/** Copyright (C) 2012-2024 by Autodesk, Inc. All rights reserved. KOSY post processor configuration. $Revision: 44115 abe43b1cb5d1c57dbcb926eca04460e350c49211 $ $Date: 2024-03-15 10:31:09 $ FORKID {793B9330-BD83-4d9c-B9A2-DB45CFF321E5} */ description = "KOSY"; vendor = "MAXcomputer GmbH"; vendorUrl = "http://www.max-computer.de"; legal = "Copyright (C) 2012-2024 by Autodesk, Inc."; certificationLevel = 2; minimumRevision = 45917; longDescription = "This is a generic post for the KOSY CNC. Manual tool change is required after the M1 command. The first tool must be selected prior to running the program. Spindle speeds are ignored in the original toolpath as these are not supported by KOSY."; extension = "knc"; setCodePage("ascii"); capabilities = CAPABILITY_MILLING | CAPABILITY_MACHINE_SIMULATION; tolerance = spatial(0.002, MM); minimumChordLength = spatial(0.25, MM); minimumCircularRadius = spatial(0.01, MM); maximumCircularRadius = spatial(1000, MM); minimumCircularSweep = toRad(0.01); maximumCircularSweep = toRad(180); allowHelicalMoves = true; allowedCircularPlanes = undefined; // allow any circular motion // user-defined properties properties = { separateWordsWithSpace: { title : "Separate words with space", description: "Adds spaces between words if 'yes' is selected.", group : "formats", type : "boolean", value : true, scope : "post" }, useComments: { title : "Output comments", description: "Enable to allow the usage of comments.", group : "formats", type : "boolean", value : true, scope : "post" }, useG77: { title : "Use G77", description: "Enable to output G77 at the end of the program.", group : "homePositions", type : "boolean", value : false, scope : "post" }, safePositionMethod: { title : "Safe Retracts", description: "Select your desired retract option. 'Clearance Height' retracts to the operation clearance height.", group : "homePositions", type : "enum", values : [ {title:"G76", id:"G76"}, {title:"Clearance Height", id:"clearanceHeight"} ], value: "clearanceHeight", scope: "post" }, }; // wcs definiton wcsDefinitions = { useZeroOffset: false, wcs : [ {name:"Standard", format:"#", range:[1, 1]} ] }; var gFormat = createFormat({prefix:"G", decimals:0}); var mFormat = createFormat({prefix:"M", decimals:0}); var xyzFormat = createFormat({decimals:(unit == MM ? 2 : 3), forceDecimal:true}); var abcFormat = createFormat({decimals:3, forceDecimal:true, scale:DEG}); var feedFormat = createFormat({decimals:(unit == MM ? 1 : 2), forceDecimal:true}); var toolFormat = createFormat({decimals:0}); var rpmFormat = createFormat({decimals:0}); var m30Format = createFormat({decimals:0}); // 1/18th seconds var taperFormat = createFormat({decimals:1, scale:DEG}); var xOutput = createOutputVariable({onchange:function() {state.retractedX = false;}, prefix:"X"}, xyzFormat); var yOutput = createOutputVariable({onchange:function() {state.retractedY = false;}, prefix:"Y"}, xyzFormat); var zOutput = createOutputVariable({onchange:function() {state.retractedZ = false;}, prefix:"Z"}, xyzFormat); var aOutput = createOutputVariable({prefix:"A"}, abcFormat); var bOutput = createOutputVariable({prefix:"B"}, abcFormat); var cOutput = createOutputVariable({prefix:"C"}, abcFormat); var feedOutput = createOutputVariable({prefix:"F"}, feedFormat); // circular output var iOutput = createOutputVariable({prefix:"I", control:CONTROL_FORCE}, xyzFormat); var jOutput = createOutputVariable({prefix:"J", control:CONTROL_FORCE}, xyzFormat); var gMotionModal = createOutputVariable({control:CONTROL_FORCE}, gFormat); // modal group 1 // G0-G3, ... var gPlaneModal = createOutputVariable({onchange:function () {forceModals(gMotionModal);}}, gFormat); // modal group 2 // G17-19 var gAbsIncModal = createOutputVariable({}, gFormat); // modal group 3 // G90-91 var gFeedModeModal = createOutputVariable({}, gFormat); // modal group 5 // G93-94 var gCycleModal = createOutputVariable({control:CONTROL_FORCE}, gFormat); // modal group 9 // G81, ... var settings = { retract: { cancelRotationOnRetracting: false, // specifies that rotations (G68) need to be canceled prior to retracting methodXY : undefined, // special condition, overwrite retract behavior per axis methodZ : undefined, // special condition, overwrite retract behavior per axis useZeroValues : ["G76"], // enter property value id(s) for using "0" value instead of machineConfiguration axes home position values (ie G30 Z0) homeXY : {onIndexing:false, onToolChange:false, onProgramEnd:{axes:[X, Y]}} // Specifies when the machine should be homed in X/Y. Sample: onIndexing:{axes:[X, Y], singleLine:false} }, machineAngles: { // refer to https://cam.autodesk.com/posts/reference/classMachineConfiguration.html#a14bcc7550639c482492b4ad05b1580c8 controllingAxis: ABC, type : PREFER_PREFERENCE, options : ENABLE_ALL }, workPlaneMethod: { useTiltedWorkplane : false, // specifies that tilted workplanes should be used (ie. G68.2, G254, PLANE SPATIAL, CYCLE800), can be overwritten by property eulerConvention : EULER_ZXZ_R, // specifies the euler convention (ie EULER_XYZ_R), set to undefined to use machine angles for TWP commands ('undefined' requires machine configuration) eulerCalculationMethod: "standard", // ('standard' / 'machine') 'machine' adjusts euler angles to match the machines ABC orientation, machine configuration required cancelTiltFirst : true, // cancel tilted workplane prior to WCS (G54-G59) blocks useABCPrepositioning : false, // position ABC axes prior to tilted workplane blocks forceMultiAxisIndexing: false, // force multi-axis indexing for 3D programs optimizeType : undefined // can be set to OPTIMIZE_NONE, OPTIMIZE_BOTH, OPTIMIZE_TABLES, OPTIMIZE_HEADS, OPTIMIZE_AXIS. 'undefined' uses legacy rotations }, comments: { permittedCommentChars: " abcdefghijklmnopqrstuvwxyz0123456789.,=_-", // letters are not case sensitive, use option 'outputFormat' below. Set to 'undefined' to allow any character prefix : "; ", // specifies the prefix for the comment suffix : "", // specifies the suffix for the comment outputFormat : "ignoreCase", // can be set to "upperCase", "lowerCase" and "ignoreCase". Set to "ignoreCase" to write comments without upper/lower case formatting maximumLineLength : 80 // the maximum number of characters allowed in a line, set to 0 to disable comment output }, maximumSequenceNumber : undefined, // the maximum sequence number (Nxxx), use 'undefined' for unlimited supportsRadiusCompensation : false, // specifies if radius compensation is supported on the control supportsOptionalBlocks : false, // specifies if optional block output is supported outputToolLengthCompensation: false, // specifies if tool length compensation code should be output (G43) outputToolLengthOffset : false, // specifies if tool length offset code should be output (Hxx) supportsInverseTimeFeed : false, // specifies if inverse time feedrates are supported by the postprocessor supportsTCP : false // specifies if the postprocessor does support TCP }; function onOpen() { // define and enable machine configuration receivedMachineConfiguration = machineConfiguration.isReceived(); if (typeof defineMachine == "function") { defineMachine(); // hardcoded machine configuration } activateMachine(); // enable the machine optimizations and settings if (!getProperty("separateWordsWithSpace")) { setWordSeparator(""); } gPlaneModal.disable(); // Planes are not supported gFeedModeModal.disable(); // Feedmodes are not supported if (!getProperty("useComments")) { settings.comments.maximumLineLength = 0; } // required header writeBlock("_"); writeBlock("_"); writeComment(programName); writeComment(programComment); writeProgramHeader(); // absolute coordinates writeBlock(gAbsIncModal.format(90)); writeBlock(gFormat.format(76)); // writeBlock(gUnitModal.format(unit == MM ? 21 : 20)); validateCommonParameters(); } function onSection() { var forceToolAndRetract = optionalSection && !currentSection.isOptional(); optionalSection = currentSection.isOptional(); var insertToolCall = isToolChangeNeeded("number") || forceToolAndRetract; var newWorkOffset = isNewWorkOffset(); var newWorkPlane = isNewWorkPlane(); if ((insertToolCall || newWorkOffset || newWorkPlane)) { if (!isFirstSection()) { writeRetract(Z); // retract } else { state.retractedZ = true; } } writeComment(getParameter("operation-comment", "")); // tool change writeToolCall(tool, insertToolCall); onCommand(COMMAND_START_SPINDLE); forceXYZ(); var abc = defineWorkPlane(currentSection, true); forceAny(); // prepositioning var initialPosition = getFramePosition(currentSection.getInitialPosition()); var isRequired = insertToolCall || state.retractedZ || (!isFirstSection() && getPreviousSection().isMultiAxis()); writeInitialPositioning(initialPosition, isRequired); } function onDwell(seconds) { var maxValue = 99999.999; if (seconds > maxValue) { warning(subst(localize("Dwelling time of '%1' exceeds the maximum value of '%2' in operation '%3'"), seconds, maxValue, getParameter("operation-comment", ""))); } seconds = Math.ceil(seconds * 18); writeBlock(mFormat.format(30), "P" + m30Format.format(seconds)); } function onSpindleSpeed(spindleSpeed) { } function onCycle() { } function getCommonCycle(x, y, z, r) { forceXYZ(); return [xOutput.format(x), yOutput.format(y), zOutput.format(z), "B" + xyzFormat.format(r)]; } function onCyclePoint(x, y, z) { if (!isSameDirection(machineConfiguration.getSpindleAxis(), getForwardDirection(currentSection))) { expandCyclePoint(x, y, z); return; } // check if we can group the drilling or not var cycleRequiresRetract = xyzFormat.areDifferent(cycle.retract, cycle.clearance); if (isFirstCyclePoint() || cycleRequiresRetract) { // return to initial Z which is clearance plane and set absolute mode repositionToCycleClearance(cycle, getCurrentPosition().x, getCurrentPosition().y, z); switch (cycleType) { case "drilling": writeBlock( gAbsIncModal.format(90), gCycleModal.format(81), getCommonCycle(x, y, z, cycle.retract), feedOutput.format(cycle.feedrate) ); break; default: expandCyclePoint(x, y, z); } if (cycleRequiresRetract && !cycleExpanded) { writeBlock(gCycleModal.format(80)); gMotionModal.reset(); } } else { if (cycleExpanded) { expandCyclePoint(x, y, z); } else { var _x = xOutput.format(x); var _y = yOutput.format(y); if (!_x && !_y) { xOutput.reset(); // at least one axis is required _x = xOutput.format(x); } writeBlock(gFormat.format(79), _x, _y); } } } function onCycleEnd() { if (!cycleExpanded) { zOutput.reset(); } } function onCircular(clockwise, cx, cy, cz, x, y, z, feed) { // force both X/Y for G2/G3 if (pendingRadiusCompensation >= 0) { error(localize("Radius compensation cannot be activated/deactivated for a circular move.")); return; } var start = getCurrentPosition(); if (isFullCircle()) { if (isHelical()) { linearize(tolerance); return; } switch (getCircularPlane()) { case PLANE_XY: xOutput.reset(); yOutput.reset(); writeBlock(gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), iOutput.format(cx - start.x), jOutput.format(cy - start.y), feedOutput.format(feed)); break; default: linearize(tolerance); } } else { switch (getCircularPlane()) { case PLANE_XY: xOutput.reset(); yOutput.reset(); writeBlock(gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x), jOutput.format(cy - start.y), feedOutput.format(feed)); break; default: linearize(tolerance); } } } var mapCommand = { COMMAND_STOP : 1, COMMAND_OPTIONAL_STOP: 5 }; function onCommand(command) { switch (command) { case COMMAND_COOLANT_OFF: return; case COMMAND_COOLANT_ON: return; case COMMAND_START_SPINDLE: if (!tool.clockwise) { error(localize("Counter clockwise spindle rotation is not supported")); } writeBlock(mFormat.format(10), "O6.1"); return; case COMMAND_LOAD_TOOL: onCommand(COMMAND_STOP); writeComment("MANUAL TOOL CHANGE TO T" + toolFormat.format(tool.number)); writeComment(tool.comment); return; case COMMAND_STOP_SPINDLE: writeBlock(mFormat.format(10), "O6.0"); return; case COMMAND_LOCK_MULTI_AXIS: return; case COMMAND_UNLOCK_MULTI_AXIS: return; case COMMAND_BREAK_CONTROL: return; case COMMAND_TOOL_MEASURE: return; } var stringId = getCommandStringId(command); var mcode = mapCommand[stringId]; if (mcode != undefined) { writeBlock(mFormat.format(mcode)); } else { onUnsupportedCommand(command); } } function onSectionEnd() { forceAny(); } function writeRetract() { var retract = getRetractParameters.apply(this, arguments); if (retract && retract.words.length > 0) { if (typeof cancelWCSRotation == "function" && getSetting("retract.cancelRotationOnRetracting", false)) { // cancel rotation before retracting cancelWCSRotation(); } for (var i in retract.words) { var words = retract.singleLine ? retract.words : retract.words[i]; switch (retract.method) { case "G76": writeBlock(gFormat.format(76), words); break; default: error(subst(localize("Unsupported safe position method '%1'"), retract.method)); return; } if (retract.singleLine) { break; } } } } function onClose() { optionalSection = false; onCommand(COMMAND_STOP_SPINDLE); if (getProperty("useG77")) { writeBlock(gFormat.format(77)); } else { writeRetract(Z); if (getSetting("retract.homeXY.onProgramEnd", false)) { writeRetract(settings.retract.homeXY.onProgramEnd); } } setWorkPlane(new Vector(0, 0, 0)); // reset working plane writeBlock(gFormat.format(99)); // end of program } // >>>>> INCLUDED FROM include_files/commonFunctions.cpi // internal variables, do not change var receivedMachineConfiguration; var tcp = {isSupportedByControl:getSetting("supportsTCP", true), isSupportedByMachine:false, isSupportedByOperation:false}; var state = { retractedX : false, // specifies that the machine has been retracted in X retractedY : false, // specifies that the machine has been retracted in Y retractedZ : false, // specifies that the machine has been retracted in Z lengthCompensationActive: false, // specifies that tool length compensation is active mainState : true // specifies the current context of the state (true = main, false = optional) }; var validateLengthCompensation = getSetting("outputToolLengthCompensation", true); // disable validation when outputToolLengthCompensation is disabled var multiAxisFeedrate; var sequenceNumber; var optionalSection = false; var currentWorkOffset; var forceSpindleSpeed = false; var operationNeedsSafeStart = false; // used to convert blocks to optional for safeStartAllOperations function activateMachine() { // disable unsupported rotary axes output if (!machineConfiguration.isMachineCoordinate(0) && (typeof aOutput != "undefined")) { aOutput.disable(); } if (!machineConfiguration.isMachineCoordinate(1) && (typeof bOutput != "undefined")) { bOutput.disable(); } if (!machineConfiguration.isMachineCoordinate(2) && (typeof cOutput != "undefined")) { cOutput.disable(); } // setup usage of useTiltedWorkplane settings.workPlaneMethod.useTiltedWorkplane = getProperty("useTiltedWorkplane") != undefined ? getProperty("useTiltedWorkplane") : getSetting("workPlaneMethod.useTiltedWorkplane", false); settings.workPlaneMethod.useABCPrepositioning = getProperty("useABCPrepositioning") != undefined ? getProperty("useABCPrepositioning") : getSetting("workPlaneMethod.useABCPrepositioning", false); if (!machineConfiguration.isMultiAxisConfiguration()) { return; // don't need to modify any settings for 3-axis machines } // identify if any of the rotary axes has TCP enabled var axes = [machineConfiguration.getAxisU(), machineConfiguration.getAxisV(), machineConfiguration.getAxisW()]; tcp.isSupportedByMachine = axes.some(function(axis) {return axis.isEnabled() && axis.isTCPEnabled();}); // true if TCP is enabled on any rotary axis // save multi-axis feedrate settings from machine configuration var mode = machineConfiguration.getMultiAxisFeedrateMode(); var type = mode == FEED_INVERSE_TIME ? machineConfiguration.getMultiAxisFeedrateInverseTimeUnits() : (mode == FEED_DPM ? machineConfiguration.getMultiAxisFeedrateDPMType() : DPM_STANDARD); multiAxisFeedrate = { mode : mode, maximum : machineConfiguration.getMultiAxisFeedrateMaximum(), type : type, tolerance: mode == FEED_DPM ? machineConfiguration.getMultiAxisFeedrateOutputTolerance() : 0, bpwRatio : mode == FEED_DPM ? machineConfiguration.getMultiAxisFeedrateBpwRatio() : 1 }; // setup of retract/reconfigure TAG: Only needed until post kernel supports these machine config settings if (receivedMachineConfiguration && machineConfiguration.performRewinds()) { safeRetractDistance = machineConfiguration.getSafeRetractDistance(); safePlungeFeed = machineConfiguration.getSafePlungeFeedrate(); safeRetractFeed = machineConfiguration.getSafeRetractFeedrate(); } if (typeof safeRetractDistance == "number" && getProperty("safeRetractDistance") != undefined && getProperty("safeRetractDistance") != 0) { safeRetractDistance = getProperty("safeRetractDistance"); } if (machineConfiguration.isHeadConfiguration()) { compensateToolLength = typeof compensateToolLength == "undefined" ? false : compensateToolLength; } if (machineConfiguration.isHeadConfiguration() && compensateToolLength) { for (var i = 0; i < getNumberOfSections(); ++i) { var section = getSection(i); if (section.isMultiAxis()) { machineConfiguration.setToolLength(getBodyLength(section.getTool())); // define the tool length for head adjustments section.optimizeMachineAnglesByMachine(machineConfiguration, OPTIMIZE_AXIS); } } } else { optimizeMachineAngles2(OPTIMIZE_AXIS); } } function getBodyLength(tool) { for (var i = 0; i < getNumberOfSections(); ++i) { var section = getSection(i); if (tool.number == section.getTool().number) { return section.getParameter("operation:tool_overallLength", tool.bodyLength + tool.holderLength); } } return tool.bodyLength + tool.holderLength; } function getFeed(f) { if (getProperty("useG95")) { return feedOutput.format(f / spindleSpeed); // use feed value } if (typeof activeMovements != "undefined" && activeMovements) { var feedContext = activeMovements[movement]; if (feedContext != undefined) { if (!feedFormat.areDifferent(feedContext.feed, f)) { if (feedContext.id == currentFeedId) { return ""; // nothing has changed } forceFeed(); currentFeedId = feedContext.id; return settings.parametricFeeds.feedOutputVariable + (settings.parametricFeeds.firstFeedParameter + feedContext.id); } } currentFeedId = undefined; // force parametric feed next time } return feedOutput.format(f); // use feed value } function validateCommonParameters() { validateToolData(); for (var i = 0; i < getNumberOfSections(); ++i) { var section = getSection(i); if (getSection(0).workOffset == 0 && section.workOffset > 0) { error(localize("Using multiple work offsets is not possible if the initial work offset is 0.")); } if (section.isMultiAxis()) { if (!section.isOptimizedForMachine() && (!getSetting("workPlaneMethod.useTiltedWorkplane", false) || !getSetting("supportsToolVectorOutput", false))) { error(localize("This postprocessor requires a machine configuration for 5-axis simultaneous toolpath.")); } if (machineConfiguration.getMultiAxisFeedrateMode() == FEED_INVERSE_TIME && !getSetting("supportsInverseTimeFeed", true)) { error(localize("This postprocessor does not support inverse time feedrates.")); } if (getSetting("supportsToolVectorOutput", false) && !tcp.isSupportedByControl) { error(localize("Incompatible postprocessor settings detected." + EOL + "Setting 'supportsToolVectorOutput' requires setting 'supportsTCP' to be enabled as well.")); } } } if (!tcp.isSupportedByControl && tcp.isSupportedByMachine) { error(localize("The machine configuration has TCP enabled which is not supported by this postprocessor.")); } if (getProperty("safePositionMethod") == "clearanceHeight") { var msg = "-Attention- Property 'Safe Retracts' is set to 'Clearance Height'." + EOL + "Ensure the clearance height will clear the part and or fixtures." + EOL + "Raise the Z-axis to a safe height before starting the program."; warning(msg); writeComment(msg); } } function validateToolData() { var _default = 99999; var _maximumSpindleRPM = machineConfiguration.getMaximumSpindleSpeed() > 0 ? machineConfiguration.getMaximumSpindleSpeed() : settings.maximumSpindleRPM == undefined ? _default : settings.maximumSpindleRPM; var _maximumToolNumber = machineConfiguration.isReceived() && machineConfiguration.getNumberOfTools() > 0 ? machineConfiguration.getNumberOfTools() : settings.maximumToolNumber == undefined ? _default : settings.maximumToolNumber; var _maximumToolLengthOffset = settings.maximumToolLengthOffset == undefined ? _default : settings.maximumToolLengthOffset; var _maximumToolDiameterOffset = settings.maximumToolDiameterOffset == undefined ? _default : settings.maximumToolDiameterOffset; var header = ["Detected maximum values are out of range.", "Maximum values:"]; var warnings = { toolNumber : {msg:"Tool number value exceeds the maximum value for tool: " + EOL, max:" Tool number: " + _maximumToolNumber, values:[]}, lengthOffset : {msg:"Tool length offset value exceeds the maximum value for tool: " + EOL, max:" Tool length offset: " + _maximumToolLengthOffset, values:[]}, diameterOffset: {msg:"Tool diameter offset value exceeds the maximum value for tool: " + EOL, max:" Tool diameter offset: " + _maximumToolDiameterOffset, values:[]}, spindleSpeed : {msg:"Spindle speed exceeds the maximum value for operation: " + EOL, max:" Spindle speed: " + _maximumSpindleRPM, values:[]} }; var toolIds = []; for (var i = 0; i < getNumberOfSections(); ++i) { var section = getSection(i); if (toolIds.indexOf(section.getTool().getToolId()) === -1) { // loops only through sections which have a different tool ID var toolNumber = section.getTool().number; var lengthOffset = section.getTool().lengthOffset; var diameterOffset = section.getTool().diameterOffset; var comment = section.getParameter("operation-comment", ""); if (toolNumber > _maximumToolNumber && !getProperty("toolAsName")) { warnings.toolNumber.values.push(SP + toolNumber + EOL); } if (lengthOffset > _maximumToolLengthOffset) { warnings.lengthOffset.values.push(SP + "Tool " + toolNumber + " (" + comment + "," + " Length offset: " + lengthOffset + ")" + EOL); } if (diameterOffset > _maximumToolDiameterOffset) { warnings.diameterOffset.values.push(SP + "Tool " + toolNumber + " (" + comment + "," + " Diameter offset: " + diameterOffset + ")" + EOL); } toolIds.push(section.getTool().getToolId()); } // loop through all sections regardless of tool id for idenitfying spindle speeds // identify if movement ramp is used in current toolpath, use ramp spindle speed for comparisons var ramp = section.getMovements() & ((1 << MOVEMENT_RAMP) | (1 << MOVEMENT_RAMP_ZIG_ZAG) | (1 << MOVEMENT_RAMP_PROFILE) | (1 << MOVEMENT_RAMP_HELIX)); var _sectionSpindleSpeed = Math.max(section.getTool().spindleRPM, ramp ? section.getTool().rampingSpindleRPM : 0, 0); if (_sectionSpindleSpeed > _maximumSpindleRPM) { warnings.spindleSpeed.values.push(SP + section.getParameter("operation-comment", "") + " (" + _sectionSpindleSpeed + " RPM" + ")" + EOL); } } // sort lists by tool number warnings.toolNumber.values.sort(function(a, b) {return a - b;}); warnings.lengthOffset.values.sort(function(a, b) {return a.localeCompare(b);}); warnings.diameterOffset.values.sort(function(a, b) {return a.localeCompare(b);}); var warningMessages = []; for (var key in warnings) { if (warnings[key].values != "") { header.push(warnings[key].max); // add affected max values to the header warningMessages.push(warnings[key].msg + warnings[key].values.join("")); } } if (warningMessages.length != 0) { warningMessages.unshift(header.join(EOL) + EOL); warning(warningMessages.join(EOL)); } } function forceFeed() { currentFeedId = undefined; feedOutput.reset(); } /** Force output of X, Y, and Z. */ function forceXYZ() { xOutput.reset(); yOutput.reset(); zOutput.reset(); } /** Force output of A, B, and C. */ function forceABC() { aOutput.reset(); bOutput.reset(); cOutput.reset(); } /** Force output of X, Y, Z, A, B, C, and F on next output. */ function forceAny() { forceXYZ(); forceABC(); forceFeed(); } /** Writes the specified block. */ function writeBlock() { var text = formatWords(arguments); if (!text) { return; } var prefix = getSetting("sequenceNumberPrefix", "N"); var suffix = getSetting("writeBlockSuffix", ""); if ((optionalSection || skipBlocks) && !getSetting("supportsOptionalBlocks", true)) { error(localize("Optional blocks are not supported by this post.")); } if (getProperty("showSequenceNumbers") == "true") { if (sequenceNumber == undefined || sequenceNumber >= settings.maximumSequenceNumber) { sequenceNumber = getProperty("sequenceNumberStart"); } if (optionalSection || skipBlocks) { writeWords2("/", prefix + sequenceNumber, text + suffix); } else { writeWords2(prefix + sequenceNumber, text + suffix); } sequenceNumber += getProperty("sequenceNumberIncrement"); } else { if (optionalSection || skipBlocks) { writeWords2("/", text + suffix); } else { writeWords(text + suffix); } } } validate(settings.comments, "Setting 'comments' is required but not defined."); function formatComment(text) { var prefix = settings.comments.prefix; var suffix = settings.comments.suffix; var _permittedCommentChars = settings.comments.permittedCommentChars == undefined ? "" : settings.comments.permittedCommentChars; switch (settings.comments.outputFormat) { case "upperCase": text = text.toUpperCase(); _permittedCommentChars = _permittedCommentChars.toUpperCase(); break; case "lowerCase": text = text.toLowerCase(); _permittedCommentChars = _permittedCommentChars.toLowerCase(); break; case "ignoreCase": _permittedCommentChars = _permittedCommentChars.toUpperCase() + _permittedCommentChars.toLowerCase(); break; default: error(localize("Unsupported option specified for setting 'comments.outputFormat'.")); } if (_permittedCommentChars != "") { text = filterText(String(text), _permittedCommentChars); } text = String(text).substring(0, settings.comments.maximumLineLength - prefix.length - suffix.length); return text != "" ? prefix + text + suffix : ""; } /** Output a comment. */ function writeComment(text) { if (!text) { return; } var comments = String(text).split(EOL); for (comment in comments) { var _comment = formatComment(comments[comment]); if (_comment) { if (getSetting("comments.showSequenceNumbers", false)) { writeBlock(_comment); } else { writeln(_comment); } } } } function onComment(text) { writeComment(text); } /** Writes the specified block - used for tool changes only. */ function writeToolBlock() { var show = getProperty("showSequenceNumbers"); setProperty("showSequenceNumbers", (show == "true" || show == "toolChange") ? "true" : "false"); writeBlock(arguments); setProperty("showSequenceNumbers", show); } var skipBlocks = false; var initialState = JSON.parse(JSON.stringify(state)); // save initial state var optionalState = JSON.parse(JSON.stringify(state)); var saveCurrentSectionId = undefined; function writeStartBlocks(isRequired, code) { var saveSkipBlocks = skipBlocks; var saveMainState = state; // save main state if (!isRequired) { if (!getProperty("safeStartAllOperations", false)) { return; // when safeStartAllOperations is disabled, dont output code and return } if (saveCurrentSectionId != getCurrentSectionId()) { saveCurrentSectionId = getCurrentSectionId(); forceModals(); // force all modal variables when entering a new section optionalState = Object.create(initialState); // reset optionalState to initialState when entering a new section } skipBlocks = true; // if values are not required, but safeStartAllOperations is enabled - write following blocks as optional state = optionalState; // set state to optionalState if skipBlocks is true state.mainState = false; } code(); // writes out the code which is passed to this function as an argument state = saveMainState; // restore main state skipBlocks = saveSkipBlocks; // restore skipBlocks value } var pendingRadiusCompensation = -1; function onRadiusCompensation() { pendingRadiusCompensation = radiusCompensation; if (pendingRadiusCompensation >= 0 && !getSetting("supportsRadiusCompensation", true)) { error(localize("Radius compensation mode is not supported.")); return; } } function onPassThrough(text) { var commands = String(text).split(","); for (text in commands) { writeBlock(commands[text]); } } function forceModals() { if (arguments.length == 0) { // reset all modal variables listed below if (typeof gMotionModal != "undefined") { gMotionModal.reset(); } if (typeof gPlaneModal != "undefined") { gPlaneModal.reset(); } if (typeof gAbsIncModal != "undefined") { gAbsIncModal.reset(); } if (typeof gFeedModeModal != "undefined") { gFeedModeModal.reset(); } } else { for (var i in arguments) { arguments[i].reset(); // only reset the modal variable passed to this function } } } /** Helper function to be able to use a default value for settings which do not exist. */ function getSetting(setting, defaultValue) { var result = defaultValue; var keys = setting.split("."); var obj = settings; for (var i in keys) { if (obj[keys[i]] != undefined) { // setting does exist result = obj[keys[i]]; if (typeof [keys[i]] === "object") { obj = obj[keys[i]]; continue; } } else { // setting does not exist, use default value if (defaultValue != undefined) { result = defaultValue; } else { error("Setting '" + keys[i] + "' has no default value and/or does not exist."); return undefined; } } } return result; } function getForwardDirection(_section) { var forward = undefined; var _optimizeType = settings.workPlaneMethod && settings.workPlaneMethod.optimizeType; if (_section.isMultiAxis()) { forward = _section.workPlane.forward; } else if (!getSetting("workPlaneMethod.useTiltedWorkplane", false) && machineConfiguration.isMultiAxisConfiguration()) { if (_optimizeType == undefined) { var saveRotation = getRotation(); getWorkPlaneMachineABC(_section, true); forward = getRotation().forward; setRotation(saveRotation); // reset rotation } else { var abc = getWorkPlaneMachineABC(_section, false); var forceAdjustment = settings.workPlaneMethod.optimizeType == OPTIMIZE_TABLES || settings.workPlaneMethod.optimizeType == OPTIMIZE_BOTH; forward = machineConfiguration.getOptimizedDirection(_section.workPlane.forward, abc, false, forceAdjustment); } } else { forward = getRotation().forward; } return forward; } function getRetractParameters() { var _arguments = typeof arguments[0] === "object" ? arguments[0].axes : arguments; var singleLine = arguments[0].singleLine == undefined ? true : arguments[0].singleLine; var words = []; // store all retracted axes in an array var retractAxes = new Array(false, false, false); var method = getProperty("safePositionMethod", "undefined"); if (method == "clearanceHeight") { if (!is3D()) { error(localize("Safe retract option 'Clearance Height' is only supported when all operations are along the setup Z-axis.")); } return undefined; } validate(settings.retract, "Setting 'retract' is required but not defined."); validate(_arguments.length != 0, "No axis specified for getRetractParameters()."); for (i in _arguments) { retractAxes[_arguments[i]] = true; } if ((retractAxes[0] || retractAxes[1]) && !state.retractedZ) { // retract Z first before moving to X/Y home error(localize("Retracting in X/Y is not possible without being retracted in Z.")); return undefined; } // special conditions if (retractAxes[0] || retractAxes[1]) { method = getSetting("retract.methodXY", method); } if (retractAxes[2]) { method = getSetting("retract.methodZ", method); } // define home positions var useZeroValues = (settings.retract.useZeroValues && settings.retract.useZeroValues.indexOf(method) != -1); var _xHome = machineConfiguration.hasHomePositionX() && !useZeroValues ? machineConfiguration.getHomePositionX() : toPreciseUnit(0, MM); var _yHome = machineConfiguration.hasHomePositionY() && !useZeroValues ? machineConfiguration.getHomePositionY() : toPreciseUnit(0, MM); var _zHome = machineConfiguration.getRetractPlane() != 0 && !useZeroValues ? machineConfiguration.getRetractPlane() : toPreciseUnit(0, MM); for (var i = 0; i < _arguments.length; ++i) { switch (_arguments[i]) { case X: if (!state.retractedX) { words.push("X" + xyzFormat.format(_xHome)); xOutput.reset(); state.retractedX = true; } break; case Y: if (!state.retractedY) { words.push("Y" + xyzFormat.format(_yHome)); yOutput.reset(); state.retractedY = true; } break; case Z: if (!state.retractedZ) { words.push("Z" + xyzFormat.format(_zHome)); zOutput.reset(); state.retractedZ = true; } break; default: error(localize("Unsupported axis specified for getRetractParameters().")); return undefined; } } return {method:method, retractAxes:retractAxes, words:words, singleLine:singleLine}; } /** Returns true when subprogram logic does exist into the post. */ function subprogramsAreSupported() { return typeof subprogramState != "undefined"; } // <<<<< INCLUDED FROM include_files/commonFunctions.cpi // >>>>> INCLUDED FROM include_files/defineMachine.cpi var compensateToolLength = false; // add the tool length to the pivot distance for nonTCP rotary heads function defineMachine() { var useTCP = true; if (false) { // note: setup your machine here var aAxis = createAxis({coordinate:0, table:true, axis:[1, 0, 0], range:[-120, 120], preference:1, tcp:useTCP}); var cAxis = createAxis({coordinate:2, table:true, axis:[0, 0, 1], range:[-360, 360], preference:0, tcp:useTCP}); machineConfiguration = new MachineConfiguration(aAxis, cAxis); setMachineConfiguration(machineConfiguration); if (receivedMachineConfiguration) { warning(localize("The provided CAM machine configuration is overwritten by the postprocessor.")); receivedMachineConfiguration = false; // CAM provided machine configuration is overwritten } } if (!receivedMachineConfiguration) { // multiaxis settings if (machineConfiguration.isHeadConfiguration()) { machineConfiguration.setVirtualTooltip(false); // translate the pivot point to the virtual tool tip for nonTCP rotary heads } // retract / reconfigure var performRewinds = false; // set to true to enable the rewind/reconfigure logic if (performRewinds) { machineConfiguration.enableMachineRewinds(); // enables the retract/reconfigure logic safeRetractDistance = (unit == IN) ? 1 : 25; // additional distance to retract out of stock, can be overridden with a property safeRetractFeed = (unit == IN) ? 20 : 500; // retract feed rate safePlungeFeed = (unit == IN) ? 10 : 250; // plunge feed rate machineConfiguration.setSafeRetractDistance(safeRetractDistance); machineConfiguration.setSafeRetractFeedrate(safeRetractFeed); machineConfiguration.setSafePlungeFeedrate(safePlungeFeed); var stockExpansion = new Vector(toPreciseUnit(0.1, IN), toPreciseUnit(0.1, IN), toPreciseUnit(0.1, IN)); // expand stock XYZ values machineConfiguration.setRewindStockExpansion(stockExpansion); } // multi-axis feedrates if (machineConfiguration.isMultiAxisConfiguration()) { machineConfiguration.setMultiAxisFeedrate( useTCP ? FEED_FPM : getProperty("useDPMFeeds") ? FEED_DPM : FEED_INVERSE_TIME, 9999.99, // maximum output value for inverse time feed rates getProperty("useDPMFeeds") ? DPM_COMBINATION : INVERSE_MINUTES, // INVERSE_MINUTES/INVERSE_SECONDS or DPM_COMBINATION/DPM_STANDARD 0.5, // tolerance to determine when the DPM feed has changed 1.0 // ratio of rotary accuracy to linear accuracy for DPM calculations ); setMachineConfiguration(machineConfiguration); } /* home positions */ // machineConfiguration.setHomePositionX(toPreciseUnit(0, IN)); // machineConfiguration.setHomePositionY(toPreciseUnit(0, IN)); // machineConfiguration.setRetractPlane(toPreciseUnit(0, IN)); } } // <<<<< INCLUDED FROM include_files/defineMachine.cpi // >>>>> INCLUDED FROM include_files/defineWorkPlane.cpi validate(settings.workPlaneMethod, "Setting 'workPlaneMethod' is required but not defined."); function defineWorkPlane(_section, _setWorkPlane) { var abc = new Vector(0, 0, 0); if (settings.workPlaneMethod.forceMultiAxisIndexing || !is3D() || machineConfiguration.isMultiAxisConfiguration()) { if (isPolarModeActive()) { abc = getCurrentDirection(); } else if (_section.isMultiAxis()) { forceWorkPlane(); cancelTransformation(); abc = _section.isOptimizedForMachine() ? _section.getInitialToolAxisABC() : _section.getGlobalInitialToolAxis(); } else if (settings.workPlaneMethod.useTiltedWorkplane && settings.workPlaneMethod.eulerConvention != undefined) { if (settings.workPlaneMethod.eulerCalculationMethod == "machine" && machineConfiguration.isMultiAxisConfiguration()) { abc = machineConfiguration.getOrientation(getWorkPlaneMachineABC(_section, true)).getEuler2(settings.workPlaneMethod.eulerConvention); } else { abc = _section.workPlane.getEuler2(settings.workPlaneMethod.eulerConvention); } } else { abc = getWorkPlaneMachineABC(_section, true); } if (_setWorkPlane) { if (_section.isMultiAxis() || isPolarModeActive()) { // 4-5x simultaneous operations cancelWorkPlane(); if (_section.isOptimizedForMachine()) { positionABC(abc, true); } else { setCurrentDirection(abc); } } else { // 3x and/or 3+2x operations setWorkPlane(abc); } } } else { var remaining = _section.workPlane; if (!isSameDirection(remaining.forward, new Vector(0, 0, 1))) { error(localize("Tool orientation is not supported.")); return abc; } setRotation(remaining); } tcp.isSupportedByOperation = isTCPSupportedByOperation(_section); return abc; } function isTCPSupportedByOperation(_section) { var _tcp = _section.getOptimizedTCPMode() == OPTIMIZE_NONE; if (!_section.isMultiAxis() && (settings.workPlaneMethod.useTiltedWorkplane || isSameDirection(machineConfiguration.getSpindleAxis(), getForwardDirection(_section)) || settings.workPlaneMethod.optimizeType == OPTIMIZE_HEADS || settings.workPlaneMethod.optimizeType == OPTIMIZE_TABLES || settings.workPlaneMethod.optimizeType == OPTIMIZE_BOTH)) { _tcp = false; } return _tcp; } // <<<<< INCLUDED FROM include_files/defineWorkPlane.cpi // >>>>> INCLUDED FROM include_files/getWorkPlaneMachineABC.cpi validate(settings.machineAngles, "Setting 'machineAngles' is required but not defined."); function getWorkPlaneMachineABC(_section, rotate) { var currentABC = isFirstSection() ? new Vector(0, 0, 0) : getCurrentABC(); var abc = machineConfiguration.getABCByPreference(_section.workPlane, currentABC, settings.machineAngles.controllingAxis, settings.machineAngles.type, settings.machineAngles.options); if (!isSameDirection(machineConfiguration.getDirection(abc), _section.workPlane.forward)) { error(localize("Orientation not supported.")); } if (rotate) { if (settings.workPlaneMethod.optimizeType == undefined || settings.workPlaneMethod.useTiltedWorkplane) { // legacy var useTCP = false; var R = machineConfiguration.getRemainingOrientation(abc, _section.workPlane); setRotation(useTCP ? _section.workPlane : R); } else { if (!_section.isOptimizedForMachine()) { machineConfiguration.setToolLength(compensateToolLength ? _section.getTool().overallLength : 0); // define the tool length for head adjustments _section.optimize3DPositionsByMachine(machineConfiguration, abc, settings.workPlaneMethod.optimizeType); } } } return abc; } // <<<<< INCLUDED FROM include_files/getWorkPlaneMachineABC.cpi // >>>>> INCLUDED FROM include_files/positionABC.cpi function positionABC(abc, force) { if (!machineConfiguration.isMultiAxisConfiguration()) { error("Function 'positionABC' can only be used with multi-axis machine configurations."); } if (typeof unwindABC == "function") { unwindABC(abc); } if (force) { forceABC(); } var a = aOutput.format(abc.x); var b = bOutput.format(abc.y); var c = cOutput.format(abc.z); if (a || b || c) { writeRetract(Z); if (getSetting("retract.homeXY.onIndexing", false)) { writeRetract(settings.retract.homeXY.onIndexing); } onCommand(COMMAND_UNLOCK_MULTI_AXIS); gMotionModal.reset(); writeBlock(gMotionModal.format(0), a, b, c); if (getCurrentSectionId() != -1) { setCurrentABC(abc); // required for machine simulation } } } // <<<<< INCLUDED FROM include_files/positionABC.cpi // >>>>> INCLUDED FROM include_files/writeWCS.cpi function writeWCS(section, wcsIsRequired) { if (section.workOffset != currentWorkOffset) { if (getSetting("workPlaneMethod.cancelTiltFirst", false) && wcsIsRequired) { cancelWorkPlane(); } if (typeof forceWorkPlane == "function" && wcsIsRequired) { forceWorkPlane(); } writeStartBlocks(wcsIsRequired, function () { writeBlock(section.wcs); }); currentWorkOffset = section.workOffset; } } // <<<<< INCLUDED FROM include_files/writeWCS.cpi // >>>>> INCLUDED FROM include_files/writeToolCall.cpi function writeToolCall(tool, insertToolCall) { if (!isFirstSection()) { writeStartBlocks(!getProperty("safeStartAllOperations") && insertToolCall, function () { writeRetract(Z); // write optional Z retract before tool change if safeStartAllOperations is enabled }); } writeStartBlocks(insertToolCall, function () { writeRetract(Z); if (getSetting("retract.homeXY.onToolChange", false)) { writeRetract(settings.retract.homeXY.onToolChange); } if (!isFirstSection() && insertToolCall) { if (typeof forceWorkPlane == "function") { forceWorkPlane(); } onCommand(COMMAND_COOLANT_OFF); // turn off coolant on tool change if (typeof disableLengthCompensation == "function") { disableLengthCompensation(false); } } if (tool.manualToolChange) { onCommand(COMMAND_STOP); writeComment("MANUAL TOOL CHANGE TO T" + toolFormat.format(tool.number)); } else { if (!isFirstSection() && getProperty("optionalStop") && insertToolCall) { onCommand(COMMAND_OPTIONAL_STOP); } onCommand(COMMAND_LOAD_TOOL); } }); if (typeof forceModals == "function" && (insertToolCall || getProperty("safeStartAllOperations"))) { forceModals(); } } // <<<<< INCLUDED FROM include_files/writeToolCall.cpi // >>>>> INCLUDED FROM include_files/writeProgramHeader.cpi properties.writeMachine = { title : "Write machine", description: "Output the machine settings in the header of the program.", group : "formats", type : "boolean", value : true, scope : "post" }; properties.writeTools = { title : "Write tool list", description: "Output a tool list in the header of the program.", group : "formats", type : "boolean", value : true, scope : "post" }; function writeProgramHeader() { // dump machine configuration var vendor = machineConfiguration.getVendor(); var model = machineConfiguration.getModel(); var mDescription = machineConfiguration.getDescription(); if (getProperty("writeMachine") && (vendor || model || mDescription)) { writeComment(localize("Machine")); if (vendor) { writeComment(" " + localize("vendor") + ": " + vendor); } if (model) { writeComment(" " + localize("model") + ": " + model); } if (mDescription) { writeComment(" " + localize("description") + ": " + mDescription); } } // dump tool information if (getProperty("writeTools")) { if (false) { // set to true to use the post kernel version of the tool list writeToolTable(TOOL_NUMBER_COL); } else { var zRanges = {}; if (is3D()) { var numberOfSections = getNumberOfSections(); for (var i = 0; i < numberOfSections; ++i) { var section = getSection(i); var zRange = section.getGlobalZRange(); var tool = section.getTool(); if (zRanges[tool.number]) { zRanges[tool.number].expandToRange(zRange); } else { zRanges[tool.number] = zRange; } } } var tools = getToolTable(); if (tools.getNumberOfTools() > 0) { for (var i = 0; i < tools.getNumberOfTools(); ++i) { var tool = tools.getTool(i); var comment = (getProperty("toolAsName") ? "\"" + tool.description.toUpperCase() + "\"" : "T" + toolFormat.format(tool.number)) + " " + "D=" + xyzFormat.format(tool.diameter) + " " + localize("CR") + "=" + xyzFormat.format(tool.cornerRadius); if ((tool.taperAngle > 0) && (tool.taperAngle < Math.PI)) { comment += " " + localize("TAPER") + "=" + taperFormat.format(tool.taperAngle) + localize("deg"); } if (zRanges[tool.number]) { comment += " - " + localize("ZMIN") + "=" + xyzFormat.format(zRanges[tool.number].getMinimum()); } comment += " - " + getToolTypeName(tool.type); writeComment(comment); } } } } } // <<<<< INCLUDED FROM include_files/writeProgramHeader.cpi // >>>>> INCLUDED FROM include_files/onRapid_fanuc.cpi function onRapid(_x, _y, _z) { var x = xOutput.format(_x); var y = yOutput.format(_y); var z = zOutput.format(_z); if (x || y || z) { if (pendingRadiusCompensation >= 0) { error(localize("Radius compensation mode cannot be changed at rapid traversal.")); return; } writeBlock(gMotionModal.format(0), x, y, z); forceFeed(); } } // <<<<< INCLUDED FROM include_files/onRapid_fanuc.cpi // >>>>> INCLUDED FROM include_files/onLinear_fanuc.cpi function onLinear(_x, _y, _z, feed) { if (pendingRadiusCompensation >= 0) { xOutput.reset(); yOutput.reset(); } var x = xOutput.format(_x); var y = yOutput.format(_y); var z = zOutput.format(_z); var f = getFeed(feed); if (x || y || z) { if (pendingRadiusCompensation >= 0) { pendingRadiusCompensation = -1; var d = getSetting("outputToolDiameterOffset", true) ? diameterOffsetFormat.format(tool.diameterOffset) : ""; writeBlock(gPlaneModal.format(17)); switch (radiusCompensation) { case RADIUS_COMPENSATION_LEFT: writeBlock(gMotionModal.format(1), gFormat.format(41), x, y, z, d, f); break; case RADIUS_COMPENSATION_RIGHT: writeBlock(gMotionModal.format(1), gFormat.format(42), x, y, z, d, f); break; default: writeBlock(gMotionModal.format(1), gFormat.format(40), x, y, z, f); } } else { writeBlock(gMotionModal.format(1), x, y, z, f); } } else if (f) { if (getNextRecord().isMotion()) { // try not to output feed without motion forceFeed(); // force feed on next line } else { writeBlock(gMotionModal.format(1), f); } } } // <<<<< INCLUDED FROM include_files/onLinear_fanuc.cpi // >>>>> INCLUDED FROM include_files/onRapid5D_fanuc.cpi function onRapid5D(_x, _y, _z, _a, _b, _c) { if (pendingRadiusCompensation >= 0) { error(localize("Radius compensation mode cannot be changed at rapid traversal.")); return; } if (!currentSection.isOptimizedForMachine()) { forceXYZ(); } var x = xOutput.format(_x); var y = yOutput.format(_y); var z = zOutput.format(_z); var a = currentSection.isOptimizedForMachine() ? aOutput.format(_a) : toolVectorOutputI.format(_a); var b = currentSection.isOptimizedForMachine() ? bOutput.format(_b) : toolVectorOutputJ.format(_b); var c = currentSection.isOptimizedForMachine() ? cOutput.format(_c) : toolVectorOutputK.format(_c); if (x || y || z || a || b || c) { writeBlock(gMotionModal.format(0), x, y, z, a, b, c); forceFeed(); } } // <<<<< INCLUDED FROM include_files/onRapid5D_fanuc.cpi // >>>>> INCLUDED FROM include_files/onLinear5D_fanuc.cpi function onLinear5D(_x, _y, _z, _a, _b, _c, feed, feedMode) { if (pendingRadiusCompensation >= 0) { error(localize("Radius compensation cannot be activated/deactivated for 5-axis move.")); return; } if (!currentSection.isOptimizedForMachine()) { forceXYZ(); } var x = xOutput.format(_x); var y = yOutput.format(_y); var z = zOutput.format(_z); var a = currentSection.isOptimizedForMachine() ? aOutput.format(_a) : toolVectorOutputI.format(_a); var b = currentSection.isOptimizedForMachine() ? bOutput.format(_b) : toolVectorOutputJ.format(_b); var c = currentSection.isOptimizedForMachine() ? cOutput.format(_c) : toolVectorOutputK.format(_c); if (feedMode == FEED_INVERSE_TIME) { forceFeed(); } var f = feedMode == FEED_INVERSE_TIME ? inverseTimeOutput.format(feed) : getFeed(feed); var fMode = feedMode == FEED_INVERSE_TIME ? 93 : getProperty("useG95") ? 95 : 94; if (x || y || z || a || b || c) { writeBlock(gFeedModeModal.format(fMode), gMotionModal.format(1), x, y, z, a, b, c, f); } else if (f) { if (getNextRecord().isMotion()) { // try not to output feed without motion forceFeed(); // force feed on next line } else { writeBlock(gFeedModeModal.format(fMode), gMotionModal.format(1), f); } } } // <<<<< INCLUDED FROM include_files/onLinear5D_fanuc.cpi // >>>>> INCLUDED FROM include_files/workPlaneFunctions_fanuc.cpi var currentWorkPlaneABC = undefined; function forceWorkPlane() { currentWorkPlaneABC = undefined; } function cancelWCSRotation() { if (typeof gRotationModal != "undefined" && gRotationModal.getCurrent() == 68) { cancelWorkPlane(true); } } function cancelWorkPlane(force) { if (typeof gRotationModal != "undefined") { if (force) { gRotationModal.reset(); } var command = gRotationModal.format(69); if (command) { writeBlock(command); // cancel frame forceWorkPlane(); } } } function setWorkPlane(abc) { if (!settings.workPlaneMethod.forceMultiAxisIndexing && is3D() && !machineConfiguration.isMultiAxisConfiguration()) { return; // ignore } var workplaneIsRequired = (currentWorkPlaneABC == undefined) || abcFormat.areDifferent(abc.x, currentWorkPlaneABC.x) || abcFormat.areDifferent(abc.y, currentWorkPlaneABC.y) || abcFormat.areDifferent(abc.z, currentWorkPlaneABC.z); writeStartBlocks(workplaneIsRequired, function () { writeRetract(Z); if (getSetting("retract.homeXY.onIndexing", false)) { writeRetract(settings.retract.homeXY.onIndexing); } if (currentSection.getId() > 0 && (isTCPSupportedByOperation(getSection(currentSection.getId() - 1) || tcp.isSupportedByOperation)) && typeof disableLengthCompensation == "function") { disableLengthCompensation(); // cancel TCP } if (settings.workPlaneMethod.useTiltedWorkplane) { onCommand(COMMAND_UNLOCK_MULTI_AXIS); cancelWorkPlane(); if (machineConfiguration.isMultiAxisConfiguration()) { var machineABC = abc.isNonZero() ? (currentSection.isMultiAxis() ? getCurrentDirection() : getWorkPlaneMachineABC(currentSection, false)) : abc; if (settings.workPlaneMethod.useABCPrepositioning || machineABC.isZero()) { positionABC(machineABC, false); } else { setCurrentABC(machineABC); } } if (abc.isNonZero() || !machineConfiguration.isMultiAxisConfiguration()) { gRotationModal.reset(); writeBlock( gRotationModal.format(68.2), "X" + xyzFormat.format(currentSection.workOrigin.x), "Y" + xyzFormat.format(currentSection.workOrigin.y), "Z" + xyzFormat.format(currentSection.workOrigin.z), "I" + abcFormat.format(abc.x), "J" + abcFormat.format(abc.y), "K" + abcFormat.format(abc.z) ); // set frame writeBlock(gFormat.format(53.1)); // turn machine } } else { positionABC(abc, true); } if (!currentSection.isMultiAxis()) { onCommand(COMMAND_LOCK_MULTI_AXIS); } currentWorkPlaneABC = abc; }); } // <<<<< INCLUDED FROM include_files/workPlaneFunctions_fanuc.cpi // >>>>> INCLUDED FROM include_files/initialPositioning_fanuc.cpi /** * Writes the initial positioning procedure for a section to get to the start position of the toolpath. * @param {Vector} position The initial position to move to * @param {boolean} isRequired true: Output full positioning, false: Output full positioning in optional state or output simple positioning only * @param {String} codes1 Allows to add additional code to the first positioning line * @param {String} codes2 Allows to add additional code to the second positioning line (if applicable) * @example var myVar1 = formatWords("T" + tool.number, currentSection.wcs); var myVar2 = getCoolantCodes(tool.coolant); writeInitialPositioning(initialPosition, isRequired, myVar1, myVar2); */ function writeInitialPositioning(position, isRequired, codes1, codes2) { var motionCode = {single:0, multi:0}; switch (highFeedMapping) { case HIGH_FEED_MAP_ANY: motionCode = {single:1, multi:1}; // map all rapid traversals to high feed break; case HIGH_FEED_MAP_MULTI: motionCode = {single:0, multi:1}; // map rapid traversal along more than one axis to high feed break; } var feed = (highFeedMapping != HIGH_FEED_NO_MAPPING) ? getFeed(highFeedrate) : ""; var gOffset = getSetting("outputToolLengthCompensation", true) ? gFormat.format(getOffsetCode()) : ""; var hOffset = getSetting("outputToolLengthOffset", true) ? hFormat.format(tool.lengthOffset) : ""; var additionalCodes = [formatWords(codes1), formatWords(codes2)]; forceModals(gMotionModal); writeStartBlocks(isRequired, function() { var modalCodes = formatWords(gAbsIncModal.format(90), gPlaneModal.format(17)); if (typeof disableLengthCompensation == "function") { disableLengthCompensation(!isRequired); // cancel tool length compensation prior to enabling it, required when switching G43/G43.4 modes } // multi axis prepositioning with TWP if (currentSection.isMultiAxis() && getSetting("workPlaneMethod.prepositionWithTWP", true) && getSetting("workPlaneMethod.useTiltedWorkplane", false) && tcp.isSupportedByOperation && getCurrentDirection().isNonZero()) { var W = machineConfiguration.isMultiAxisConfiguration() ? machineConfiguration.getOrientation(getCurrentDirection()) : Matrix.getOrientationFromDirection(getCurrentDirection()); var prePosition = W.getTransposed().multiply(position); var angles = W.getEuler2(settings.workPlaneMethod.eulerConvention); setWorkPlane(angles); writeBlock(modalCodes, gMotionModal.format(motionCode.multi), xOutput.format(prePosition.x), yOutput.format(prePosition.y), feed, additionalCodes[0]); cancelWorkPlane(); writeBlock(gOffset, hOffset, additionalCodes[1]); // omit Z-axis output is desired state.lengthCompensationActive = true; forceAny(); // required to output XYZ coordinates in the following line } else { if (machineConfiguration.isHeadConfiguration()) { writeBlock(modalCodes, gMotionModal.format(motionCode.multi), gOffset, xOutput.format(position.x), yOutput.format(position.y), zOutput.format(position.z), hOffset, feed, additionalCodes ); } else { writeBlock(modalCodes, gMotionModal.format(motionCode.multi), xOutput.format(position.x), yOutput.format(position.y), feed, additionalCodes[0]); writeBlock(gMotionModal.format(motionCode.single), gOffset, zOutput.format(position.z), hOffset, additionalCodes[1]); } state.lengthCompensationActive = true; } forceModals(gMotionModal); if (isRequired) { additionalCodes = []; // clear additionalCodes buffer } }); validate(!validateLengthCompensation || state.lengthCompensationActive, "Tool length compensation is not active."); // make sure that lenght compensation is enabled if (!isRequired) { // simple positioning var modalCodes = formatWords(gAbsIncModal.format(90), gPlaneModal.format(17)); if (!state.retractedZ && xyzFormat.getResultingValue(getCurrentPosition().z) < xyzFormat.getResultingValue(position.z)) { writeBlock(modalCodes, gMotionModal.format(motionCode.single), zOutput.format(position.z), feed); } forceXYZ(); writeBlock(modalCodes, gMotionModal.format(motionCode.multi), xOutput.format(position.x), yOutput.format(position.y), feed, additionalCodes); } } Matrix.getOrientationFromDirection = function (ijk) { var forward = ijk; var unitZ = new Vector(0, 0, 1); var W; if (Math.abs(Vector.dot(forward, unitZ)) < 0.5) { var imX = Vector.cross(forward, unitZ).getNormalized(); W = new Matrix(imX, Vector.cross(forward, imX), forward); } else { var imX = Vector.cross(new Vector(0, 1, 0), forward).getNormalized(); W = new Matrix(imX, Vector.cross(forward, imX), forward); } return W; }; // <<<<< INCLUDED FROM include_files/initialPositioning_fanuc.cpi