/**
Copyright (C) 2012-2022 by Autodesk, Inc.
All rights reserved.
KUKA CamRob post processor configuration.
$Revision: 43710 be9c82391145c95b055a2993a4d90669fd20eec1 $
$Date: 2022-03-16 20:05:39 $
FORKID {4088F2C6-7163-4094-B177-5EDA4F936CC2}
*/
description = "KUKA Robotics CAMROB";
vendor = "KUKA";
vendorUrl = "http://www.kuka.com";
legal = "Copyright (C) 2012-2022 by Autodesk, Inc.";
certificationLevel = 2;
minimumRevision = 45702;
longDescription = "Generic KUKA CAMROB post. Please refer to the User Guide for programming specification and sample. Always validate with KUKA.Sim before loading any toolpath on your Robot.";
extension = "src";
programNameIsInteger = false;
setCodePage("ascii");
capabilities = CAPABILITY_MILLING | CAPABILITY_ADDITIVE;
tolerance = spatial(0.1, MM);
highFeedrate = (unit == IN) ? 100 : 1000;
minimumChordLength = spatial(0.25, MM);
minimumCircularRadius = spatial(0.01, MM);
maximumCircularRadius = spatial(1000, MM);
minimumCircularSweep = toRad(0.01);
maximumCircularSweep = toRad(180);
allowHelicalMoves = true;
allowSpiralMoves = true;
allowedCircularPlanes = 0;
properties = {
controller: {
title : "Controller",
description: "Robot Controller compatibility ",
group : "configuration",
type : "enum",
values : [
{title:"KR C2", id:"KR C2"},
{title:"KR C4", id:"KR C4"}
],
value: "KR C4",
scope: "post"
},
flipToolFrame: {
title : "Flip Tool Frame",
description: "Flip the tool frame (Z- is along the tool axis).",
group : "parameters",
type : "boolean",
value : true,
scope : "post"
},
useSubfolder: {
title : "Use subfolder",
description: "Specifies if files should be saved in subfolder or not.",
group : "general",
type : "boolean",
value : true,
scope : "post"
},
useCoolant: {
title : "Use coolant",
description: "Specifies if Robot needs Coolant Codes",
group : "general",
type : "boolean",
value : false,
scope : "post"
},
nameLimitation: {
title : "Toolpath name length limitation",
description: "Check if each toolpath name has max 30 characters.",
group : "general",
type : "boolean",
value : true,
scope : "post"
},
robotStatus: {
title : "Robot 'Status' configuration",
description: "KUKA robot 'Status' configuration",
group : "configuration",
type : "string",
value : "B110",
scope : "post"
},
robotTurn: {
title : "Robot 'Turn' configuration",
description: "KUKA robot 'Turn' configuration",
group : "configuration",
type : "string",
value : "B110010",
scope : "post"
},
robotHeadAngle: {
title : "Robot head angle",
description: "KUKA robot head angle around tool axis (A)",
group : "process",
type : "number",
value : 30,
scope : "post"
},
robotSmoothing: {
title : "Robot path smoothing (APO.CDIS) (mm)",
description: "KUKA robot path smoothing APO.CDIS (mm)",
group : "parameters",
type : "integer",
value : 2,
scope : "post"
},
robotPTPVelocity: {
title : "Robot PTP velocity (%)",
description: "KUKA robot PTP velocity (%)",
group : "parameters",
type : "enum",
values : [
{title:"5", id:"5"},
{title:"10", id:"10"},
{title:"15", id:"15"},
{title:"20", id:"20"},
{title:"25", id:"25"},
{title:"50", id:"50"},
{title:"75", id:"75"},
{title:"100", id:"100"}
],
value: "25",
scope: "post"
},
robotAcceleration: {
title : "Robot acceleration/deceleration (%)",
description: "KUKA robot acceleration/deceleration (%)",
group : "parameters",
type : "enum",
values : [
{title:"5", id:"5"},
{title:"10", id:"10"},
{title:"15", id:"15"},
{title:"20", id:"20"},
{title:"25", id:"25"},
{title:"50", id:"50"},
{title:"75", id:"75"},
{title:"100", id:"100"}
],
value: "20",
scope: "post"
},
robotAdvance: {
title : "Robot look-ahead (ADVANCE)",
description: "KUKA look-ahead (ADVANCE)",
group : "parameters",
type : "enum",
values : [
{title:"1", id:"1"},
{title:"3", id:"3"},
{title:"5", id:"5"}
],
value: "3",
scope: "post"
},
writeDateAndTime: {
title : "Write date and time",
description: "Output date and time in the header of the code.",
group : "general",
type : "boolean",
value : true,
scope : "post"
},
endEffectorBehavior: {
title : "End-effector state",
description: "Set the end-effector state (including behavior during flat toolpath transitions).",
group : "process",
type : "enum",
values : [
{title:"OFF", id:"Off"},
{title:"ON + links ON", id:"On"},
{title:"ON + links OFF", id:"OnOff"}
],
value: "Off",
scope: "post"
},
robotToolData: {
title : "Robot tool data",
description: "KUKA tool data (TOOL_DATA) used for FFF toolpath",
group : "fff",
type : "integer",
value : 1,
scope : "post"
},
robotBaseData: {
title : "Robot base data",
description: "KUKA base data (BASE_DATA) used for FFF toolpath",
group : "fff",
type : "integer",
value : 1,
scope : "post"
}
};
groupDefinitions = {
process : {title:"Process", description:"Process post settings", order:0},
configuration: {title:"Configuration", description:"General robot configuration", order:1},
parameters : {title:"Parameters", description:"Robot parameters", order:2},
fff : {title:"FFF Settings", description:"FFF Settings", collapsed:true, order:3},
general : {title:"General", description:"Other post options", collapsed:true, order:4}
};
var singleLineCoolant = false; // specifies to output multiple coolant codes in one line rather than in separate lines
// samples:
// {id: COOLANT_THROUGH_TOOL, on: 88, off: 89}
// {id: COOLANT_THROUGH_TOOL, on: [8, 88], off: [9, 89]}
// {id: COOLANT_THROUGH_TOOL, on: "M88 P3 (myComment)", off: "M89"}
var coolants = [
{id:COOLANT_FLOOD},
{id:COOLANT_MIST},
{id:COOLANT_THROUGH_TOOL},
{id:COOLANT_AIR},
{id:COOLANT_AIR_THROUGH_TOOL},
{id:COOLANT_SUCTION},
{id:COOLANT_FLOOD_MIST},
{id:COOLANT_FLOOD_THROUGH_TOOL},
{id:COOLANT_OFF}
];
var xyzFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true, trim:false});
var abcFormat = createFormat({decimals:3, forceDecimal:true, trim:false});
var jointFormat = createFormat({decimals:4, forceDecimal:false});
var feedFormat = createFormat({decimals:(unit == MM ? 2 : 3), forceDecimal:false, scale:1.0 / 1000.0 / 60.0}); // mm/min -> m/s
var toolFormat = createFormat({decimals:0});
var rpmFormat = createFormat({decimals:0});
var secFormat = createFormat({decimals:3}); // seconds
var taperFormat = createFormat({decimals:1, scale:DEG});
var lineFormat = createFormat({decimals:0});
var xOutput = createVariable({prefix:"", force:true}, xyzFormat);
var yOutput = createVariable({prefix:"", force:true}, xyzFormat);
var zOutput = createVariable({onchange:function () {retracted = false;}, prefix:"", force:true}, xyzFormat);
var aOutput = createVariable({prefix:"", force:true}, abcFormat);
var bOutput = createVariable({prefix:"", force:true}, abcFormat);
var cOutput = createVariable({prefix:"", force:true}, abcFormat);
var feedOutput = createVariable({prefix:"", force:true}, feedFormat);
var sOutput = createVariable({prefix:"", force:true}, rpmFormat);
var lineOutput = createVariable({prefix:"", force:true}, lineFormat);
var currentWorkOffset;
var forceSpindleSpeed = false;
var retracted = false; // specifies that the tool has been retracted to the safe plane
var firstLin = true; // set during onSection to reset first toolpath point
var pendingRadiusCompensation = -1;
var endEffectorState = 0; // initial state of the end effector (0 =off)
var coolantState = 0; // initial state of coolant use
var spindleState = 1; // initial state of the spindle state (on) because end effector is off
var spindlePrefix = ""; // Prefix to spindle command
var toolNumber = 0;
var isRedirectedToCSV = false;
var isToBePushed = false;
var subfolderPath;
var toolpathLines = new Array(); // array used to write toolpath lines in the footer of each subprogram
var subNames = new Array();
var toolpathNames = new Array();
var lineCounter = 0;
var permittedCommentChars = " abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789.,;:=_-+'#$&%/()[]{}";
/**
Writes the specified block.
*/
function writeBlock() {
writeWords(arguments);
}
/**
Formats a comment.
*/
function formatComment(text) {
if (isRedirectedToCSV) {
return "#" + filterText(String(text), permittedCommentChars).replace();
} else {
return ";" + filterText(String(text), permittedCommentChars).replace();
}
}
/**
Output a comment.
*/
function writeComment(text) {
if (isToBePushed) {
toolpathLines.push(formatComment(text));
} else {
writeln(formatComment(text));
}
}
function onOpen() {
// Machine requires output only in MM
unit = MM;
setWordSeparator(",");
// create subfolder if requested
if (getProperty("useSubfolder")) {
subfolderPath = FileSystem.getCombinedPath(FileSystem.getFolderPath(getOutputPath()), programName);
if (!FileSystem.isFolder(subfolderPath)) {
FileSystem.makeFolder(subfolderPath);
}
}
// Write .dat main program
writeMainDat();
writeBlock("&ACCESS RV");
writeBlock("&REL 1");
writeBlock("DEF " + FileSystem.replaceExtension(FileSystem.getFilename(getOutputPath().toUpperCase()), "") + "()");
writeComment("FOLD INI");
writeln(" " + formatComment("FOLD BASISTECH INI"));
writeBlock(" GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )");
writeBlock(" GLOBAL INTERRUPT DECL 4 WHEN $IN[22]==FALSE DO IR_HMT ( )");
writeBlock(" GLOBAL INTERRUPT DECL 5 WHEN HMTStopReq==TRUE DO IR_HMT ( )");
writeBlock(" INTERRUPT ON 3");
writeBlock(" INTERRUPT ON 4");
writeBlock(" INTERRUPT ON 5");
writeBlock(" BAS (#INITMOV,0 )");
writeln(" " + formatComment("ENDFOLD (BASISTECH INI)"));
writeln(" " + formatComment("FOLD USER INI"));
writeln(" " + formatComment("Make your modifications here"));
if (programComment) {
writeComment(programComment);
}
writeln("");
writeln(" " + formatComment("ENDFOLD (USER INI)"));
writeComment("ENDFOLD (INI)");
writeln("");
if (hasGlobalParameter("generated-by")) {
var value = getGlobalParameter("generated-by");
writeComment("Generated by AUTODESK " + value);
}
if (getProperty("writeDateAndTime")) {
var d = new Date();
writeComment(" Creation date: " + d.toLocaleDateString() + " " + d.toLocaleTimeString());
}
writeln("");
writeBlock("HMT_STARTUP()");
writeBlock("HMT_PURGE()");
writeln("");
writeComment(" Set PTP velocity and acceleration");
writeln("$VEL_AXIS[1] = " + getProperty("robotPTPVelocity"));
writeln("$VEL_AXIS[2] = " + getProperty("robotPTPVelocity"));
writeln("$VEL_AXIS[3] = " + getProperty("robotPTPVelocity"));
writeln("$VEL_AXIS[4] = " + getProperty("robotPTPVelocity"));
writeln("$VEL_AXIS[5] = " + getProperty("robotPTPVelocity"));
writeln("$VEL_AXIS[6] = " + getProperty("robotPTPVelocity"));
writeln("$ACC_AXIS[1] = " + getProperty("robotAcceleration"));
writeln("$ACC_AXIS[2] = " + getProperty("robotAcceleration"));
writeln("$ACC_AXIS[3] = " + getProperty("robotAcceleration"));
writeln("$ACC_AXIS[4] = " + getProperty("robotAcceleration"));
writeln("$ACC_AXIS[5] = " + getProperty("robotAcceleration"));
writeln("$ACC_AXIS[6] = " + getProperty("robotAcceleration"));
writeln("");
if (getProperty("controller") == "KR C2") {
writeComment(" KUKA.Camrob compatibility for KRC2");
writeBlock("CR_iUSER_PARAMS_VERSION = 2");
writeln("");
}
writeComment(" Do not use acceleration defined in the CSV");
writeBlock("cr_bupdate_acc=false");
writeln("");
writeComment(" To set 'Tool On Robot' Mode");
writeBlock("$IPO_MODE = #BASE");
writeln("");
writeComment(" Set smoothing value");
writeBlock("$APO.CDIS = " + getProperty("robotSmoothing"));
writeBlock("$APO.CDIS = 5");
writeBlock("CR_rAPO_CDIS = $APO.CDIS");
writeln("");
writeComment(" Set $ADVANCE value (number of points read in advance)");
writeBlock("$ADVANCE = " + getProperty("robotAdvance"));
writeln("");
writeComment(" Set BASE");
if (getSection(0).type == TYPE_ADDITIVE && getSection(0).getTool().type == TOOL_MARKER) {
// if it is an FFF operation
writeBlock("BAS(#BASE," + getProperty("robotBaseData") + ")");
currentWorkOffset = getProperty("robotBaseData");
} else {
if (getSection(0).workOffset == 0) {
error(localize("Active BASE has not been specified. Define it as WCS value, editing current Setup."));
} else {
writeBlock("BAS(#BASE," + getSection(0).workOffset + ")");
currentWorkOffset = getSection(0).workOffset;
}
}
// set coolant code if needed
setCoolant(tool.coolant);
}
function onComment(message) {
writeComment(message);
}
/**
Writes the right robot move (first point PTP, others as LIN)
*/
function writeRobotMove(x, y, z, i, j, k, feed) {
writeLIN(x, y, z, i, j, k, getProperty("robotHeadAngle"), feed);
}
/**
PTP move
*/
function writePTP(x, y, z, i, j, k, angle, s, t) {
var vz = new Vector();
vz.x = i;
vz.y = j;
vz.z = k;
var ea = getKUKAEulerAngleFromVectorAndRotationAngle(vz, angle);
// check status and turn format
var status = s;
var turn = t;
if (status.indexOf("B") != -1) {
if (status.indexOf("'") != 0) {
status = "'" + status;
}
if (status.lastIndexOf("'") != status.length - 1) {
status += "'";
}
}
if (turn.indexOf("B") != -1) {
if (turn.indexOf("'") != 0) {
turn = "'" + turn;
}
if (turn.lastIndexOf("'") != turn.length - 1) {
turn += "'";
}
}
// write the move
writeBlock("PTP {X " + xOutput.format(x),
"Y " + yOutput.format(y),
"Z " + zOutput.format(z),
"A " + aOutput.format(ea.x),
"B " + bOutput.format(ea.y),
"C " + cOutput.format(ea.z),
"E1 0,E2 0,E3 0,E4 0,E5 0,E6 0,S" + status,
"T" + turn + "}");
}
function writeLIN(x, y, z, i, j, k, angle, feed) {
var vz = new Vector();
vz.x = i;
vz.y = j;
vz.z = k;
var ea = getKUKAEulerAngleFromVectorAndRotationAngle(vz, angle);
// check for parameters not available in additive
coolantState = (getProperty("useCoolant")) ? 1 : 0;
spindleState = (getProperty("endEffectorBehavior") == "Off" ? 1 : endEffectorState);
var spindleValue = sOutput.format(spindleSpeed);
toolpathLines.push(xOutput.format(x) + ";" + yOutput.format(y) + ";" + zOutput.format(z) + ";" + aOutput.format(ea.x) + ";" + bOutput.format(ea.y) + ";" + cOutput.format(ea.z) + ";" + ++lineCounter + ";" + feedOutput.format(feed) + ";" + spindleState + ";" + spindleValue + ";1;" + coolantState + ";" + toolNumber + ";0;0;2;" + currentWorkOffset);
}
var operationCounter = 0;
function onSection() {
firstLin = true;
lineCounter = 0;
cancelRotation();
if (!currentSection.isMultiAxis()) {
setRotation(currentSection.workPlane);
}
var insertToolCall = isFirstSection() || currentSection.getForceToolChange && currentSection.getForceToolChange() ||
(tool.number != getPreviousSection().getTool().number);
var counter = 1;
var opName;
if (isFFFOperation(currentSection)) {
opName = (programName + "_" + counter);
counter = counter++;
} else {
if (hasParameter("operation-comment")) {
opName = getParameter("operation-comment");
} else if (hasParameter("notes")) {
opName = getParameter("notes");
} else {
opName = ("unnamed_" + counter);
counter = counter++;
}
}
opName = "s" + opName.replace(/[^a-zA-Z0-9_()+]/g, "_");
if (getProperty("useSubfolder")) {
folder = subfolderPath;
} else {
folder = FileSystem.getFolderPath(getOutputPath());
}
// write toolpath name in Array to check for duplicated names
if (toolpathNames.length > 0 && toolpathNames.indexOf(opName) > -1) {
++operationCounter;
opName += "_" + operationCounter;
}
toolpathNames.push(opName);
if (getProperty("nameLimitation")) {
if (opName.length > 30) {
error(subst(localize("Toolpath Name '%1' is longer than 30 characters. Please modify it to less than 30 characters."), opName));
}
}
var path = FileSystem.getCombinedPath(folder, opName + ".csv");
var workOffsetLocal = isFFFOperation(currentSection) ? getProperty("robotBaseData") : currentSection.workOffset;
if (currentWorkOffset != workOffsetLocal) {
if (workOffsetLocal == 0) {
error(localize("Active BASE has not been specified. Define it as WCS value, editing current Setup."));
} else {
currentWorkOffset = workOffsetLocal;
}
}
// In Additive add a comment prefix on spindle commands
spindlePrefix = (getProperty("endEffectorBehavior") == "Off" && !isFFFOperation(currentSection)) ? "" : ";";
// get tool number value even if it is a additive operation
toolNumber = isFFFOperation(currentSection) ? getProperty("robotToolData") : tool.number;
if (insertToolCall) {
writeln("");
writeComment("FOLD CAMRob.LoadTool = 1 [1..100];%{PE}%MKUKATPUSER");
writeBlock(" CR_LOAD_TOOL( " + toolFormat.format(toolNumber) + ")");
writeComment("ENDFOLD");
writeBlock("BAS(#TOOL," + toolFormat.format(toolNumber) + ")");
writeBlock("$TOOL = TOOL_DATA[" + toolFormat.format(toolNumber) + "]");
writeln("");
if (isFirstSection() || (rpmFormat.areDifferent(spindleSpeed, sOutput.getCurrent())) || forceSpindleSpeed) {
forceSpindleSpeed = false;
writeComment(" Spindle ON/speed");
writeBlock(spindlePrefix + "CR_SPINDLE_VEL( " + sOutput.format(spindleSpeed) + ", #CLW)");
writeln("");
writeComment("FOLD CAMRob.SpindleState = ON;%{PE}%MKUKATPUSER");
writeln(spindlePrefix + " CR_SPINDLE(#ON)");
writeComment("ENDFOLD");
writeln("");
}
}
if (currentSection.isMultiAxis()) {
var workPlane = getFramePosition(currentSection.getGlobalInitialToolAxis());
} else {
var workPlane = currentSection.workPlane.forward;
}
var initialPosition = getFramePosition(currentSection.getInitialPosition());
writeln("");
writePTP(initialPosition.x, initialPosition.y, initialPosition.z, workPlane.x, workPlane.y, workPlane.z,
getProperty("robotHeadAngle"), getProperty("robotStatus"), getProperty("robotTurn"));
subNames.push(opName);
// write toolpath name in main program
// load toolpath name in subNames array to be written later in progname.dat file
redirectToFile(path);
isRedirectedToCSV = true;
isToBePushed = false;
writeComment(" CSV file");
writeComment("-------------");
writeComment(" This CSV-file format contains values separated with a ';' sign (semi-colon).");
writeComment(" The format is as follows");
writeComment(" Record_Num;X;Y;Z;A;B;C;R1;R2;R3;R4;R5;R6;R7;R8;R9;R10;R11;R12;R13;...etc...");
writeComment(" ");
writeComment("---------------------- Process Parameters ---------------------");
writeComment(" R1;R2;R3;R4;R5;R6;R7;R8 ...etc (parameters)");
writeComment(" CR_rPARAMS[1] = CNC Line number");
writeComment(" CR_rPARAMS[2] = Feedrate in Meters/Second. This is the robot speed.");
writeComment(" CR_rPARAMS[3] = Spindle state. (ON = 1/OFF = 0)");
writeComment(" CR_rPARAMS[4] = Spindle speed (RPM)");
writeComment(" CR_rPARAMS[5] = Spindle rotation (CLW=1/CCLW=0)");
writeComment(" CR_rPARAMS[6] = Coolant (ON=1/OFF=0)");
writeComment(" CR_rPARAMS[7] = Tool Number.");
writeComment(" CR_rPARAMS[8] = Linear Slide Axis value.");
writeComment(" CR_rPARAMS[9] = Rotary Table Axis value.");
writeComment(" CR_rPARAMS[10] = Wrist Position: 0 or 2=WristBack-PTP/1 or 3=WristForward-PTP.");
writeComment(" CR_rPARAMS[11] = Base Number.");
writeComment(" CR_rPARAMS[12] = Custom End Effect Tool On/Off.");
writeComment(" CR_rPARAMS[13] = Total Number of Motion Lines in file.");
writeComment("---------------------- End Process Parameters ---------------------");
writeComment(" Columns 8 until 34 can contain additional process values");
writeComment(" This process-data is optional and may be omitted.");
writeComment(" This CSV-file format may contain comments if they start with the '#' sign.");
writeComment(" This CSV-file format may contain empty lines.");
writeln(" ");
writeln(" ");
writeComment("START of CNC Motion Instructions");
writeComment("## Toolpath Name: " + opName);
writeln("");
isToBePushed = true;
}
function onDwell(seconds) {
}
function onSpindleSpeed(spindleSpeed) {
writeComment(" Spindle Speed = " + sOutput.format(spindleSpeed) + " RPM");
}
function onRadiusCompensation() {
pendingRadiusCompensation = radiusCompensation;
}
function onRapid(_x, _y, _z) {
if (isFFFOperation(currentSection)) {
// for FFF: managing extruder on/off from here instead of onMovement()
setAdditiveProcessOFF();
}
var workPlane = currentSection.workPlane.forward;
writeRobotMove(_x, _y, _z, workPlane.x, workPlane.y, workPlane.z, highFeedrate);
}
function onLinear(_x, _y, _z, feed) {
if (pendingRadiusCompensation >= 0) {
error(localize("Radius compensation mode is not supported by robot."));
return;
}
var workPlane = currentSection.workPlane.forward;
writeRobotMove(_x, _y, _z, workPlane.x, workPlane.y, workPlane.z, feed);
}
function onLinearExtrude(_x, _y, _z, feed) {
if (isFFFOperation(currentSection)) {
// for FFF: managing extruder on/off from here instead of onMovement()
setAdditiveProcessON();
}
var workPlane = currentSection.workPlane.forward;
writeRobotMove(_x, _y, _z, workPlane.x, workPlane.y, workPlane.z, feed);
}
function onRapid5D(_x, _y, _z, _i, _j, _k) {
writeRobotMove(_x, _y, _z, _i, _j, _k, highFeedrate);
}
function onLinear5D(_x, _y, _z, _i, _j, _k, feed) {
if (pendingRadiusCompensation >= 0) {
error(localize("Radius compensation mode is not supported by robot."));
return;
}
writeRobotMove(_x, _y, _z, _i, _j, _k, feed);
}
function onCircular(clockwise, cx, cy, cz, x, y, z, feed) {
linearize(tolerance);
}
var currentCoolantMode = COOLANT_OFF;
var coolantOff = undefined;
var forceCoolant = false;
function setCoolant(coolant) {
var coolantCodes = getCoolantCodes(coolant);
if (Array.isArray(coolantCodes)) {
if (singleLineCoolant) {
writeBlock(coolantCodes.join(getWordSeparator()));
} else {
for (var c in coolantCodes) {
writeBlock(coolantCodes[c]);
}
}
return undefined;
}
return coolantCodes;
}
function getCoolantCodes(coolant) {
var multipleCoolantBlocks = new Array(); // create a formatted array to be passed into the outputted line
if ((getProperty("useCoolant") != undefined) && !getProperty("useCoolant")) {
return undefined;
}
if (!coolants) {
error(localize("Coolants have not been defined."));
}
if (tool.type == TOOL_PROBE) { // avoid coolant output for probing
coolant = COOLANT_OFF;
}
if (coolant == currentCoolantMode && (!forceCoolant || coolant == COOLANT_OFF)) {
return undefined; // coolant is already active
}
if ((coolant != COOLANT_OFF) && (currentCoolantMode != COOLANT_OFF) && (coolantOff != undefined) && !forceCoolant) {
if (Array.isArray(coolantOff)) {
for (var i in coolantOff) {
multipleCoolantBlocks.push(coolantOff[i]);
}
} else {
multipleCoolantBlocks.push(coolantOff);
}
}
forceCoolant = false;
var m;
var coolantCodes = {};
for (var c in coolants) { // find required coolant codes into the coolants array
if (coolants[c].id == coolant) {
coolantCodes.on = coolants[c].on;
if (coolants[c].off != undefined) {
coolantCodes.off = coolants[c].off;
break;
} else {
for (var i in coolants) {
if (coolants[i].id == COOLANT_OFF) {
coolantCodes.off = coolants[i].off;
break;
}
}
}
}
}
if (coolant == COOLANT_OFF) {
m = !coolantOff ? coolantCodes.off : coolantOff; // use the default coolant off command when an 'off' value is not specified
} else {
coolantOff = coolantCodes.off;
m = coolantCodes.on;
}
if (!m) {
onUnsupportedCoolant(coolant);
m = 9;
} else {
if (Array.isArray(m)) {
for (var i in m) {
multipleCoolantBlocks.push(m[i]);
}
} else {
multipleCoolantBlocks.push(m);
}
currentCoolantMode = coolant;
for (var i in multipleCoolantBlocks) {
if (typeof multipleCoolantBlocks[i] == "number") {
multipleCoolantBlocks[i] = mFormat.format(multipleCoolantBlocks[i]);
}
}
return multipleCoolantBlocks; // return the single formatted coolant value
}
return undefined;
}
function isFFFOperation(section) {
return section.getType() == TYPE_ADDITIVE && section.getTool().type == TOOL_MARKER;
}
function onMovement(movement) {
// We can use a simple milling (subtractive) toolpaths as additive :
// ignore all the onMovement stuff for FFF since the end effector switch
// is handled in the onRapid and onLinearExtrude functions
if (!isFFFOperation(currentSection)) {
switch (movement) {
case MOVEMENT_CUTTING:
case MOVEMENT_FINISH_CUTTING:
toolpathLines.push(formatComment(" Cutting Move Starts"));
setAdditiveProcessON();
break;
case MOVEMENT_PLUNGE:
toolpathLines.push(formatComment(" Plunge Move Starts"));
break;
case MOVEMENT_LEAD_IN:
toolpathLines.push(formatComment(" Lead In Move Starts"));
break;
case MOVEMENT_LEAD_OUT:
toolpathLines.push(formatComment(" Lead Out Move Starts"));
setAdditiveProcessOFF();
break;
case MOVEMENT_LINK_TRANSITION:
toolpathLines.push(formatComment(" Link Move Starts"));
if (getProperty("endEffectorBehavior") == "OnOff") {
setAdditiveProcessOFF();
}
break;
case MOVEMENT_BRIDGING:
toolpathLines.push(formatComment(" Bridging Move Starts"));
break;
case MOVEMENT_LINK_DIRECT:
toolpathLines.push(formatComment(" Cutting Move Ends"));
break;
case MOVEMENT_RAPID:
toolpathLines.push(formatComment(" Rapid Move Starts"));
setAdditiveProcessOFF();
break;
}
}
}
// An end-effector is the device at the end of a robotic arm.
// It may consist in different gripper/tool/etc. and the activation/deactivation code depends on the end-effector type.
// These codes are to be customized by integrator and/or end-user.
function setAdditiveProcessON() {
if (getProperty("endEffectorBehavior") != "Off" && endEffectorState == 0) {
endEffectorState = 1;
}
}
function setAdditiveProcessOFF() {
if (getProperty("endEffectorBehavior") != "Off" && endEffectorState == 1) {
endEffectorState = 0;
}
}
function onCommand(command) {
switch (command) {
case COMMAND_STOP:
writeBlock("HALT");
forceSpindleSpeed = true;
forceCoolant = true;
return;
case COMMAND_OPTIONAL_STOP:
writeComment("WAIT FOR $IN[1]"); // need variable
forceSpindleSpeed = true;
forceCoolant = true;
return;
case COMMAND_COOLANT_ON:
setCoolant(COOLANT_FLOOD);
return;
case COMMAND_COOLANT_OFF:
setCoolant(COOLANT_OFF);
return;
case COMMAND_START_SPINDLE:
onCommand(tool.clockwise ? COMMAND_SPINDLE_CLOCKWISE : COMMAND_SPINDLE_COUNTERCLOCKWISE);
return;
case COMMAND_LOCK_MULTI_AXIS:
return;
case COMMAND_UNLOCK_MULTI_AXIS:
return;
case COMMAND_BREAK_CONTROL:
return;
case COMMAND_TOOL_MEASURE:
return;
default:
onUnsupportedCommand(command);
}
}
function onSectionEnd() {
var totalCounter = 0;
var lines = 0;
// we need to remove comment lines ( startin with # ) from total line counter
for (var i = 0; i < toolpathLines.length; ++i) {
if (toolpathLines[i][0] == "#") {
totalCounter++;
}
}
totalCounter = toolpathLines.length - totalCounter;
for (var i = 0; i < toolpathLines.length; ++i) {
var coordOut = toolpathLines[i];
if (coordOut[0] == "#") {
writeBlock(coordOut);
} else {
writeBlock(++lines + ";" + coordOut + ";0;" + totalCounter);
}
}
isToBePushed = false;
writeComment("END of CNC Motion Instructions");
closeRedirection();
isRedirectedToCSV = false;
toolpathLines = [];
// write the subprogram call in main program with the total number of lines
var opName = subNames[subNames.length - 1];
writeComment("FOLD CAMRob.ProcessFile = " + opName + ".csv" + ", Start record = 1(1 = BEGIN) , End record = " + totalCounter + "(-1 = END) , Checksum = OK ('OK' = No check) ;%{PE}%MKUKATPUSER");
writeln(" CR_PROCESS_FILE(\"" + opName + ".csv\", 1, " + totalCounter + ", \"OK\")");
writeComment("ENDFOLD");
}
function writeMainDat() {
if (getProperty("useSubfolder")) {
folder = subfolderPath;
var path = FileSystem.getCombinedPath(folder, programName + ".dat");
} else {
var path = FileSystem.getCombinedPath(FileSystem.getFolderPath(getOutputPath()), programName + ".dat");
}
redirectToFile(path);
writeBlock("&ACCESS RVO");
writeBlock("DEFDAT " + programName);
writeComment("FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P");
writeln(" " + formatComment("FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P"));
writeBlock(" EXT BAS (BAS_COMMAND :IN,REAL :IN )");
writeln(" " + formatComment("ENDFOLD (BASISTECH EXT)"));
writeln("");
writeComment("ENDFOLD (EXTERNAL DECLARATIONS)");
writeBlock("ENDDAT");
closeRedirection();
return;
}
/**
converts a vectorZ and a rotation angle around it to KUKA Euler angles
*/
function getKUKAEulerAngleFromVectorAndRotationAngle(vectorZ, angleInDegrees) {
// X is rotated about standard XY-plane, not provided Z-axis
var vectorX = Matrix.getZRotation(toRad(angleInDegrees)).transposed.multiply(new Vector(1, 0, 0));
// X and Z form a non-orthogonal matrix, so cannot use standard matrix calculations
var yAxis = Vector.cross(vectorZ, vectorX);
var xAxis = Vector.cross(yAxis, vectorZ);
var yAxis = Vector.cross(vectorZ, xAxis);
m = new Matrix(xAxis, yAxis, vectorZ).transposed;
if (getProperty("flipToolFrame")) {
m = Matrix.getAxisRotation(new Vector(0, 1, 0), Math.PI).multiply(m);
}
ea = new Vector();
var ea = m.transposed.getEuler2(EULER_ZYX_R).toDeg();
return ea;
}
/**
moves main program to subfolder if requested
*/
function onTerminate() {
if (getProperty("useSubfolder")) {
var outputPath = getOutputPath();
var programFilename = FileSystem.getFilename(outputPath);
var newFolder = subfolderPath + "\\" + programFilename;
FileSystem.copyFile(outputPath, newFolder);
FileSystem.remove(outputPath);
var file = new TextFile(FileSystem.getFolderPath(getOutputPath()) + "\\" + programFilename, true, "ansi");
file.writeln("This is a dummy file.");
file.writeln("Your program files are located here: " + subfolderPath);
file.close();
}
}
function onClose() {
writeln("");
writeComment(" Stop Spindle ");
writeBlock(spindlePrefix + "CR_SPINDLE_VEL( 0, #CLW)");
writeln("");
writeComment("FOLD CAMRob.SpindleState = OFF;%{PE}%MKUKATPUSER");
writeln(spindlePrefix + " CR_SPINDLE( #OFF)");
writeComment("ENDFOLD");
writeln("");
writeBlock("HMT_SHUTDOWN()");
writeln("");
writeBlock("END");
}
function setProperty(property, value) {
properties[property].current = value;
}