Load the path arrays from the ".zbc" configuration file.
*/
#config "include\scara_Show.zbc", CONFIGFLG_DIM
 
 
#include "include\StateMachine_Main.mc"
 
 
long main(void)
{
    /*
    ** Start by clearing any previous errors.
    */
    ErrorClear();
 
    /*
    ** Initialize the user parameters.  These are used to communicate
    ** with the Monitor dialog.
    */
    UserParamInit();
 
    /*
    ** Start the state machine.
    */
    print("Starting...");
 
    SmRun(Scara);
 
    print("Done.");
 
    return(0);
}//$X {Actual Pos.,1,1,0,-1,0,-1,0,(-1),-1},0x6064,0,0
//$X {Actual Pos.,1,1,0,-1,0,-1,0,(-1),-1},0x6864,0,0
//$X {Actual Pos.,1,1,0,-1,0,-1,0,(-1),-1},0x7064,0,0