; set offsets for current coordinate system (p0)
; pumakins JOINT HOME positions:
;          [JOINT_0]HOME=0
;          [JOINT_1]HOME=0
;          [JOINT_2]HOME=0
;          [JOINT_3]HOME=0
;          [JOINT_4]HOME=0
;          [JOINT_5]HOME=0
; pumakins hal settings:
;          400  pumakins.A2
;           50  pumakins.A3
;          100  pumakins.D3
;          400  pumakins.D4
;           95  pumakins.D6
;
; The following g10l2 commands set offsets for the
; above HOME positions and hal settings to establish
; (x,y,z,a,b,c)=(0,0,0,0,0,0) for the current system (p0):

g10l2p0 x   450
g10l2p0 y   100
g10l2p0 z  -495
g10l2p0 a   180
g10l2p0 b     0
g10l2p0 c     0
(debug, puma_cube.ngc Set G54 offsets)

    #<xmin> = -100
    #<xmax> =  100
    #<ymin> = -100
    #<ymax> =  100
    #<zmin> = -100 
    #<zmax> =  100
#<feedrate> = 1000

f #<feedrate>
g0 x#<xmin> y#<ymin> z#<zmin>

g1 x#<xmax> 
g1          y#<ymax>
g1 x#<xmin> 
g1          y#<ymin>
g1                   z#<zmax>
g1 x#<xmax> 
g1          y#<ymax>
g1 x#<xmin> 
g1          y#<ymin>

g0 x#<xmax> y#<ymax>
g1                   z#<zmin>
g0 x#<xmin>
g1                   z#<zmax>
g0 x#<xmax> y#<ymin>
g1                   z#<zmin>
g0 x#<xmin> y#<ymin> z#<zmin>
 
m2