Merge pull request #4297 from shadowbane1000/fanuc-1st-pass
[PATH] First pass at a post processor for Fanuc
This commit is contained in:
sliptonic
513
src/Mod/Path/PathScripts/post/fanuc_post.py
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513
src/Mod/Path/PathScripts/post/fanuc_post.py
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# ***************************************************************************
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# * Copyright (c) 2014 sliptonic <shopinthewoods@gmail.com> *
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# * Copyright (c) 2021 shadowbane1000 <tyler@colberts.us> *
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# * *
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# * This file is part of the FreeCAD CAx development system. *
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# * *
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# * This program is free software; you can redistribute it and/or modify *
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# * it under the terms of the GNU Lesser General Public License (LGPL) *
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# * as published by the Free Software Foundation; either version 2 of *
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# * the License, or (at your option) any later version. *
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# * for detail see the LICENCE text file. *
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# * *
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# * FreeCAD is distributed in the hope that it will be useful, *
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# * but WITHOUT ANY WARRANTY; without even the implied warranty of *
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# * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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# * GNU Lesser General Public License for more details. *
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# * *
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# * You should have received a copy of the GNU Library General Public *
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# * License along with FreeCAD; if not, write to the Free Software *
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# * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 *
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# * USA *
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# * *
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# ***************************************************************************/
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from __future__ import print_function
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import FreeCAD
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from FreeCAD import Units
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import Path
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import argparse
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import datetime
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import shlex
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import os.path
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from PathScripts import PostUtils
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from PathScripts import PathUtils
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TOOLTIP = '''
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This is a postprocessor file for the Path workbench. It is used to
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take a pseudo-gcode fragment outputted by a Path object, and output
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real GCode suitable should be suitable for most Fanuc controllers.
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It has only been tested on a 21i-MB controller on a 3 axis mill.
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This postprocessor, once placed in the appropriate PathScripts folder,
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can be used directly from inside FreeCAD, via the GUI importer or via
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python scripts with:
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import fanuc_post
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fanuc_post.export(object,"/path/to/file.ncc","")
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'''
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now = datetime.datetime.now()
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parser = argparse.ArgumentParser(prog='fanuc', add_help=False)
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parser.add_argument('--no-header', action='store_true', help='suppress header output')
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parser.add_argument('--no-comments', action='store_true', help='suppress comment output')
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parser.add_argument('--line-numbers', action='store_true', help='prefix with line numbers')
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parser.add_argument('--no-show-editor', action='store_true', help='don\'t pop up editor before writing output')
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parser.add_argument('--precision', default='3', help='number of digits of precision, default=3')
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parser.add_argument('--preamble', help='set commands to be issued before the first command, default="G17\nG90"')
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parser.add_argument('--postamble', help='set commands to be issued after the last command, default="M05\nG17 G90\nM2"')
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parser.add_argument('--inches', action='store_true', help='Convert output for US imperial mode (G20)')
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parser.add_argument('--no-modal', action='store_true', help='Don\'t output the Same G-command Name USE NonModal Mode')
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parser.add_argument('--no-axis-modal', action='store_true', help='Don\'t output the Same Axis Value Mode')
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parser.add_argument('--no-tlo', action='store_true', help='suppress tool length offset (G43) following tool changes')
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TOOLTIP_ARGS = parser.format_help()
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# These globals set common customization preferences
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OUTPUT_COMMENTS = True
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OUTPUT_HEADER = True
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OUTPUT_LINE_NUMBERS = False
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SHOW_EDITOR = True
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MODAL = True # if true commands are suppressed if the same as previous line.
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USE_TLO = True # if true G43 will be output following tool changes
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OUTPUT_DOUBLES = False # if false duplicate axis values are suppressed if the same as previous line.
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COMMAND_SPACE = " "
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LINENR = 100 # line number starting value
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# These globals will be reflected in the Machine configuration of the project
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UNITS = "G21" # G21 for metric, G20 for us standard
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UNIT_SPEED_FORMAT = 'mm/min'
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UNIT_FORMAT = 'mm'
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MACHINE_NAME = "fanuc"
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CORNER_MIN = {'x': 0, 'y': 0, 'z': 0}
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CORNER_MAX = {'x': 500, 'y': 300, 'z': 300}
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PRECISION = 3
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# this global is used to pass spindle speed from the tool command into the machining command for
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# rigid tapping.
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tapSpeed = 0
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# Preamble text will appear at the beginning of the GCODE output file.
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PREAMBLE = '''G17 G54 G40 G49 G80 G90
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'''
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# Postamble text will appear following the last operation.
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POSTAMBLE = '''M05
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G17 G54 G90 G80 G40
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M6 T0
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M2
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'''
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# Pre operation text will be inserted before every operation
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PRE_OPERATION = ''''''
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# Post operation text will be inserted after every operation
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POST_OPERATION = ''''''
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# Tool Change commands will be inserted before a tool change
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TOOL_CHANGE = ''''''
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# to distinguish python built-in open function from the one declared below
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if open.__module__ in ['__builtin__','io']:
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pythonopen = open
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def processArguments(argstring):
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# pylint: disable=global-statement
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global OUTPUT_HEADER
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global OUTPUT_COMMENTS
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global OUTPUT_LINE_NUMBERS
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global SHOW_EDITOR
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global PRECISION
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global PREAMBLE
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global POSTAMBLE
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global UNITS
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global UNIT_SPEED_FORMAT
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global UNIT_FORMAT
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global MODAL
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global USE_TLO
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global OUTPUT_DOUBLES
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try:
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args = parser.parse_args(shlex.split(argstring))
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if args.no_header:
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OUTPUT_HEADER = False
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if args.no_comments:
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OUTPUT_COMMENTS = False
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if args.line_numbers:
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OUTPUT_LINE_NUMBERS = True
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if args.no_show_editor:
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SHOW_EDITOR = False
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print("Show editor = %d" % SHOW_EDITOR)
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PRECISION = args.precision
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if args.preamble is not None:
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PREAMBLE = args.preamble
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if args.postamble is not None:
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POSTAMBLE = args.postamble
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if args.inches:
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UNITS = 'G20'
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UNIT_SPEED_FORMAT = 'in/min'
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UNIT_FORMAT = 'in'
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PRECISION = 4
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if args.no_modal:
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MODAL = False
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if args.no_tlo:
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USE_TLO = False
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if args.no_axis_modal:
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OUTPUT_DOUBLES = true
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except Exception: # pylint: disable=broad-except
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return False
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return True
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def export(objectslist, filename, argstring):
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# pylint: disable=global-statement
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if not processArguments(argstring):
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return None
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global UNITS
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global UNIT_FORMAT
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global UNIT_SPEED_FORMAT
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global HORIZRAPID
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global VERTRAPID
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for obj in objectslist:
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if not hasattr(obj, "Path"):
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print("the object " + obj.Name + " is not a path. Please select only path and Compounds.")
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return None
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print("postprocessing...")
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gcode = ""
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# write header
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if OUTPUT_HEADER:
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gcode += "%\n"
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gcode += ";\n"
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gcode += os.path.split(filename)[-1]+" ("+"FREECAD-FILENAME-GOES-HERE" + ", " + "JOB-NAME-GOES-HERE"+")\n"
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gcode += linenumber() + "("+filename.upper()+",EXPORTED BY FREECAD!)\n"
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gcode += linenumber() + "(POST PROCESSOR: " + __name__.upper() + ")\n"
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gcode += linenumber() + "(OUTPUT TIME:" + str(now).upper() + ")\n"
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# Write the preamble
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if OUTPUT_COMMENTS:
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gcode += linenumber() + "(BEGIN PREAMBLE)\n"
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for line in PREAMBLE.splitlines(False):
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gcode += linenumber() + line + "\n"
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gcode += linenumber() + UNITS + "\n"
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for obj in objectslist:
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# Skip inactive operations
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if hasattr(obj, 'Active'):
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if not obj.Active:
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continue
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if hasattr(obj, 'Base') and hasattr(obj.Base, 'Active'):
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if not obj.Base.Active:
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continue
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# fetch machine details
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job = PathUtils.findParentJob(obj)
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myMachine = 'not set'
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if hasattr(job, "MachineName"):
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myMachine = job.MachineName
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if hasattr(job, "MachineUnits"):
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if job.MachineUnits == "Metric":
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UNITS = "G21"
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UNIT_FORMAT = 'mm'
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UNIT_SPEED_FORMAT = 'mm/min'
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else:
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UNITS = "G20"
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UNIT_FORMAT = 'in'
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UNIT_SPEED_FORMAT = 'in/min'
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if hasattr(job, "SetupSheet"):
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if hasattr(job.SetupSheet, "HorizRapid"):
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HORIZRAPID = Units.Quantity(job.SetupSheet.HorizRapid, FreeCAD.Units.Velocity)
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if hasattr(job.SetupSheet, "VertRapid"):
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VERTRAPID = Units.Quantity(job.SetupSheet.HorizRapid, FreeCAD.Units.Velocity)
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# do the pre_op
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if OUTPUT_COMMENTS:
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gcode += linenumber() + "(BEGIN OPERATION: %s)\n" % obj.Label.upper()
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gcode += linenumber() + "(MACHINE: %s, %s)\n" % (myMachine.upper(), UNIT_SPEED_FORMAT.upper())
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for line in PRE_OPERATION.splitlines(True):
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gcode += linenumber() + line
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# get coolant mode
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coolantMode = 'None'
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if hasattr(obj, "CoolantMode") or hasattr(obj, 'Base') and hasattr(obj.Base, "CoolantMode"):
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if hasattr(obj, "CoolantMode"):
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coolantMode = obj.CoolantMode
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else:
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coolantMode = obj.Base.CoolantMode
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# turn coolant on if required
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if OUTPUT_COMMENTS:
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if not coolantMode == 'None':
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gcode += linenumber() + '(COOLANT ON:' + coolantMode.upper() + ')\n'
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if coolantMode == 'Flood':
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gcode += linenumber() + 'M8' + '\n'
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if coolantMode == 'Mist':
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gcode += linenumber() + 'M7' + '\n'
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# process the operation gcode
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gcode += parse(obj)
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# do the post_op
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if OUTPUT_COMMENTS:
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gcode += linenumber() + "(FINISH OPERATION: %s)\n" % obj.Label.upper()
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for line in POST_OPERATION.splitlines(True):
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gcode += linenumber() + line
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# turn coolant off if required
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if not coolantMode == 'None':
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if OUTPUT_COMMENTS:
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gcode += linenumber() + '(COOLANT OFF:' + coolantMode.upper() + ')\n'
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gcode += linenumber() +'M9' + '\n'
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# do the post_amble
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if OUTPUT_COMMENTS:
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gcode += "(BEGIN POSTAMBLE)\n"
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for line in POSTAMBLE.splitlines(True):
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gcode += linenumber() + line
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gcode += "%\n"
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if FreeCAD.GuiUp and SHOW_EDITOR:
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dia = PostUtils.GCodeEditorDialog()
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dia.editor.setText(gcode)
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result = dia.exec_()
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if result:
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final = dia.editor.toPlainText()
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else:
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final = gcode
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else:
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final = gcode
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print("done postprocessing.")
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if not filename == '-':
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gfile = pythonopen(filename, "w")
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gfile.write(final)
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gfile.close()
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return final
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def linenumber():
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# pylint: disable=global-statement
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global LINENR
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if OUTPUT_LINE_NUMBERS is True:
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LINENR += 10
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return "N" + str(LINENR) + " "
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return ""
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def parse(pathobj):
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# pylint: disable=global-statement
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global PRECISION
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global MODAL
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global OUTPUT_DOUBLES
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global UNIT_FORMAT
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global UNIT_SPEED_FORMAT
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global tapSpeed
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out = ""
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lastcommand = None
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precision_string = '.' + str(PRECISION) + 'f'
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currLocation = {} # keep track for no doubles
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print("Startup!")
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# the order of parameters
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# arcs need work. original code from mach3_4 doesn't want K properties on XY plane. Not sure
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# what fanuc does here.
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params = ['X', 'Y', 'Z', 'A', 'B', 'C', 'I', 'J', 'F', 'S', 'T', 'Q', 'R', 'L', 'H', 'D', 'P']
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firstmove = Path.Command("G0", {"X": -1, "Y": -1, "Z": -1, "F": 0.0})
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currLocation.update(firstmove.Parameters) # set First location Parameters
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if hasattr(pathobj, "Group"): # We have a compound or project.
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# if OUTPUT_COMMENTS:
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# out += linenumber() + "(compound: " + pathobj.Label + ")\n"
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for p in pathobj.Group:
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out += parse(p)
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return out
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else: # parsing simple path
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# groups might contain non-path things like stock.
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if not hasattr(pathobj, "Path"):
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return out
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# if OUTPUT_COMMENTS:
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# out += linenumber() + "(" + pathobj.Label + ")\n"
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adaptiveOp = False
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opHorizRapid = 0
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opVertRapid = 0
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if 'Adaptive' in pathobj.Name:
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adaptiveOp = True
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if hasattr(pathobj, 'ToolController'):
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if hasattr(pathobj.ToolController, 'HorizRapid') and pathobj.ToolController.HorizRapid > 0:
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opHorizRapid = Units.Quantity(pathobj.ToolController.HorizRapid, FreeCAD.Units.Velocity)
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else:
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FreeCAD.Console.PrintWarning('Tool Controller Horizontal Rapid Values are unset'+ '\n')
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if hasattr(pathobj.ToolController, 'VertRapid') and pathobj.ToolController.VertRapid > 0:
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opVertRapid = Units.Quantity(pathobj.ToolController.VertRapid, FreeCAD.Units.Velocity)
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else:
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FreeCAD.Console.PrintWarning('Tool Controller Vertical Rapid Values are unset'+ '\n')
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for index,c in enumerate(pathobj.Path.Commands):
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outstring = []
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command = c.Name
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if index+1 == len(pathobj.Path.Commands):
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nextcommand = ""
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else:
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nextcommand = pathobj.Path.Commands[index+1].Name
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if adaptiveOp and c.Name in ["G0", "G00"]:
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if opHorizRapid and opVertRapid:
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command = 'G1'
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else:
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outstring.append('(TOOL CONTROLLER RAPID VALUES ARE UNSET)' + '\n')
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# suppress moves in fixture selection
|
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if pathobj.Label == "Fixture":
|
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if command == "G0":
|
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continue
|
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# if it's a tap, we rigid tap, so don't start the spindle yet...
|
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if command == "M03" or command == "M3":
|
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if pathobj.Tool.ToolType == "Tap":
|
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tapSpeed = int(pathobj.SpindleSpeed)
|
||||
continue
|
||||
|
||||
# convert drill cycles to tap cycles if tool is a tap
|
||||
if command == "G81" or command == "G83":
|
||||
if hasattr(pathobj, 'ToolController') and pathobj.ToolController.Tool.ToolType == "Tap":
|
||||
command = "G84"
|
||||
out += linenumber() + "G95\n"
|
||||
paramstring = ""
|
||||
for param in [ "X", "Y" ]:
|
||||
if param in c.Parameters:
|
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if (not OUTPUT_DOUBLES) and (param in currLocation) and (currLocation[param] == c.Parameters[param]):
|
||||
continue
|
||||
else:
|
||||
pos = Units.Quantity(c.Parameters[param], FreeCAD.Units.Length)
|
||||
paramstring += " " + param + format(float(pos.getValueAs(UNIT_FORMAT)), precision_string)
|
||||
if paramstring != "":
|
||||
out += linenumber() + "G00"+paramstring+"\n"
|
||||
|
||||
if "S" in c.Parameters:
|
||||
tapSpeed = int(c.Parameters['S'])
|
||||
out += "M29 S"+str(tapSpeed)+"\n"
|
||||
|
||||
for param in [ "Z", "R" ]:
|
||||
if param in c.Parameters:
|
||||
if (not OUTPUT_DOUBLES) and (param in currLocation) and (currLocation[param] == c.Parameters[param]):
|
||||
continue
|
||||
else:
|
||||
pos = Units.Quantity(c.Parameters[param], FreeCAD.Units.Length)
|
||||
paramstring += " " + param + format(float(pos.getValueAs(UNIT_FORMAT)), precision_string)
|
||||
# in this mode, F is the distance per revolution of the thread (pitch)
|
||||
# P is the dwell time in seconds at the bottom of the thread
|
||||
# Q is the peck depth of the threading operation
|
||||
for param in [ "F", "P", "Q" ]:
|
||||
if param in c.Parameters:
|
||||
value = Units.Quantity(c.Parameters[param], FreeCAD.Units.Length)
|
||||
paramstring += " " + param + format(float(value.getValueAs(UNIT_FORMAT)), precision_string)
|
||||
|
||||
out += linenumber() + "G84" + paramstring + "\n"
|
||||
out += linenumber() + "G80\n"
|
||||
out += linenumber() + "G94\n"
|
||||
continue
|
||||
|
||||
|
||||
outstring.append(command)
|
||||
|
||||
# if modal: suppress the command if it is the same as the last one
|
||||
if MODAL is True:
|
||||
if command == lastcommand:
|
||||
outstring.pop(0)
|
||||
|
||||
# suppress a G80 between two identical command
|
||||
if command == "G80" and lastcommand == nextcommand:
|
||||
continue
|
||||
|
||||
if c.Name[0] == '(' and not OUTPUT_COMMENTS: # command is a comment
|
||||
continue
|
||||
|
||||
# Now add the remaining parameters in order
|
||||
for param in params:
|
||||
if param in c.Parameters:
|
||||
if param == 'F' and (currLocation[param] != c.Parameters[param] or OUTPUT_DOUBLES):
|
||||
if c.Name not in ["G0", "G00"]: # fanuc doesn't use rapid speeds
|
||||
speed = Units.Quantity(c.Parameters['F'], FreeCAD.Units.Velocity)
|
||||
if speed.getValueAs(UNIT_SPEED_FORMAT) > 0.0:
|
||||
outstring.append(param + format(float(speed.getValueAs(UNIT_SPEED_FORMAT)), precision_string))
|
||||
else:
|
||||
continue
|
||||
elif param == 'T':
|
||||
outstring.append(param + str(int(c.Parameters['T'])))
|
||||
elif param == 'H':
|
||||
outstring.append(param + str(int(c.Parameters['H'])))
|
||||
elif param == 'D':
|
||||
outstring.append(param + str(int(c.Parameters['D'])))
|
||||
elif param == 'S':
|
||||
outstring.append(param + str(int(c.Parameters['S'])))
|
||||
currentSpeed = int(c.Parameters['S'])
|
||||
else:
|
||||
if (not OUTPUT_DOUBLES) and (param in currLocation) and (currLocation[param] == c.Parameters[param]):
|
||||
continue
|
||||
else:
|
||||
pos = Units.Quantity(c.Parameters[param], FreeCAD.Units.Length)
|
||||
outstring.append(
|
||||
param + format(float(pos.getValueAs(UNIT_FORMAT)), precision_string))
|
||||
|
||||
if adaptiveOp and c.Name in ["G0", "G00"]:
|
||||
if opHorizRapid and opVertRapid:
|
||||
if 'Z' not in c.Parameters:
|
||||
outstring.append('F' + format(float(opHorizRapid.getValueAs(UNIT_SPEED_FORMAT)), precision_string))
|
||||
else:
|
||||
outstring.append('F' + format(float(opVertRapid.getValueAs(UNIT_SPEED_FORMAT)), precision_string))
|
||||
|
||||
# store the latest command
|
||||
lastcommand = command
|
||||
currLocation.update(c.Parameters)
|
||||
|
||||
# Check for Tool Change:
|
||||
if command == 'M6':
|
||||
# stop the spindle
|
||||
currentSpeed = 0
|
||||
out += linenumber() + "M5\n"
|
||||
for line in TOOL_CHANGE.splitlines(True):
|
||||
out += linenumber() + line
|
||||
|
||||
# add height offset
|
||||
if USE_TLO:
|
||||
tool_height = '\nG43 H' + str(int(c.Parameters['T']))
|
||||
outstring.append(tool_height)
|
||||
|
||||
if command == "message":
|
||||
if OUTPUT_COMMENTS is False:
|
||||
out = []
|
||||
else:
|
||||
outstring.pop(0) # remove the command
|
||||
|
||||
# prepend a line number and append a newline
|
||||
if len(outstring) >= 1:
|
||||
if OUTPUT_LINE_NUMBERS:
|
||||
outstring.insert(0, (linenumber()))
|
||||
|
||||
# append the line to the final output
|
||||
for w in outstring:
|
||||
out += w.upper() + COMMAND_SPACE
|
||||
out = out.strip() + "\n"
|
||||
|
||||
return out
|
||||
|
||||
# print(__name__ + " gcode postprocessor loaded.")
|
||||
Reference in New Issue
Block a user