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All rights reserved. Yaskawa-Motoman post processor configuration. $Revision: 43470 147f5cf60e9217cf9c3365dc511a0f631d89bb16 $ $Date: 2021-10-13 20:53:32 $ FORKID {1E81BFC1-707D-44BF-9F1A-0FF86A9A365F}*////////////////////////////////////////////////////////////////////////////////// CUSTOM NC COMMANDS - search for 'Machine specific output, modify as needed'//// endEffectorCommandOn =ARCON - Modify this variable to define the commands to turn ON the end effector, if needed// endEffectorCommandOff =ARCOF - Modify this variable to define the commands to turn OFF the end effector, if needed/////////////////////////////////////////////////////////////////////////////////description = "Yaskawa-Motoman";vendor = "Yaskawa-Motoman";legal = "Copyright (C) 2012-2021 by Autodesk, Inc.";certificationLevel = 2;minimumRevision = 45702;longDescription = "Generic Yaskawa-Motoman post. Please refer to the User Guide for programming specification and sample. Always validate with virtual controller before loading any toolpath on your Robot.";extension = "JBI";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 = { 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" }, robotHeadAngle: { title : "Robot head angle", description: "Robot head angle around tool axis", group : "process", type : "number", value : 30, scope : "post" }, flipToolFrame: { title : "Flip tool frame", description: "Flip the tool frame (Z- is along the tool axis).", group : "configuration", type : "boolean", value : true, scope : "post" }, robotAcceleration: { title : "Robot acceleration (%)", description: "Robot acceleration (%)", group : "parameters", type : "integer", value : 25, scope : "post" }, robotAccuracy: { title : "Robot accuracy (Position Level)", description: "Robot accuracy (Position Level)", group : "parameters", type : "integer", value : 1, scope : "post" }, robotConfiguration: { title : "Robot configuration (RCONF)", description: "Robot arm configuration (RCONF)", group : "parameters", type : "string", value : "1,0,0,0,0,0", scope : "post" }, robotFrameData: { title : "Robot Frame", description: "WCS number (FRAME) used for FFF toolpath", group : "fff", type : "integer", value : 1, scope : "post" }, robotToolData: { title : "Robot Tool", description: "Tool number (TOOL) used for FFF toolpath", group : "fff", type : "integer", value : 1, scope : "post" }, nameLimitation: { title : "Toolpath name max 30 chars", description: "Check if each toolpath name has max 30 characters.", 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" }, useSubfolder: { title : "Use subfolder", description: "Specifies if files should be saved in subfolder or not.", group : "general", type : "boolean", value : true, 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" }};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 feedFormat = createFormat({decimals:(unit == MM ? 0 : 0), forceDecimal:false, scale:1.0 / 60.0}); // mm/min -> mm/svar toolFormat = createFormat({decimals:0});var rpmFormat = createFormat({decimals:0});var dateFormat = createFormat({decimals:0, width:2, zeropad:true});var lineFormat = createFormat({decimals:0, width:5, zeropad:true});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 r1Output = createVariable({prefix:"", force:true}, abcFormat);var r2Output = createVariable({prefix:"", force:true}, abcFormat);var r3Output = createVariable({prefix:"", force:true}, abcFormat);var lineOutput = createVariable({prefix:"C", force:true}, lineFormat);var dateOutput = createVariable({prefix:"", force:true}, dateFormat);var feedOutput = createVariable({prefix:"", force:true}, feedFormat);var sOutput = createVariable({prefix:"", force:true}, rpmFormat);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)// Machine specific output, modify as neededvar endEffectorCommandOn = "ARCON"; // specifies the command to turn on the end effectorvar endEffectorCommandOff = "ARCOF"; // specifies the command to turn off the end effectorvar subfolderPath;var lineCounter = 0; // counter used for toolpath linesvar lines = new Array(); // array used to write toolpath lines in the footervar coords = new Array(); // array used to write toolpath lines in the footervar toolpathNames = new Array();/** Writes the specified block.*/function writeBlock() { writeWords(arguments);}/** Filter permitted characters from operation name.*/function filterPermittedChar(text) { return text.replace(/[^a-zA-Z0-9_()+]/g, "_");}/** Formats a comment.*/function formatComment(text) { return "' " + String(text).replace(/[()]/g, "");}/** Output a comment.*/function writeComment(text) { if (isRedirecting()) { coords.push(formatComment(text)); } else { writeln(formatComment(text)); }}function onOpen() { // Machine requires output only in MM unit = MM; // create subfolder if requested if (getProperty("useSubfolder")) { subfolderPath = FileSystem.getCombinedPath(FileSystem.getFolderPath(getOutputPath()), programName); if (!FileSystem.isFolder(subfolderPath)) { FileSystem.makeFolder(subfolderPath); } } writeBlock("/JOB"); writeBlock("//NAME " + FileSystem.replaceExtension(FileSystem.getFilename(getOutputPath().toUpperCase()), "")); writeBlock("//POS"); writeBlock("///NPOS 0,0,0,0,0,0"); writeBlock("//INST"); if (getProperty("writeDateAndTime")) { writeDate(); } writeBlock("///ATTR SC,RW"); writeBlock("NOP"); if (hasGlobalParameter("generated-by")) { var value = getGlobalParameter("generated-by"); writeComment("By Autodesk " + value); } // set coolant code if needed setCoolant(tool.coolant);}function onComment(message) { writeComment(message);}/** Writes the right robot move (first point joint, others as linear)*/function writeRobotMove(x, y, z, i, j, k, feed) { if (firstLin) { writeJoint(x, y, z, i, j, k, getProperty("robotHeadAngle"), feed); firstLin = false; } else { writeLinear(x, y, z, i, j, k, getProperty("robotHeadAngle"), feed); }}/** Joint move*/function writeJoint(x, y, z, i, j, k, angle, feed) { var vz = new Vector(); vz.x = i; vz.y = j; vz.z = k; var ea = getMotomanEulerAngleFromVectorAndRotationAngle(vz, angle); lines.push(lineOutput.format(lineCounter) + "=" + xOutput.format(x) + "," + yOutput.format(y) + "," + zOutput.format(z) + "," + r1Output.format(ea.x) + "," + r2Output.format(ea.y) + "," + r3Output.format(ea.z)); coords.push("MOVJ " + lineOutput.format(lineCounter++) + " VJ=" + feedOutput.format(feed));}/** Linear move*/function writeLinear(x, y, z, i, j, k, angle, feed) { var vz = new Vector(); vz.x = i; vz.y = j; vz.z = k; var ea = getMotomanEulerAngleFromVectorAndRotationAngle(vz, angle); lines.push(lineOutput.format(lineCounter) + "=" + xOutput.format(x) + "," + yOutput.format(y) + "," + zOutput.format(z) + "," + r1Output.format(ea.x) + "," + r2Output.format(ea.y) + "," + r3Output.format(ea.z)); coords.push("MOVL " + lineOutput.format(lineCounter++) + " V=" + feedOutput.format(feed) + " PL=LB000 ACC=LB001 DEC=LB001");}var operationCounter = 0;function onSection() { lineCounter = 0; // reset toolpath line counter firstLin = true; cancelRotation(); if (!currentSection.isMultiAxis()) { setRotation(currentSection.workPlane); } 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" + filterPermittedChar(opName); 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 + ".JBI"); // write toolpath name in main program writeBlock("CALL JOB:" + opName); // start writing in subprogram redirectToFile(path); writeBlock("/JOB"); writeBlock("//NAME " + opName); writeBlock("//POS");}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: coords.push("' Cutting Move Starts"); setAdditiveProcessOn(); break; case MOVEMENT_PLUNGE: coords.push("' Plunge Move Starts"); break; case MOVEMENT_LEAD_IN: coords.push("' Lead In Move Starts"); break; case MOVEMENT_LEAD_OUT: if (getProperty("endEffectorBehavior") == "OnOff") { setAdditiveProcessOff(); } coords.push("' Lead Out Move Starts"); break; case MOVEMENT_LINK_TRANSITION: if (getProperty("endEffectorBehavior") == "OnOff") { setAdditiveProcessOff(); } coords.push("' Link Move Starts"); break; case MOVEMENT_BRIDGING: coords.push("' Bridging Move Starts"); break; case MOVEMENT_LINK_DIRECT: coords.push("' Cutting Move Ends"); break; case MOVEMENT_RAPID: setAdditiveProcessOff(); coords.push("' Rapid Move Starts"); break; } }}// Machine specific output, modify as needed// 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) { coords.push(endEffectorCommandOn); endEffectorState = 1; }}function setAdditiveProcessOff() { if (getProperty("endEffectorBehavior") != "Off" && endEffectorState == 1) { coords.push(endEffectorCommandOff); endEffectorState = 0; }}function onDwell(seconds) {}function onSpindleSpeed(spindleSpeed) { writeComment("Spindle = " + sOutput.format(spindleSpeed) + " RPM");}function onRadiusCompensation() { pendingRadiusCompensation = radiusCompensation;}function onRapid(_x, _y, _z) { if (isFFFOperation(currentSection)) { 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)) { 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;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) { 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: forceSpindleSpeed = true; return; case COMMAND_OPTIONAL_STOP: 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 toolNumber = isFFFOperation(currentSection) ? getProperty("robotToolData") : tool.number; var workOffsetLocal = isFFFOperation(currentSection) ? getProperty("robotFrameData") : currentSection.workOffset; if (workOffsetLocal == 0) { error(localize("Robot user frame has not been specified. Define it as WCS value, editing current Setup.")); } writeBlock("///NPOS " + lineCounter + ",0,0,0,0,0"); writeBlock("///USER " + workOffsetLocal); writeBlock("///TOOL " + toolFormat.format(toolNumber)); writeBlock("///POSTYPE USER"); writeBlock("///RECTAN"); writeBlock("///RCONF " + getProperty("robotConfiguration")); for (var i = 0; i < lines.length; ++i) { var lineOut = lines[i]; writeBlock(lineOut); } writeBlock("//INST"); if (getProperty("writeDateAndTime")) { writeDate(); } writeBlock("///ATTR SC,RW,RJ"); writeBlock("////FRAME USER " + workOffsetLocal); writeBlock("///GROUP1 RB1"); writeBlock("///LVARS 2,0,0,0,0,0,0,0"); writeBlock("NOP"); if (hasGlobalParameter("generated-by")) { var value = getGlobalParameter("generated-by"); writeComment("By Autodesk " + value); } writeComment("Tool = " + toolFormat.format(toolNumber)); onSpindleSpeed(spindleSpeed); writeComment("Set Position Level"); writeBlock("SET LB000 " + getProperty("robotAccuracy")); writeComment("Set Acceleration"); writeBlock("SET LB001 " + getProperty("robotAcceleration")); writeComment("Program Start"); for (var i = 0; i < coords.length; ++i) { var coordOut = coords[i]; writeBlock(coordOut); if (i == 0) { writeComment("First Toolpath Point"); } } writeComment("Last Toolpath Point"); writeBlock("END"); closeRedirection();}/** converts a vectorZ and a rotation angle around it to Motoman Euler angles*/function getMotomanEulerAngleFromVectorAndRotationAngle(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_ZYZ_R).toDeg(); return ea;}function writeDate() { var date = new Date(); writeBlock("///DATE " + date.getFullYear().toString() + "/" + dateOutput.format(date.getMonth() + 1) + "/" + dateOutput.format(date.getDate()) + " " + dateOutput.format(date.getHours()) + ":" + dateOutput.format(date.getMinutes()));}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() { writeBlock("END");}function setProperty(property, value) { properties[property].current = value;} |