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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";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/svar toolFormat = createFormat({decimals:0});var rpmFormat = createFormat({decimals:0});var secFormat = createFormat({decimals:3}); // secondsvar 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 planevar firstLin = true; // set during onSection to reset first toolpath pointvar pendingRadiusCompensation = -1;var endEffectorState = 0; // initial state of the end effector (0 =off)var coolantState = 0; // initial state of coolant usevar spindleState = 1; // initial state of the spindle state (on) because end effector is offvar spindlePrefix = ""; // Prefix to spindle commandvar 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 subprogramvar 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;} |