0  BEGIN PGM SPIRAL_CLIMB_SURFACING MM 
1  BLK FORM 0.1 Z X+0 Y+0 Z-40
2  BLK FORM 0.2  X+100  Y+100  Z+0
3  ;
4  ; ===================================================
5  ; --- CYCLE 32: SMOOTH CONTROLLING FOR HIGH SPEED ---
6  ; Allows the controller to blend small linear moves
7  ; into a smooth surface and prevents stuttering.
8  ; ===================================================
9  CYCL DEF 32.0 TOLERANCE
10 CYCL DEF 32.1 HSC-MODE:1 TA+0.05
11 ;
12 ; ===================================================
13 ; --- CONFIGURATION PARAMETERS ---
14 ; ===================================================
15 Q1 = 72  ; Starting radius (corner distance is ~70.7mm)
16 Q2 = 0   ; Starting angle (degrees)
17 ;
18 ; Spiral settings:
19 ; Stepover of 0.8mm per turn.
20 ; 72 points per turn (5 degrees per step).
21 ; Total turns = 72mm radius / 0.8mm stepover = 90 turns.
22 ; Total repetitions = 90 turns * 72 steps/turn = 6480 steps.
23 Q4 = -5        ; Angle step (-5 deg for CW / Climb Milling)
24 Q5 = 0.011111  ; Radius decrement per step (0.8mm / 72 steps)
25 ;
26 ; ===================================================
27 ; --- INITIAL POSITION CALCULATION ---
28 ; ===================================================
29 Q20 = 50 + Q1 * COS( Q2 )
30 Q21 = 50 + Q1 * SIN( Q2 )
31 ;
32 ; Clamp X to [0, 100]
33 Q22 = Q20
34 FN 12: IF +Q22 LT +0 GOTO LBL 10
35 FN 11: IF +Q22 GT +100 GOTO LBL 11
36 FN 9: IF +0 EQU +0 GOTO LBL 12
37 LBL 10
38   Q22 = 0
39   FN 9: IF +0 EQU +0 GOTO LBL 12
40 LBL 11
41   Q22 = 100
42 LBL 12
43 ;
44 ; Clamp Y to [0, 100]
45 Q23 = Q21
46 FN 12: IF +Q23 LT +0 GOTO LBL 13
47 FN 11: IF +Q23 GT +100 GOTO LBL 14
48 FN 9: IF +0 EQU +0 GOTO LBL 15
49 LBL 13
50   Q23 = 0
51   FN 9: IF +0 EQU +0 GOTO LBL 15
52 LBL 14
53   Q23 = 100
54 LBL 15
55 ;
56 ; Calculate initial Z height
57 Q30 = Q22 - 50
58 Q31 = Q23 - 50
59 Q32 = ( Q30 * Q30 ) + ( Q31 * Q31 )
60 Q33 = SQRT ( Q32 )
61 Q34 = Q33 * 24
62 Q35 = 1 - ( Q33 / 72 )
63 Q3 = ( COS( Q34 ) * 4 * Q35 ) - 4
64 ;
; ===================================================
; --- TOOL CALL AND POSITION TO START POINT ---
; --- REQUIRED TOOL: 3MM BALL ENDMILL (BALL NOSE) ---
; ===================================================
TOOL CALL 1 Z S10000 F1500
69 L Z+10 R0 FMAX M3
70 L X+Q22 Y+Q23 R0 FMAX
71 L Z+Q3 R0 F1500
72 ;
73 ; ===================================================
74 ; --- MAIN SPIRAL LOOP ---
75 ; ===================================================
76 LBL 2
77   ; 1. Update Angle and Radius
78   Q2 = Q2 + Q4
79   Q1 = Q1 - Q5
80   
81   ; 2. Calculate raw spiral coordinates
82   Q20 = 50 + Q1 * COS( Q2 )
83   Q21 = 50 + Q1 * SIN( Q2 )
84   
85   ; 3. Clamp X to [0, 100]
86   Q22 = Q20
87   FN 12: IF +Q22 LT +0 GOTO LBL 10
88   FN 11: IF +Q22 GT +100 GOTO LBL 11
89   FN 9: IF +0 EQU +0 GOTO LBL 12
90   LBL 10
91     Q22 = 0
92     FN 9: IF +0 EQU +0 GOTO LBL 12
93   LBL 11
94     Q22 = 100
95   LBL 12
96   
97   ; 4. Clamp Y to [0, 100]
98   Q23 = Q21
99   FN 12: IF +Q23 LT +0 GOTO LBL 13
100   FN 11: IF +Q23 GT +100 GOTO LBL 14
101   FN 9: IF +0 EQU +0 GOTO LBL 15
102   LBL 13
103     Q23 = 0
104     FN 9: IF +0 EQU +0 GOTO LBL 15
105   LBL 14
106     Q23 = 100
107   LBL 15
108   
109   ; 5. Calculate Z height based on clamped coordinates
110   Q30 = Q22 - 50
111   Q31 = Q23 - 50
112   Q32 = ( Q30 * Q30 ) + ( Q31 * Q31 )
113   Q33 = SQRT ( Q32 )
114   Q34 = Q33 * 24
115   Q35 = 1 - ( Q33 / 72 )
116   Q3 = ( COS( Q34 ) * 4 * Q35 ) - 4
117   
118   ; 6. Move to point
119   L X+Q22 Y+Q23 Z+Q3 R0 F1500
120   
121 CALL LBL 2 REP 6479
122 ;
123 ; ===================================================
124 ; --- CLEANUP AND EXIT ---
125 ; ===================================================
126 L Z+20 R0 FMAX M2
127 END PGM SPIRAL_CLIMB_SURFACING MM