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1622 1623 1624 | /** Copyright (C) 2012-2021 by Autodesk, Inc. All rights reserved. Universal Robots post processor configuration. $Revision: 44106 42162b6c37d8849644d694c053a201a331ea3c40 $ $Date: 2023-10-25 14:30:07 $ FORKID {2FB73EBD-5EDE-46B5-A0E0-2283F46776BD}*/description = "Universal Robots";vendor = "Universal Robots";legal = "Copyright (C) 2012-2021 by Autodesk, Inc.";certificationLevel = 2;minimumRevision = 45702;longDescription = "Generic post for Universal Robots CB-Series (URScript) and e-Series (G-code and URScript). Please refer to the User Guide for programming specification and sample. Always validate in Simulation mode before running any toolpath on your robot.";// extension: Gcode needs .nc and Script needs .script. It will be managed in onTerminate functionextension = ".txt";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 = false;allowedCircularPlanes = (1 << PLANE_XY);// user-defined propertiesproperties = { fileFormat: { title : "Output Format", description: "NC program Output file format", group : "output", type : "enum", value : "GCode", values : [ {id:"GCode", title:"GCode"}, {id:"URScript", title:"URScript"} ], scope: "post" }, outputFile: { title : "Output File", description: "NC program Output", group : "output", type : "enum", value : "Single", values : [ {id:"Single", title:"Single"}, {id:"Multiple", title:"Multiple"} ], scope: "post" }, useSubfolder: { title : "Use subfolder", description: "Specifies if files should be saved in subfolder or not.", group : "output", type : "boolean", value : true, scope : "post" }, useCircular: { title : "Use circular moves", description: "Specifies if files should contain circular moves (G02/G03 commands).", group : "gcode", type : "boolean", value : true, scope : "post" }, nameLimitation: { title : "Toolpath name length limitation", description: "Check if each toolpath name has max 30 characters.", group : "preferences", type : "boolean", value : false, scope : "post" }, addFileExtension: { title : "NC files extension", description: "Specifies if nc file extension is needed.", group : "preferences", type : "boolean", value : true, visible : false, scope : "post" }, robotStartJ1: { title : "Base (deg)", description: "UR robot joint value used for the initial position point before movel start (deg).", group : "joint", type : "number", value : 0, scope : "post" }, robotStartJ2: { title : "Shoulder (deg)", description: "UR robot joint value used for the initial position point before movel start (deg).", group : "joint", type : "number", value : 0, scope : "post" }, robotStartJ3: { title : "Elbow (deg)", description: "UR robot joint value used for the initial position point before movel start (deg).", group : "joint", type : "number", value : 0, scope : "post" }, robotStartJ4: { title : "Wrist 1 (deg)", description: "UR robot joint value used for the initial position point before movel start (deg).", group : "joint", type : "number", value : 0, scope : "post" }, robotStartJ5: { title : "Wrist 2 (deg)", description: "UR robot joint value used for the initial position point before movel start (deg).", group : "joint", type : "number", value : 0, scope : "post" }, robotStartJ6: { title : "Wrist 3 (deg)", description: "UR robot joint value used for the initial position point before movel start (deg).", group : "joint", type : "number", value : 0, scope : "post" }, robotHeadAngle: { title : "Robot head angle (deg)", description: "UR robot head angle around tool axis (deg)", group : "parameters", type : "number", value : 30, scope : "post" }, robotSmoothing: { title : "Robot radius smoothing (mm)", description: "UR robot path radius smoothing value (r=<value>m)", group : "script", type : "number", value : 0.005, scope : "post" }, robotJointSpeed: { title : "Robot movej tool speed (mm/s)", description: "UR robot tool speed during joint move (v=<value>m/s)", group : "script", type : "number", value : 200, scope : "post" }, robotAcceleration: { title : "Robot acceleration (mm/s^2)", description: "UR robot acceleration (a=<value>m/s^2)", group : "script", type : "number", value : 1000, scope : "post" }, writeDateAndTime: { title : "Write date and time", description: "Output date and time in the header of the code.", group : "preferences", type : "boolean", value : true, visible : false, scope : "post" }, writeCamVersion: { title : "Write CAM version", description: "Output Autodesk CAM version in the header of the code.", group : "preferences", type : "boolean", value : true, visible : false, scope : "post" }, partOriginX: { title : "PCS X (mm)", description: "Part origin offset in X (offset from robot base to part origin) (mm)", group : "coords", type : "number", value : 0, scope : "post" }, partOriginY: { title : "PCS Y (mm)", description: "Part origin offset in Y (offset from robot base to part origin) (mm)", group : "coords", type : "number", value : 0, scope : "post" }, partOriginZ: { title : "PCS Z (mm)", description: "Part origin offset in Z (offset from robot base to part origin) (mm)", group : "coords", type : "number", value : 0, scope : "post" }, partOriginAx: { title : "PCS Ax (deg, Rotation Vector)", description: "Part origin orientation Ax (orientation of part origin from robot base) (AxisAngle)", group : "coords", type : "number", value : 0, scope : "post" }, partOriginAy: { title : "PCS Ay (deg, Rotation Vector)", description: "Part origin orientation Ay (orientation of part origin from robot base) (AxisAngle)", group : "coords", type : "number", value : 0, scope : "post" }, partOriginAz: { title : "PCS Az (deg, Rotation Vector)", description: "Part origin orientation Az (orientation of part origin from robot base) (AxisAngle)", group : "coords", type : "number", value : 0, scope : "post" }, robotPayload: { title : "Robot payload (kg)", description: "Robot payload = mass of the end effector (kg)", group : "script", type : "number", value : 0, scope : "post" }, tcpX: { title : "TCP X (mm)", description: "Tool tip origin offset in X (offset from robot flange) (m)", group : "tcp", type : "number", value : 0, scope : "post" }, tcpY: { title : "TCP Y (mm)", description: "Tool tip origin offset in Y (offset from robot flange) (m)", group : "tcp", type : "number", value : 0, scope : "post" }, tcpZ: { title : "TCP Z (mm)", description: "Tool tip origin offset in Z (offset from robot flange) (m)", group : "tcp", type : "number", value : 0, scope : "post" }, tcpAx: { title : "TCP Ax (deg, Rotation Vector)", description: "Tool tip origin orientation Ax (orientation of tool tip from robot flange) (AxisAngle)", group : "tcp", type : "number", value : 0, scope : "post" }, tcpAy: { title : "TCP Ay (deg, Rotation Vector)", description: "Tool tip origin orientation Ay (orientation of tool tip from robot flange) (AxisAngle)", group : "tcp", type : "number", value : 0, scope : "post" }, tcpAz: { title : "TCP Az (deg, Rotation Vector)", description: "Tool tip origin orientation Az (orientation of tool tip from robot flange) (AxisAngle)", group : "tcp", type : "number", value : 0, scope : "post" }, endEffectorBehaviorUR: { title : "End-effector state (URScript)", description: "Set the end-effector state (including behavior during flat toolpath transitions)", group : "additive2", type : "enum", values : [ {title:"Off", id:"Off"}, {title:"On + links On", id:"On"}, {title:"On + links Off", id:"OnOff"} ], value: "Off", scope: "post" }, portUR: { title : "Port or digital output (URScript)", description: "Select the port or digital output (URScript)", group : "additive2", type : "enum", values : [ {title:"Standard 0", id:"standard_digital_out(0,"}, {title:"Standard 1", id:"standard_digital_out(1,"}, {title:"Standard 2", id:"standard_digital_out(2,"}, {title:"Standard 3", id:"standard_digital_out(3,"}, {title:"Standard 4", id:"standard_digital_out(4,"}, {title:"Standard 5", id:"standard_digital_out(5,"}, {title:"Standard 6", id:"standard_digital_out(6,"}, {title:"Standard 7", id:"standard_digital_out(7,"}, {title:"Tool 0", id:"tool_digital_out(0,"}, {title:"Tool 1", id:"tool_digital_out(1,"}, {title:"Configurable 0", id:"configurable_digital_out(0,"}, {title:"Configurable 1", id:"configurable_digital_out(1,"}, {title:"Configurable 2", id:"configurable_digital_out(2,"}, {title:"Configurable 3", id:"configurable_digital_out(3,"}, {title:"Configurable 4", id:"configurable_digital_out(4,"}, {title:"Configurable 5", id:"configurable_digital_out(5,"}, {title:"Configurable 6", id:"configurable_digital_out(6,"}, {title:"Configurable 7", id:"configurable_digital_out(7,"} ], value: "standard_digital_out(0,", scope: "post" }, waitUR: { title : "Dwell time (URScript)", description: "Dwell time for each end-effector control command (URScript)", group : "additive2", type : "number", value : 0.5, scope : "post" }, endEffectorBehaviorGC: { title : "End-effector state (GCode)", description: "Set the end-effector state (including behavior during flat toolpath transitions).", group : "additive1", type : "enum", values : [ {title:"Off", id:"Off"}, {title:"On + links On", id:"On"}, {title:"On + links Off", id:"OnOff"} ], value: "Off", scope: "post" }, portGC: { title : "Port (GCode)", description: "Port to be used (GCode)", group : "additive1", type : "enum", values : [ {title:"0", id:"0"}, {title:"1", id:"1"}, {title:"2", id:"2"}, {title:"3", id:"3"} ], value: "0", scope: "post" }, waitGC: { title : "Dwell time (GCode)", description: "Dwell time for each end-effector control command (GCode).", group : "additive1", type : "number", value : 0.5, scope : "post" }, splitGCodeForAdditive: { title : "Automatic toolpath splitting", description: "Automatic toolpath splitting at each end-effector command call (GCode).", group : "gcode", type : "boolean", value : false, scope : "post" }};groupDefinitions = { output : {title:"Output", description:"Output file format", order:0}, configuration: {title:"Robot Configuration", description:"General robot configuration", order:1}, parameters : {title:"Robot Parameters", description:"Robot parameters", order:2}, gcode : {title:"GCode: Motion Parameters", description:"GCode Motion Parameters", collapsed:true, order:3}, additive1 : {title:"GCode: End-effector Control", description:"End-effector Control for GCode format", collapsed:true, order:4}, tcp : {title:"URScript: Tool Center Point (TCP)", description:"Tool Center Point - TCP (URScript)", collapsed:true, order:5}, coords : {title:"URScript: Part Coordinate System (PCS)", description:"Part Coordinate System - PCS (URScript)", collapsed:true, order:6}, joint : {title:"URScript: Toolpath Approach Pose", description:"Toolpath Approach Pose (URScript)", collapsed:true, order:7}, script : {title:"URScript: Motion Parameters", description:"URScript Motion Parameters", collapsed:true, order:8}, additive2 : {title:"URScript: End-effector Control", description:"End-effector Control for URScript format", collapsed:true, order:9}, preferences : {title:"Miscellaneous", description:"Other post options", collapsed:true, order:10}};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 gFormat = createFormat({prefix:"G", width:2, zeropad:true, decimals:1});var mFormat = createFormat({prefix:"M", width:2, zeropad:true, decimals:1});// GCode formatvar xyzFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});var feedFormat = createFormat({decimals:(unit == MM ? 3 : 4), scale:1.0});var oFormat = createFormat({width:4, zeropad:true, decimals:0});//var aaFormat = createFormat({decimals:9, forceDecimal:true, trim:false});var abcFormat = createFormat({decimals:6, forceDecimal:true, trim:true});var jointFormat = createFormat({decimals:8, forceDecimal:true, trim:false, scale:1.0 / 180.0 * Math.PI});var toolInfoFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true});var toolFormat = createFormat({decimals:0});var rpmFormat = createFormat({decimals:0});var secFormat = createFormat({decimals:3}); // secondsvar taperFormat = createFormat({decimals:1, scale:DEG});var meterFormat = createFormat({decimals:9, forceDecimal:false, trim:true, scale:0.001});//var tFormat = createFormat({prefix:"T", width:1, zeropad:false, decimals:0});// GCode formatvar xOutput = createVariable({prefix:"X", force:true}, xyzFormat);var yOutput = createVariable({prefix:"Y", force:true}, xyzFormat);var zOutput = createVariable({prefix:"Z", force:true}, xyzFormat);var iOutput = createReferenceVariable({prefix:"I", force:true}, xyzFormat);var jOutput = createReferenceVariable({prefix:"J", force:true}, xyzFormat);var kOutput = createReferenceVariable({prefix:"K", force:true}, xyzFormat);var sOutput = createVariable({prefix:"", force:true}, rpmFormat);var feedOutput = createVariable({prefix:"F"}, feedFormat);//var aOutput = createVariable({prefix:"A", force:true}, abcFormat);var bOutput = createVariable({prefix:"B", force:true}, abcFormat);var cOutput = createVariable({prefix:"C", force:true}, abcFormat);var aaOutput = createVariable({prefix:"", force:true}, aaFormat);var eOutput = createVariable({prefix:"E"}, xyzFormat); // extrusion lengthvar gMotionModal = createModal({}, gFormat);var gPlaneModal = createModal({onchange:function () {gMotionModal.reset();}}, gFormat); // modal group 2 // G17-19var gAbsIncModal = createModal({}, gFormat);var gUnitModal = createModal({}, gFormat);var currentWorkOffset;var toolpathIndex = 0;var firstFeedParameter = 1;var forceSpindleSpeed = false;var activeMovements; // do not use by defaultvar 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 blockNumber = 1;var endEffectorState = 0; // initial state of the end effector (0=off)var endEffectorCommandOn = ""; // specifies the command to turn on the end effectorvar endEffectorCommandOff = ""; // specifies the command to turn off the end effectorvar endEffectors = false;var dwellTime = 0;var previousPosition = new Vector();var moveFunction = "movel";var subprograms = "";var subName = "";var subCounter = 0;var subfolderPath;var toolpathNames = new Array();var permittedCommentChars = " abcdefghijklmnopqrstuvwxyzABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789.:,'=_-&";/** Writes the specified block.*/function writeBlock() { if (getProperty("fileFormat") == "GCode") { writeWords("N" + blockNumber, arguments); ++blockNumber; } else { writeWords(arguments); }}/** Formats a comment.*/function formatComment(text) { if (getProperty("fileFormat") == "GCode") { return "(" + filterText(String(text), permittedCommentChars).replace(/[()]/g, "") + ")"; } else { return "# " + String(text); }}/** Output a comment.*/function writeComment(text) { writeln(formatComment(text));}function onComment(message) { writeComment(message);}function coordinatesAreSame(xyz1, xyz2) { if (xyzFormat.getResultingValue(xyz1.x) != xyzFormat.getResultingValue(xyz2.x) || xyzFormat.getResultingValue(xyz1.y) != xyzFormat.getResultingValue(xyz2.y) || xyzFormat.getResultingValue(xyz1.z) != xyzFormat.getResultingValue(xyz2.z)) { return false; } return true;}function defineEndEffectorCodes() { if (getProperty("fileFormat") == "GCode") { endEffectorCommandOn = mFormat.format(62) + " P" + getProperty("portGC"); endEffectorCommandOff = mFormat.format(63) + " P" + getProperty("portGC"); dwellTime = gFormat.format(4) + " P" + getProperty("waitGC"); } else { endEffectorCommandOn = "set_" + getProperty("portUR") + "True)"; endEffectorCommandOff = "set_" + getProperty("portUR") + "False)"; dwellTime = "sleep(" + getProperty("waitUR") + ")"; }}function onOpen() { // check if this configuration is able to manage tool change if (getToolTable().getNumberOfTools() > 1 && getProperty("outputFile") == "Single") { log("*** You may wish to select 'Multiple' Output Files ***"); error(localize("Tool change is not available in 'Single' Output File option.")); return; } defineEndEffectorCodes(); // check end-effector state for both formats if ((getProperty("fileFormat") == "URScript" && getProperty("endEffectorBehaviorUR") != "Off") || (getProperty("fileFormat") == "GCode" && getProperty("endEffectorBehaviorGC") != "Off")) { endEffectors = true; } else { endEffectors = false; } // store workoffset value to avoid multi wcs file currentWorkOffset = getSection(0).workOffset; // create subfolder if requested if (getProperty("useSubfolder")) { subfolderPath = FileSystem.getCombinedPath(FileSystem.getFolderPath(getOutputPath()), programName); if (!FileSystem.isFolder(subfolderPath)) { FileSystem.makeFolder(subfolderPath); } } if (getProperty("fileFormat") == "GCode") { setWordSeparator(" "); if (endEffectors && getProperty("splitGCodeForAdditive")) { setProperty("outputFile", "Multiple"); } if (getProperty("outputFile") == "Single") { urGcodeHeader(); } } else { // machine requires output only in MM unit = MM; highFeedrate = (unit == IN) ? 100 : 1000; // no arcs allowed in script format allowedCircularPlanes = 0; // Script format xyzFormat = createFormat({decimals:(unit == MM ? 6 : 8), forceDecimal:true, trim:false, scale:1.0 / 1000.0}); // mm -> m feedFormat = createFormat({decimals:(unit == MM ? 7 : 9), forceDecimal:false, scale:1.0 / 1000.0 / 60.0}); // mm/min -> m/s xOutput = createVariable({prefix:"", force:true}, xyzFormat); yOutput = createVariable({prefix:"", force:true}, xyzFormat); zOutput = createVariable({onchange:function () {retracted = false;}, prefix:"", force:true}, xyzFormat); feedOutput = createVariable({prefix:"", force:true}, feedFormat); setWordSeparator(""); if (getProperty("outputFile") == "Single") { urInfoScript(); } }}var operationCounter = 0;function onSection() { cancelRotation(); if (!currentSection.isMultiAxis()) { setRotation(currentSection.workPlane); } // used in coordinatesAreSame function previousPosition = new Vector(0, 0, 0); if (currentWorkOffset != currentSection.workOffset) { error(localize("Multiple Setup with different WCS is not available.")); return; } if (getProperty("outputFile") == "Multiple") { firstLin = true; } else { toolpathIndex = currentSection.getId() + 1; } var insertToolCall = isFirstSection() || 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 = 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; } subName = opName + "_"; subCounter = 0; var toolNumber = isFFFOperation(currentSection) ? "FFF" : toolFormat.format(tool.number); if (insertToolCall && getProperty("outputFile") == "Multiple") { toolpathNames.push("TOOL " + toolNumber); } 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)); return; } } if (getProperty("fileFormat") == "GCode") { if (getProperty("outputFile") == "Multiple") { var path = FileSystem.getCombinedPath(folder, opName + ".nc"); redirectToFile(path); urGcodeHeader(); } else { var path = FileSystem.getCombinedPath(folder, opName + ".nc"); } gMotionModal.reset(); onSpindleSpeed(spindleSpeed); writeComment(localize("Tool = ") + toolNumber); writeComment(localize("Toolpath name = ") + opName); writeComment(localize("Head angle = ") + getProperty("robotHeadAngle") + " deg"); } else { var path = FileSystem.getCombinedPath(folder, opName + ".script"); if (getProperty("outputFile") == "Multiple") { redirectToFile(path); } urHeader(opName); writeBlock("#"); onSpindleSpeed(spindleSpeed); writeComment(localize("Tool = ") + toolNumber); initializeActiveFeeds(); writeBlock("#"); }}function onDwell(seconds) {}function onSpindleSpeed(spindleSpeed) { writeComment(localize("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, 0);}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, 1);}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, 1);}function onRapid5D(_x, _y, _z, _i, _j, _k) { writeRobotMove(_x, _y, _z, _i, _j, _k, highFeedrate, 0);}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, 1);}function onCircular(clockwise, cx, cy, cz, x, y, z, feed) { if (pendingRadiusCompensation >= 0) { error(localize("Radius compensation cannot be activated/deactivated for a circular move.")); return; } if (!getProperty("useCircular")) { linearize(tolerance); return; } var start = getCurrentPosition(); if (isFullCircle()) { if (isHelical()) { linearize(tolerance); return; } } if (getProperty("fileFormat") == "GCode") { switch (getCircularPlane()) { case PLANE_XY: writeBlock(gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), feedOutput.format(feed)); break; case PLANE_ZX: writeBlock(gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), feedOutput.format(feed)); break; case PLANE_YZ: writeBlock(gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), feedOutput.format(feed)); break; default: linearize(tolerance); } gMotionModal.reset(); } else { // no arcs allowed in script format linearize(tolerance); // The syntax below is correct for circular moves in URScript format // There are still some issue with blend radius and trajectory // For the moment we prefer work without circular moves // calculate tool vector // var workPlane = currentSection.workPlane.forward; // var rha = getProperty("robotHeadAngle"); // var vz = new Vector(); // vz.x = workPlane.x; // vz.y = workPlane.y; // vz.z = workPlane.z; // var aa = getURAxisAngle3FromVectorAndRotationAngle(vz, rha); // // calculate mid-point of circle // var ip = getPositionU(0.5); // var fixedMotion = getProperty("outputFile") == "Single" ? ("),a=acc_" + toolpathIndex + ",v=" + getFeed(feed) + ",r=rad_smooth_" + toolpathIndex) : ("),a=acc,v=" + getFeed(feed) + ",r=rad_smooth"); // // fixedMotion += ",mode=0)"; // fixedMotion += ")"; // var poseVia = xOutput.format(ip.x) + "," + yOutput.format(ip.y) + "," + zOutput.format(ip.z) + "," + aaOutput.format(aa.x) + "," + aaOutput.format(aa.y) + "," + aaOutput.format(aa.z) + "]"; // var poseTo = xOutput.format(x) + "," + yOutput.format(y) + "," + zOutput.format(z) + "," + aaOutput.format(aa.x) + "," + aaOutput.format(aa.y) + "," + aaOutput.format(aa.z) + "]"; // writeBlock("movec(pose_trans(Ref_frame,p[" + poseVia + "),pose_trans(Ref_frame,p[" + poseTo + fixedMotion); }}/** Writes the right robot move (first point PTP, others as LIN)*/function writeRobotMove(x, y, z, i, j, k, feed, isoMove) { if (getProperty("fileFormat") == "URScript") { if (firstLin) { writeComment(localize("Toolpath Approach Pose")); writeJoints(getProperty("robotStartJ1"), getProperty("robotStartJ2"), getProperty("robotStartJ3"), getProperty("robotStartJ4"), getProperty("robotStartJ5"), getProperty("robotStartJ6")); writeComment(localize("First Toolpath Point")); writeLIN(x, y, z, i, j, k, getProperty("robotHeadAngle"), feed); firstLin = false; } else { writeLIN(x, y, z, i, j, k, getProperty("robotHeadAngle"), feed); } } else { writeLIN(x, y, z, i, j, k, getProperty("robotHeadAngle"), feed, isoMove); if (firstLin) { writeComment(localize("First Toolpath Point")); firstLin = false; } }}/** Move using joints*/function writeJoints(j1, j2, j3, j4, j5, j6) { var fixedMotion = getProperty("outputFile") == "Single" ? ("a=acc_" + toolpathIndex + ",v=vel_" + toolpathIndex + ",r=rad_smooth_" + toolpathIndex + ")") : "a=acc,v=vel,r=rad_smooth)"; if (j1 == 0 && j2 == 0 && j3 == 0 && j4 == 0 && j5 == 0 && j6 == 0) { writeComment("movej([" + jointFormat.format(j1) + "," + jointFormat.format(j2) + "," + jointFormat.format(j3) + "," + jointFormat.format(j4) + "," + jointFormat.format(j5) + "," + jointFormat.format(j6) + "]," + fixedMotion); } else { writeBlock("movej([" + jointFormat.format(j1) + "," + jointFormat.format(j2) + "," + jointFormat.format(j3) + "," + jointFormat.format(j4) + "," + jointFormat.format(j5) + "," + jointFormat.format(j6) + "]," + fixedMotion); }}/** Move linear*/function writeLIN(x, y, z, i, j, k, angle, feed, isoMove) { // calculates UR axis angles from toolaxis vector and given head angle var vz = new Vector(); vz.x = i; vz.y = j; vz.z = k; if (getProperty("fileFormat") == "URScript") { var aa = getURAxisAngle3FromVectorAndRotationAngle(vz, angle); var fixedMotion = getProperty("outputFile") == "Single" ? ("a=acc_" + toolpathIndex + ",v=" + getFeed(feed) + ",r=rad_smooth_" + toolpathIndex + ")") : ("a=acc,v=" + getFeed(feed) + ",r=rad_smooth)"); writeBlock(moveFunction + "(pose_trans(Ref_frame,p[" + xOutput.format(x) + "," + yOutput.format(y) + "," + zOutput.format(z) + "," + aaOutput.format(aa.x) + "," + aaOutput.format(aa.y) + "," + aaOutput.format(aa.z) + "])," + fixedMotion); } else { var remaining = currentSection.workPlane; if (currentSection.isMultiAxis() || !isSameDirection(remaining.forward, new Vector(0, 0, 1))) { var ea = getUREulerAngleFromVector(vz, angle); if (coordinatesAreSame(new Vector(x, y, z), previousPosition)) { writeComment(localize("Warning. Consecutive points with the same XYZ coordinates !!!")); } writeBlock(gMotionModal.format(isoMove), xOutput.format(x), yOutput.format(y), zOutput.format(z), aOutput.format(ea.z), bOutput.format(ea.y), cOutput.format(ea.x), feedOutput.format(feed)); // used in coordinatesAreSame function previousPosition = new Vector(x, y, z); } else { forceXYZ(); writeBlock(gMotionModal.format(isoMove), xOutput.format(x), yOutput.format(y), zOutput.format(z), feedOutput.format(feed)); } }}function isFFFOperation(section) { return section.getType() == TYPE_ADDITIVE && section.getTool().type == TOOL_MARKER;}function onMovement(movement) { // ignore all the onMovement stuff for FFF since the end effector switch // is handled in the onRapid and onLinearExtrude functions moveFunction = "movel"; if (!isFFFOperation(currentSection)) { switch (movement) { case MOVEMENT_CUTTING: case MOVEMENT_FINISH_CUTTING: moveFunction = (getProperty("useMovep") ? "movep" : "movel"); writeComment(localize("Cutting Move Starts")); setAdditiveProcessON(); break; case MOVEMENT_PLUNGE: writeComment(localize("Plunge Move Starts")); break; case MOVEMENT_LEAD_IN: writeComment(localize("Lead In Move Starts")); break; case MOVEMENT_LEAD_OUT: writeComment(localize("Lead Out Move Starts")); setAdditiveProcessOFF(); break; case MOVEMENT_LINK_TRANSITION: writeComment(localize("Link Move Starts")); if (getProperty("endEffectorBehaviorUR") == "OnOff" || getProperty("endEffectorBehaviorGC") == "OnOff") { setAdditiveProcessOFF(); } break; case MOVEMENT_BRIDGING: writeComment(localize("Bridging Move Starts")); break; case MOVEMENT_LINK_DIRECT: writeComment(localize("Cutting Move Ends")); break; case MOVEMENT_HIGH_FEED: case MOVEMENT_RAPID: writeComment(localize("Rapid Move Starts")); setAdditiveProcessOFF(); break; } } else { switch (movement) { case MOVEMENT_CUTTING: case MOVEMENT_FINISH_CUTTING: moveFunction = (getProperty("useMovep") ? "movep" : "movel"); break; case MOVEMENT_HIGH_FEED: case MOVEMENT_RAPID: setAdditiveProcessOFF(); break; } }}function splitForAdditive() { urGcodeFooter(); if (isRedirecting()) { closeRedirection(); } ++subCounter; var splittedToolpath = subName + subCounter; toolpathNames.push(splittedToolpath); var path = FileSystem.getCombinedPath(folder, splittedToolpath + ".nc"); redirectToFile(path); gMotionModal.reset(); blockNumber = 1; urGcodeHeader();}function setAdditiveProcessON() { if (endEffectors && endEffectorState == 0) { writeComment(localize("Turn on end-effector")); writeBlock(endEffectorCommandOn); writeComment(localize("Wait time in seconds")); writeBlock(dwellTime); endEffectorState = 1; if (getProperty("fileFormat") == "GCode" && getProperty("splitGCodeForAdditive")) { splitForAdditive(); } }}function setAdditiveProcessOFF() { if (endEffectors && endEffectorState == 1) { writeComment(localize("Turn off end-effector")); writeBlock(endEffectorCommandOff); writeComment(localize("Wait time in seconds")); writeBlock(dwellTime); endEffectorState = 0; if (getProperty("fileFormat") == "GCode" && getProperty("splitGCodeForAdditive")) { splitForAdditive(); } }}var currentCoolantMode = COOLANT_OFF;var coolantOff = undefined;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 (!coolants) { error(localize("Coolants have not been defined.")); } if (tool.type == TOOL_PROBE) { // avoid coolant output for probing coolant = COOLANT_OFF; } if (coolant == currentCoolantMode) { return undefined; // coolant is already active } if ((coolant != COOLANT_OFF) && (currentCoolantMode != COOLANT_OFF) && (coolantOff != undefined)) { if (Array.isArray(coolantOff)) { for (var i in coolantOff) { multipleCoolantBlocks.push(coolantOff[i]); } } else { multipleCoolantBlocks.push(coolantOff); } } 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 onCommand(command) { switch (command) { case COMMAND_STOP: writeBlock(""); forceSpindleSpeed = true; return; case COMMAND_OPTIONAL_STOP: writeComment(""); // need variable 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() { if (getProperty("outputFile") == "Multiple") { if (getProperty("fileFormat") == "GCode") { urGcodeFooter(); blockNumber = 1; gAbsIncModal.reset(); gUnitModal.reset(); } else { urFooter(); } subprograms += getRedirectionBuffer(); closeRedirection(); }}function forceXYZ() { xOutput.reset(); yOutput.reset(); zOutput.reset();}function forceABC() { aOutput.reset(); bOutput.reset(); cOutput.reset();}function forceFeed() { currentFeedId = undefined; feedOutput.reset();}function FeedContext(id, description, feed) { this.id = id; this.description = description; this.feed = feed;}function getFeed(f) { if (activeMovements) { var feedContext = activeMovements[movement]; if (feedContext != undefined) { forceFeed(); currentFeedId = feedContext.id; if (toolpathIndex > 0) { return ("fed" + (firstFeedParameter + feedContext.id) + "_" + toolpathIndex); } else { return "fed" + (firstFeedParameter + feedContext.id); } } currentFeedId = undefined; // force Q feed next time } return feedOutput.format(f); // use feed value}function initializeActiveFeeds() { activeMovements = new Array(); var movements = currentSection.getMovements(); var id = 0; var activeFeeds = new Array(); if (hasParameter("operation:tool_feedCutting")) { if (movements & ((1 << MOVEMENT_CUTTING) | (1 << MOVEMENT_LINK_TRANSITION) | (1 << MOVEMENT_EXTENDED))) { var feedContext = new FeedContext(id, localize("Cutting"), getParameter("operation:tool_feedCutting")); activeFeeds.push(feedContext); activeMovements[MOVEMENT_CUTTING] = feedContext; if (!hasParameter("operation:tool_feedTransition")) { activeMovements[MOVEMENT_LINK_TRANSITION] = feedContext; } activeMovements[MOVEMENT_EXTENDED] = feedContext; } ++id; if (movements & (1 << MOVEMENT_PREDRILL)) { feedContext = new FeedContext(id, localize("Predrilling"), getParameter("operation:tool_feedCutting")); activeMovements[MOVEMENT_PREDRILL] = feedContext; activeFeeds.push(feedContext); } ++id; } if (hasParameter("operation:finishFeedrate")) { if (movements & (1 << MOVEMENT_FINISH_CUTTING)) { var feedContext = new FeedContext(id, localize("Finish"), getParameter("operation:finishFeedrate")); activeFeeds.push(feedContext); activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext; } ++id; } else if (hasParameter("operation:tool_feedCutting")) { if (movements & (1 << MOVEMENT_FINISH_CUTTING)) { var feedContext = new FeedContext(id, localize("Finish"), getParameter("operation:tool_feedCutting")); activeFeeds.push(feedContext); activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext; } ++id; } if (hasParameter("operation:tool_feedEntry")) { if (movements & (1 << MOVEMENT_LEAD_IN)) { var feedContext = new FeedContext(id, localize("Lead-in"), getParameter("operation:tool_feedEntry")); activeFeeds.push(feedContext); activeMovements[MOVEMENT_LEAD_IN] = feedContext; } ++id; } if (hasParameter("operation:tool_feedExit")) { if (movements & (1 << MOVEMENT_LEAD_OUT)) { var feedContext = new FeedContext(id, localize("Lead-out"), getParameter("operation:tool_feedExit")); activeFeeds.push(feedContext); activeMovements[MOVEMENT_LEAD_OUT] = feedContext; } ++id; } if (hasParameter("operation:noEngagementFeedrate")) { if (movements & (1 << MOVEMENT_LINK_DIRECT)) { var feedContext = new FeedContext(id, localize("Direct"), getParameter("operation:noEngagementFeedrate")); activeFeeds.push(feedContext); activeMovements[MOVEMENT_LINK_DIRECT] = feedContext; } ++id; } else if (hasParameter("operation:tool_feedCutting") && hasParameter("operation:tool_feedEntry") && hasParameter("operation:tool_feedExit")) { if (movements & (1 << MOVEMENT_LINK_DIRECT)) { var feedContext = new FeedContext(id, localize("Direct"), Math.max(getParameter("operation:tool_feedCutting"), getParameter("operation:tool_feedEntry"), getParameter("operation:tool_feedExit"))); activeFeeds.push(feedContext); activeMovements[MOVEMENT_LINK_DIRECT] = feedContext; } ++id; } if (hasParameter("operation:reducedFeedrate")) { if (movements & (1 << MOVEMENT_REDUCED)) { var feedContext = new FeedContext(id, localize("Reduced"), getParameter("operation:reducedFeedrate")); activeFeeds.push(feedContext); activeMovements[MOVEMENT_REDUCED] = feedContext; } ++id; } if (hasParameter("operation:tool_feedRamp")) { if (movements & ((1 << MOVEMENT_RAMP) | (1 << MOVEMENT_RAMP_HELIX) | (1 << MOVEMENT_RAMP_PROFILE) | (1 << MOVEMENT_RAMP_ZIG_ZAG))) { var feedContext = new FeedContext(id, localize("Ramp"), getParameter("operation:tool_feedRamp")); activeFeeds.push(feedContext); activeMovements[MOVEMENT_RAMP] = feedContext; activeMovements[MOVEMENT_RAMP_HELIX] = feedContext; activeMovements[MOVEMENT_RAMP_PROFILE] = feedContext; activeMovements[MOVEMENT_RAMP_ZIG_ZAG] = feedContext; } ++id; } if (hasParameter("operation:tool_feedPlunge")) { if (movements & (1 << MOVEMENT_PLUNGE)) { var feedContext = new FeedContext(id, localize("Plunge"), getParameter("operation:tool_feedPlunge")); activeFeeds.push(feedContext); activeMovements[MOVEMENT_PLUNGE] = feedContext; } ++id; } if (true) { // high feed if ((movements & (1 << MOVEMENT_HIGH_FEED)) | (1 << MOVEMENT_RAPID)) { // if ((movements & (1 << MOVEMENT_HIGH_FEED)) || (highFeedMapping != HIGH_FEED_NO_MAPPING)) { var feed; if (hasParameter("operation:highFeedrateMode") && getParameter("operation:highFeedrateMode") != "disabled") { feed = getParameter("operation:highFeedrate"); } else { feed = this.highFeedrate; } var feedContext = new FeedContext(id, localize("High Feed-rapid"), feed); activeFeeds.push(feedContext); activeMovements[MOVEMENT_HIGH_FEED] = feedContext; activeMovements[MOVEMENT_RAPID] = feedContext; } ++id; } if (hasParameter("operation:tool_feedTransition")) { if (movements & (1 << MOVEMENT_LINK_TRANSITION)) { var feedContext = new FeedContext(id, localize("Transition"), getParameter("operation:tool_feedTransition")); activeFeeds.push(feedContext); activeMovements[MOVEMENT_LINK_TRANSITION] = feedContext; } ++id; } var motionSuffix = getProperty("outputFile") == "Single" ? ("_" + toolpathIndex) : ""; writeComment(localize("Motion Settings")); writeBlock("acc" + motionSuffix + " = " + meterFormat.format(getProperty("robotAcceleration")) + " # Robot acceleration"); writeBlock("vel" + motionSuffix + " = " + meterFormat.format(getProperty("robotJointSpeed")) + " # Robot movej tool speed"); for (var i = 0; i < activeFeeds.length; ++i) { var feedContext = activeFeeds[i]; writeBlock("fed" + (firstFeedParameter + feedContext.id) + motionSuffix + " = " + feedFormat.format(feedContext.feed) + " " + formatComment(feedContext.description)); } writeBlock("rad_smooth" + motionSuffix + " = " + meterFormat.format(getProperty("robotSmoothing")) + " # Robot radius smoothing"); writeBlock("#");}////// Vector and Matrix calculation for Script format ///////** converts a vectorZ and a rotation angle around it to UR Euler angles*/function getURAxisAngle3FromVectorAndRotationAngle(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; var aa = getURAxisAngle3FromMatrix3x3(m); return aa;}/** Converts a rotation matrix 3x3 to UR Axis angle*/function getURAxisAngle3FromMatrix3x3(rotationMatrix) { var m00 = rotationMatrix.getElement(0, 0); var m01 = rotationMatrix.getElement(1, 0); var m02 = rotationMatrix.getElement(2, 0); var m10 = rotationMatrix.getElement(0, 1); var m11 = rotationMatrix.getElement(1, 1); var m12 = rotationMatrix.getElement(2, 1); var m20 = rotationMatrix.getElement(0, 2); var m21 = rotationMatrix.getElement(1, 2); var m22 = rotationMatrix.getElement(2, 2); var x = 0; var y = 0; var z = 0; var angle = 0; var EPSILON = 0.01; var EPSILON2 = 0.1; if ((Math.abs(m01 - m10) < EPSILON) && (Math.abs(m02 - m20) < EPSILON) && (Math.abs(m12 - m21) < EPSILON)) { if ((Math.abs(m01 + m10) < EPSILON2) && (Math.abs(m02 + m20) < EPSILON2) && (Math.abs(m12 + m21) < EPSILON2) && (Math.abs(m00 + m11 + m22 - 3) < EPSILON2)) { var v = new Vector(0, 0, 0); return v; } angle = Math.PI; var xx = (m00 + 1) / 2; var yy = (m11 + 1) / 2; var zz = (m22 + 1) / 2; var xy = (m01 + m10) / 4; var xz = (m02 + m20) / 4; var yz = (m12 + m21) / 4; if ((xx > yy) && (xx > zz)) { if (xx < EPSILON) { x = 0; y = 0.7071; z = 0.7071; } else { x = Math.sqrt(xx); y = xy / x; z = xz / x; } } else if (yy > zz) { if (yy < EPSILON) { x = 0.7071; y = 0; z = 0.7071; } else { y = Math.sqrt(yy); x = xy / y; z = yz / y; } } else { if (zz < EPSILON) { x = 0.7071; y = 0.7071; z = 0; } else { z = Math.sqrt(zz); x = xz / z; y = yz / z; } } var v = new Vector(x, y, z); v = v.normalized; v.x *= angle; v.y *= angle; v.z *= angle; return v; } var s = Math.sqrt((m21 - m12) * (m21 - m12) + (m02 - m20) * (m02 - m20) + (m10 - m01) * (m10 - m01)); if (Math.abs(s) < 0.001) { s = 1; } angle = Math.acos((m00 + m11 + m22 - 1) / 2); x = (m21 - m12) / s; y = (m02 - m20) / s; z = (m10 - m01) / s; var v = new Vector(x, y, z); v = v.normalized; v.x *= angle; v.y *= angle; v.z *= angle; return v;}////////////////////////////////////////////////////////////////// Vector and Matrix calculation for GCode format ///////** Converts a vectorZ and a rotation angle around it to Universal Robot Euler angles*/function getUREulerAngleFromVector(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; ea = new Vector(); var ea = m.transposed.getEuler2(EULER_ZYX_R).toDeg(); return ea;}function applyAngleAxis(normal, a, vectorX) { var ux = normal.x; var uy = normal.y; var uz = normal.z; var i = vectorX.x; var j = vectorX.y; var k = vectorX.z; var ca = Math.cos(a); var sa = Math.sin(a); var t = 1 - ca; a11 = i * (ca + ux * ux * t) + j * (ux * uy * t - uz * sa) + k * (ux * uz * t + uy * sa); a21 = i * (ux * uy * t + uz * sa) + j * (ca + uy * uy * t) + k * (uy * uz * t - ux * sa); a31 = i * (uz * ux * t - uy * sa) + j * (uz * uy * t + ux * sa) + k * (ca + uz * uz * t); return new Vector(a11, a21, a31);}function urHeader(opName) { // =========== UNIVERSAL ROBOT HEADER SCRIPT VERSION =================== if (getProperty("outputFile") == "Multiple") { urInfoScript(); } else { writeBlock("#"); } writeBlock("# Toolpath Name = ", opName); writeComment(localize("Head angle = ") + getProperty("robotHeadAngle") + " deg"); if (getProperty("outputFile") == "Multiple" || isFirstSection()) { writeBlock("#"); writeBlock("# Set TCP"); var tx = getProperty("tcpX"); var ty = getProperty("tcpY"); var tz = getProperty("tcpZ"); var taX = getProperty("tcpAx"); var taY = getProperty("tcpAy"); var taZ = getProperty("tcpAz"); if (tx == 0 && ty == 0 && tz == 0 && taX == 0 && taY == 0 && taZ == 0) { writeComment("set_tcp(p[" + xOutput.format(tx) + "," + yOutput.format(ty) + "," + zOutput.format(tz) + "," + aaOutput.format(taX) + "," + aaOutput.format(taY) + "," + aaOutput.format(taZ) + "])"); } else { writeBlock("set_tcp(p[" + xOutput.format(tx) + "," + yOutput.format(ty) + "," + zOutput.format(tz) + "," + toRad(aaOutput.format(taX)) + "," + toRad(aaOutput.format(taY)) + "," + toRad(aaOutput.format(taZ)) + "])"); } } if (getProperty("outputFile") == "Multiple" || isFirstSection()) { writeBlock("#"); writeBlock("# Set Part Coordinate System"); var px = getProperty("partOriginX"); var py = getProperty("partOriginY"); var pz = getProperty("partOriginZ"); var paX = getProperty("partOriginAx"); var paY = getProperty("partOriginAy"); var paZ = getProperty("partOriginAz"); var block = "global Ref_frame = p[" + xOutput.format(px) + "," + yOutput.format(py) + "," + zOutput.format(pz) + "," + toRad(aaOutput.format(paX)) + "," + toRad(aaOutput.format(paY)) + "," + toRad(aaOutput.format(paZ)) + "]"; if (px == 0 && py == 0 && pz == 0 && paX == 0 && paY == 0 && paZ == 0) { writeComment(block); } else { writeBlock(block); } writeBlock("#"); writeBlock("# Set Payload"); if (getProperty("robotPayload") == 0) { writeComment(localize("set_payload(") + getProperty("robotPayload") + ")"); } else { writeBlock("set_payload(" + getProperty("robotPayload") + ")"); } }}function urInfoScript() { writeBlock("#"); if (programComment) { writeComment(programComment); } if (getProperty("writeCamVersion") && hasGlobalParameter("generated-by")) { var value = getGlobalParameter("generated-by"); writeComment(localize("Generated by AUTODESK ") + value); } if ((typeof getHeaderVersion == "function") && getHeaderVersion()) { writeComment(localize("Post version") + ": " + getHeaderVersion()); } if (getProperty("writeDateAndTime")) { var d = new Date(); writeComment(localize("Creation date") + ": " + d.toLocaleDateString() + " " + d.toLocaleTimeString()); }}function urGcodeHeader() { // =========== UNIVERSAL ROBOT HEADER GCODE VERSION ================== writeln("%"); if (programComment) { writeComment(programComment.toUpperCase()); } writeComment(localize("G-code output for Universal Robots' Remote TCP & Toolpath URCap")); writeComment(localize("Compatible with Polyscope 5.11.4 and above")); if (getProperty("writeCamVersion") && hasGlobalParameter("generated-by")) { var value = getGlobalParameter("generated-by"); writeComment(localize("Generated by AUTODESK ") + value); } if ((typeof getHeaderVersion == "function") && getHeaderVersion()) { writeComment(localize("Post version") + ": " + getHeaderVersion()); } if (getProperty("writeDateAndTime")) { var d = new Date(); writeComment(localize("Creation date") + ": " + d.toLocaleDateString() + " " + d.toLocaleTimeString()); } gAbsIncModal.reset(); gUnitModal.reset(); writeBlock(gAbsIncModal.format(90)); switch (unit) { case IN: writeBlock(gUnitModal.format(20)); break; case MM: writeBlock(gUnitModal.format(21)); break; }}function urFooter() { // =========== UNIVERSAL ROBOT FOOTER SCRIPT VERSION ================== writeComment(localize("Last Toolpath Point")); writeBlock("end");}function urGcodeFooter() { // =========== UNIVERSAL ROBOT FOOTER GCODE VERSION ================== writeBlock(mFormat.format(30)); writeln("%");}function onTerminate() { if (getProperty("addFileExtension")) { var outputPath = getOutputPath(); var outputFolder = FileSystem.getFolderPath(getOutputPath()); var programFilename = FileSystem.getFilename(outputPath); var _extension = getProperty("fileFormat") == "URScript" ? "script" : "nc"; // move main program to subfolder if requested if (getProperty("useSubfolder")) { var subfilePath = FileSystem.getCombinedPath(subfolderPath, programFilename); if (FileSystem.isFile(subfilePath)) { FileSystem.moveFile(outputPath, FileSystem.replaceExtension(subfilePath, _extension)); } } else { // add proper extension to the specific output file format if (FileSystem.isFile(outputPath)) { FileSystem.copyFile(outputPath, FileSystem.replaceExtension(outputPath, _extension)); } } if (FileSystem.isFile(outputPath)) { FileSystem.remove(outputPath); } var file = new TextFile(outputFolder + "\\" + programFilename, true, "ansi"); var path = getProperty("useSubfolder") ? subfolderPath : outputFolder; file.writeln("This is a dummy file."); file.writeln("Your program files are located here: " + path); file.close(); }}function onClose() { if (getProperty("outputFile") == "Single") { if (getProperty("fileFormat") == "GCode") { urGcodeFooter(); } else { urFooter(); } } else { writeComment(localize("Multiple Programs list")); for (var i = 0; i < toolpathNames.length; ++i) { if (getProperty("fileFormat") == "GCode") { writeln("(" + toolpathNames[i] + ")"); } else { // write tool infos or toolpath name in main program writeComment(toolpathNames[i]); } } }}function setProperty(property, value) { properties[property].current = value;}</value></value></value> |