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Example of a granular pyramid form,
 aka 'square vector orbit' CCW path

As each motion is completed, an inverse of that motion is placed on a 'reverse path stack'.

This long winded list of the code shows a path aborted in N190, and an 'all clear' signal in N120

break out the quadrule paper and pencils and watch it... </pre>

the original program's N numbers are used for reference
 Original Pgm                      Retract Pgm (abort was in N190)   Return Pgm ( all clear in N120 )  Continued Pgm
 N010 G90                          N999 G90                          N998 G90                          N010 G90
 N020 G00 X 0.000 Y 0.000 Z 0.000  N180 G01 X 0.020 Y 0.000 Z-0.020  N130 G01 X-0.010 Y-0.020 Z-0.020  N190 G01 X 0.020 Y 0.010 Z-0.020
 N030 G01 X 0.010 Y 0.010 Z-0.010  N170 G01 X 0.020 Y-0.010 Z-0.020  N140 G01 X 0.000 Y-0.020 Z-0.020  N200 G01 X 0.020 Y 0.020 Z-0.020
 N040 G01 X 0.020 Y 0.020 Z-0.020  N160 G01 X 0.020 Y-0.020 Z-0.020  N150 G01 X 0.010 Y-0.020 Z-0.020  N210 G01 X 0.010 Y 0.010 Z-0.010
 N050 G01 X 0.010 Y 0.020 Z-0.020  N150 G01 X 0.010 Y-0.020 Z-0.020  N160 G01 X 0.020 Y-0.020 Z-0.020  N220 G01 X 0.000 Y 0.000 Z 0.000
 N060 G01 X 0.000 Y 0.020 Z-0.020  N140 G01 X 0.000 Y-0.020 Z-0.020  N170 G01 X 0.020 Y-0.010 Z-0.020  N230 M02
 N070 G01 X-0.010 Y 0.020 Z-0.020  N130 G01 X-0.010 Y-0.020 Z-0.020  N180 G01 X 0.020 Y 0.000 Z-0.020
 N080 G01 X-0.020 Y 0.020 Z-0.020  N120 G01 X-0.020 Y-0.020 Z-0.020  N190 M02
                                   process becomes ok in N120
 N090 G01 X-0.020 Y 0.010 Z-0.020  N110 G01 X-0.020 Y-0.010 Z-0.020  we're back at N190, 
 N100 G01 X-0.020 Y 0.000 Z-0.020  N100 G01 X-0.020 Y 0.000 Z-0.020  The 'run mark is set to N190
 N110 G01 X-0.020 Y-0.010 Z-0.020  N090 G01 X-0.020 Y 0.010 Z-0.020  in original program and 
 N120 G01 X-0.020 Y-0.020 Z-0.020  N080 G01 X-0.020 Y 0.020 Z-0.020  we run the original next.
 N130 G01 X-0.010 Y-0.020 Z-0.020  N070 G01 X-0.010 Y 0.020 Z-0.020
 N140 G01 X 0.000 Y-0.020 Z-0.020  N060 G01 X 0.000 Y 0.020 Z-0.020
 N150 G01 X 0.010 Y-0.020 Z-0.020  N050 G01 X 0.010 Y 0.020 Z-0.020
 N160 G01 X 0.020 Y-0.020 Z-0.020  N040 G01 X 0.020 Y 0.020 Z-0.020
 N170 G01 X 0.020 Y-0.010 Z-0.020  N030 G01 X 0.010 Y 0.010 Z-0.010
 N180 G01 X 0.020 Y 0.000 Z-0.020  N020 G01 X 0.000 Y 0.000 Z 0.000
 N190 G01 X 0.020 Y 0.010 Z-0.020  N010 M02
 a bad process causes ABORT in N190
 N200 G01 X 0.020 Y 0.020 Z-0.020  
 N210 G01 X 0.010 Y 0.010 Z-0.010
 N220 G01 X 0.000 Y 0.000 Z 0.000
 N230 M02
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upload:emcedm01s.jpg upload:emcedm02s.jpg upload:emcedm03s.jpg upload:emcedm04s.jpg
_Original__Pgm__Retract____Pgm__Return____Pgm__Continue__Orig_

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Edited March 9, 2006 10:30 pm by Tomp-Tag (diff)
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