Post for Machine Simulation

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/**
  Copyright (C) 2012-2024 by Autodesk, Inc.
  All rights reserved.
 
  Machine simulation demo post configuration.
 
  $Revision: 44130 ead7a535cb1185889026df3401cd93599aec0193 $
  $Date: 2024-06-05 09:00:10 $
 
  FORKID {C974E70C-B5BC-4772-AB36-A9FE6ED98411}
*/
 
description = "Machine Simulation";
vendor = "Autodesk";
vendorUrl = "http://www.autodesk.com";
legal = "Copyright (C) 2012-2024 by Autodesk, Inc.";
certificationLevel = 2;
minimumRevision = 45821;
 
longDescription = "Sample post to demonstrate the usage of machine simulation.";
 
extension = "nc";
setCodePage("ascii");
 
capabilities = CAPABILITY_MILLING | CAPABILITY_MACHINE_SIMULATION; // required for 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);
allowedCircularPlanes = undefined; // allow any circular motion
 
var xyzFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});
var abcFormat = createFormat({decimals:3, forceDecimal:true, scale:DEG});
 
var xOutput = createVariable({prefix:"X"}, xyzFormat);
var yOutput = createVariable({prefix:"Y"}, xyzFormat);
var zOutput = createVariable({onchange:function() {retracted = false;}, prefix:"Z"}, xyzFormat);
var aOutput = createVariable({prefix:"A"}, abcFormat);
var bOutput = createVariable({prefix:"B"}, abcFormat);
var cOutput = createVariable({prefix:"C"}, abcFormat);
 
// ####
// #### The code below is relevant for machine configuration / simulation ####
// ####
 
// Start of machine configuration logic
var compensateToolLength = false; // add the tool length to the pivot distance for nonTCP rotary heads
 
// internal variables, do not change
var receivedMachineConfiguration;
var operationSupportsTCP;
var multiAxisFeedrate;
 
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 multiAxisFeatures
  useMultiAxisFeatures = getProperty("useMultiAxisFeatures") != undefined ? getProperty("useMultiAxisFeatures") :
    (typeof useMultiAxisFeatures != "undefined" ? useMultiAxisFeatures : false);
  useABCPrepositioning = getProperty("useABCPrepositioning") != undefined ? getProperty("useABCPrepositioning") :
    (typeof useABCPrepositioning != "undefined" ? useABCPrepositioning : false);
 
  if (!machineConfiguration.isMultiAxisConfiguration()) {
    return; // don't need to modify any settings for 3-axis machines
  }
 
  // 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 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 : FEED_INVERSE_TIME,
        9999.99, // maximum output value for inverse time feed rates
        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));
  }
}
// End of machine configuration logic
 
function onOpen() {
  receivedMachineConfiguration = machineConfiguration.isReceived();
  if (typeof defineMachine == "function") {
    defineMachine(); // hardcoded machine configuration
  }
  activateMachine(); // enable the machine optimizations and settings
}
 
function setWorkPlane(abc) {
  // setCurrentABC() does send back the calculated ABC angles for indexing operations to the simulation.
  setCurrentABC(abc); // required for machine simulation
}
 
// ####
// #### The code below is generic code only and can be ignored ####
// ####
// Start of onRewindMachine logic
var performRewinds = false; // only use this setting with hardcoded machine configurations, set to true to enable the rewind/reconfigure logic
var stockExpansion = new Vector(toPreciseUnit(0.1, IN), toPreciseUnit(0.1, IN), toPreciseUnit(0.1, IN)); // expand stock XYZ values
safeRetractDistance = (unit == IN) ? 1 : 25; // additional distance to retract out of stock
safeRetractFeed = (unit == IN) ? 20 : 500; // retract feed rate
safePlungeFeed = (unit == IN) ? 10 : 250; // plunge feed rate
 
/** Allow user to override the onRewind logic. */
function onRewindMachineEntry(_a, _b, _c) {
  return false;
}
 
/** Retract to safe position before indexing rotaries. */
function onMoveToSafeRetractPosition() {
  writeRetract(Z);
 
  // cancel TCP so that tool doesn't follow rotaries
}
 
/** Rotate axes to new position above reentry position */
function onRotateAxes(_x, _y, _z, _a, _b, _c) {
  // position rotary axes
  xOutput.disable();
  yOutput.disable();
  zOutput.disable();
  invokeOnRapid5D(_x, _y, _z, _a, _b, _c);
  setCurrentABC(new Vector(_a, _b, _c));
  xOutput.enable();
  yOutput.enable();
  zOutput.enable();
}
 
/** Return from safe position after indexing rotaries. */
function onReturnFromSafeRetractPosition(_x, _y, _z) {
  // reinstate TCP / tool length compensation
 
  // position in XY
  forceXYZ();
  xOutput.reset();
  yOutput.reset();
  zOutput.disable();
  invokeOnRapid(_x, _y, _z);
 
  // position in Z
  zOutput.enable();
  invokeOnRapid(_x, _y, _z);
}
// End of onRewindMachine logic
 
function defineWorkPlane(_section, _setWorkPlane) {
  var abc = new Vector(0, 0, 0);
  if (machineConfiguration.isMultiAxisConfiguration()) { // use 5-axis indexing for multi-axis mode
    if (_section.isMultiAxis()) {
      cancelTransformation();
      // handle multi axis operations here
    } else {
      abc = getWorkPlaneMachineABC(_section.workPlane);
      if (_setWorkPlane) {
        setWorkPlane(abc);
      }
    }
  } else { // pure 3D
    var remaining = _section.workPlane;
    if (!isSameDirection(remaining.forward, new Vector(0, 0, 1))) {
      error(localize("Tool orientation is not supported."));
      return abc;
    }
    setRotation(remaining);
  }
  return abc;
}
 
function getWorkPlaneMachineABC(workPlane) {
  var currentABC = isFirstSection() ? new Vector(0, 0, 0) : getCurrentDirection();
  var abc = currentSection.getABCByPreference(machineConfiguration, workPlane, currentABC, ABC, PREFER_PREFERENCE, ENABLE_ALL);
  if (!isSameDirection(machineConfiguration.getDirection(abc), workPlane.forward)) {
    error(localize("Orientation not supported."));
  }
 
  var tcp = false;
  if (tcp) {
    setRotation(W); // TCP mode
  } else {
    var O = machineConfiguration.getOrientation(abc);
    var R = machineConfiguration.getRemainingOrientation(abc, workPlane);
    setRotation(R);
  }
 
  return abc;
}
 
function onSection() {
  defineWorkPlane(currentSection, true);
}
 
function forceXYZ() {
}
 
function writeBlock() {
}
 
function onRapid(_x, _y, _z) {
}
 
function onLinear(_x, _y, _z, feed) {
}
 
function onRapid5D(_x, _y, _z, _a, _b, _c) {
}
 
function onLinear5D(_x, _y, _z, _a, _b, _c, feed) {
}
 
function onCircular(clockwise, cx, cy, cz, x, y, z, feed) {
}
 
function onCyclePoint(x, y, z) {
}
 
function writeRetract() {
}
 
function onClose() {
  writeln("##########");
  writeln("THIS POSTPROCESSOR IS A SAMPLE FOR MACHINE SIMULATION USAGE, IT DOES NOT OUTPUT ANY NC PROGRAM.");
  writeln("");
  writeln("For more information on how to update your post processor with machine simulation support please visit:");
  writeln("https://knowledge.autodesk.com/community/article/356406");
  writeln("##########");
}