0  BEGIN PGM 10351-EN MM 
1  ;Calculations and movements for drilling with
2  ;exponentially decreasing infeed depth.
3  FN 0: Q19 =+0 ;Counter
4  FN 0: Q20 =+Q6 ;Pre-positioning
5  FN 1: Q21 =+Q6 + +Q7 ;Hight 2nd set/up clearance
6  FN 10: IF +Q7 NE +0 GOTO LBL 3
7  FN 2: Q21 =+Q6 - +Q1 ;Pre-positioning
8  LBL 3
9  FN 12: IF +Q3 LT +Q2 GOTO LBL 100
10 FN 1: Q23 =+Q6 + +Q1 ;Pre-positioning
11 FN 1: Q24 =+Q6 + +Q2 ;Pre-positioning
12 FN 1: Q25 =+Q6 + +Q1 ;Starting position
13 FN 0: Q15 =+1 ;Divisor for the plunging depth
14 L  Z+Q25 R0 F9998 ;Move to the starting position
15 LBL 1
16 FN 5: Q12 = SQRT +Q15 ;Calculate plunging depth
17 FN 4: Q13 =+Q3 DIV +Q12 ;Calculate infeed depth
18 FN 12: IF +Q13 LT +Q10 GOTO LBL 4 ;Compare with minimum plunging depth
19 FN 0: Q13 =+Q10 ;plunging depth is equal to the minimum plunging depth
20 LBL 4
21 FN 1: Q20 =+Q20 + +Q13 ;Z-coordinate
22 FN 1: Q22 =+Q20 + +Q1 ;Pre-positioning for next plunging
23 FN 1: Q19 =+Q19 + +1 ;Counter
24 FN 12: IF +Q20 LT +Q24 GOTO LBL 99 ;Compare current depth to end depth
25 L  Z+Q20 R0 FQ5 ;Plunging
26 FN 9: IF +Q20 EQU +Q24 GOTO LBL 99 ;Compare current depth to end depth
27 FN 12: IF +Q19 LT +Q9 GOTO LBL 2 ;Compare counter
28 L  Z+Q23 R0 F9998 ;Move back
29 CYCL DEF 9.0 DWELL TIME
30 CYCL DEF 9.1 DWELLQ4
31 FN 0: Q19 =+0 ;Reset counter
32 L  Z+Q22 R0 F9998 ;Move to the depth befor next plunging
33 LBL 2
34 L  Z+Q22 R0 FQ5 ;Move to the depth befor next plunging
35 FN 1: Q15 =+Q15 + +Q8 ;Divisor for the next plunging
36 FN 11: IF +Q20 GT +Q24 GOTO LBL 1 ;Compare current and end depth
37 LBL 99
38 L  Z+Q24 R0 FQ5 ;Move to the depth at the end
39 CYCL DEF 9.0 DWELL TIME
40 CYCL DEF 9.1 DWELLQ11
41 LBL 100
42 L  Z+Q21 R0 F9998 ;Move to the 2nd set-up clearance
43 END PGM 10351-EN MM