REFP — taught nominal points
$PX002 — detected (probe hits)
delta vectors per axis
found origin (LP001 final)
nominal pose ghost (taught)
actual workpiece (offset)
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3-search origin finder · v2 X-ORG → Y-ORG → Z-ORG with SFTON shift accumulation

Workpiece offset

Run

Idle — workpiece offset set, press Run

Accumulating shift (LP001)

after X-ORG— —
after Y-ORG— —
after Z-ORG— —
found origin— not yet —

INFORM execution

SFTOF
' === X-ORG ===
REFP 1 C00002
MOVL C00003 SRCH RIN#(1)=ON DIS=100
GETS LPX001 $PX002
SUB LPX001 $PX011 ' delta X
SETE LP001 (1) LD010
SFTON LP001 UF#(15) ' shift = (dX,0,0)
' === Y-ORG (approach uses X-shift) ===
REFP 1 C00007
MOVL C00008 SRCH RIN#(1)=ON DIS=100
SFTOF ' raw read
GETS LPX002 $PX002
SUB LPX002 $PX011 ' delta Y
SETE LP001 (2) LD011
SFTON LP001 UF#(15) ' shift = (dX,dY,0)
' === Z-ORG (approach uses XY-shift) ===
REFP 1 C00012
MOVL C00013 SRCH RIN#(1)=ON DIS=100
SFTOF ' raw read
GETS LPX003 $PX002
SUB LPX003 $PX011 ' delta Z
SETE LP001 (3) LD012
SFTON LP001 UF#(15) ' origin found