diff --git a/src/Mod/Path/PathScripts/post/fanuc_post.py b/src/Mod/Path/PathScripts/post/fanuc_post.py new file mode 100644 index 0000000000..d2bb6acb0e --- /dev/null +++ b/src/Mod/Path/PathScripts/post/fanuc_post.py @@ -0,0 +1,513 @@ +# *************************************************************************** +# * Copyright (c) 2014 sliptonic * +# * Copyright (c) 2021 shadowbane1000 * +# * * +# * This file is part of the FreeCAD CAx development system. * +# * * +# * This program is free software; you can redistribute it and/or modify * +# * it under the terms of the GNU Lesser General Public License (LGPL) * +# * as published by the Free Software Foundation; either version 2 of * +# * the License, or (at your option) any later version. * +# * for detail see the LICENCE text file. * +# * * +# * FreeCAD is distributed in the hope that it will be useful, * +# * but WITHOUT ANY WARRANTY; without even the implied warranty of * +# * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * +# * GNU Lesser General Public License for more details. * +# * * +# * You should have received a copy of the GNU Library General Public * +# * License along with FreeCAD; if not, write to the Free Software * +# * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 * +# * USA * +# * * +# ***************************************************************************/ +from __future__ import print_function +import FreeCAD +from FreeCAD import Units +import Path +import argparse +import datetime +import shlex +import os.path +from PathScripts import PostUtils +from PathScripts import PathUtils + +TOOLTIP = ''' +This is a postprocessor file for the Path workbench. It is used to +take a pseudo-gcode fragment outputted by a Path object, and output +real GCode suitable should be suitable for most Fanuc controllers. +It has only been tested on a 21i-MB controller on a 3 axis mill. +This postprocessor, once placed in the appropriate PathScripts folder, +can be used directly from inside FreeCAD, via the GUI importer or via +python scripts with: + +import fanuc_post +fanuc_post.export(object,"/path/to/file.ncc","") +''' + +now = datetime.datetime.now() + +parser = argparse.ArgumentParser(prog='fanuc', add_help=False) +parser.add_argument('--no-header', action='store_true', help='suppress header output') +parser.add_argument('--no-comments', action='store_true', help='suppress comment output') +parser.add_argument('--line-numbers', action='store_true', help='prefix with line numbers') +parser.add_argument('--no-show-editor', action='store_true', help='don\'t pop up editor before writing output') +parser.add_argument('--precision', default='3', help='number of digits of precision, default=3') +parser.add_argument('--preamble', help='set commands to be issued before the first command, default="G17\nG90"') +parser.add_argument('--postamble', help='set commands to be issued after the last command, default="M05\nG17 G90\nM2"') +parser.add_argument('--inches', action='store_true', help='Convert output for US imperial mode (G20)') +parser.add_argument('--no-modal', action='store_true', help='Don\'t output the Same G-command Name USE NonModal Mode') +parser.add_argument('--no-axis-modal', action='store_true', help='Don\'t output the Same Axis Value Mode') +parser.add_argument('--no-tlo', action='store_true', help='suppress tool length offset (G43) following tool changes') + +TOOLTIP_ARGS = parser.format_help() + +# These globals set common customization preferences +OUTPUT_COMMENTS = True +OUTPUT_HEADER = True +OUTPUT_LINE_NUMBERS = False +SHOW_EDITOR = True +MODAL = True # if true commands are suppressed if the same as previous line. +USE_TLO = True # if true G43 will be output following tool changes +OUTPUT_DOUBLES = False # if false duplicate axis values are suppressed if the same as previous line. +COMMAND_SPACE = " " +LINENR = 100 # line number starting value + +# These globals will be reflected in the Machine configuration of the project +UNITS = "G21" # G21 for metric, G20 for us standard +UNIT_SPEED_FORMAT = 'mm/min' +UNIT_FORMAT = 'mm' + +MACHINE_NAME = "fanuc" +CORNER_MIN = {'x': 0, 'y': 0, 'z': 0} +CORNER_MAX = {'x': 500, 'y': 300, 'z': 300} +PRECISION = 3 + +# this global is used to pass spindle speed from the tool command into the machining command for +# rigid tapping. +tapSpeed = 0 + +# Preamble text will appear at the beginning of the GCODE output file. +PREAMBLE = '''G17 G54 G40 G49 G80 G90 +''' + +# Postamble text will appear following the last operation. +POSTAMBLE = '''M05 +G17 G54 G90 G80 G40 +M6 T0 +M2 +''' + +# Pre operation text will be inserted before every operation +PRE_OPERATION = '''''' + +# Post operation text will be inserted after every operation +POST_OPERATION = '''''' + +# Tool Change commands will be inserted before a tool change +TOOL_CHANGE = '''''' + +# to distinguish python built-in open function from the one declared below +if open.__module__ in ['__builtin__','io']: + pythonopen = open + + +def processArguments(argstring): + # pylint: disable=global-statement + global OUTPUT_HEADER + global OUTPUT_COMMENTS + global OUTPUT_LINE_NUMBERS + global SHOW_EDITOR + global PRECISION + global PREAMBLE + global POSTAMBLE + global UNITS + global UNIT_SPEED_FORMAT + global UNIT_FORMAT + global MODAL + global USE_TLO + global OUTPUT_DOUBLES + + try: + args = parser.parse_args(shlex.split(argstring)) + if args.no_header: + OUTPUT_HEADER = False + if args.no_comments: + OUTPUT_COMMENTS = False + if args.line_numbers: + OUTPUT_LINE_NUMBERS = True + if args.no_show_editor: + SHOW_EDITOR = False + print("Show editor = %d" % SHOW_EDITOR) + PRECISION = args.precision + if args.preamble is not None: + PREAMBLE = args.preamble + if args.postamble is not None: + POSTAMBLE = args.postamble + if args.inches: + UNITS = 'G20' + UNIT_SPEED_FORMAT = 'in/min' + UNIT_FORMAT = 'in' + PRECISION = 4 + if args.no_modal: + MODAL = False + if args.no_tlo: + USE_TLO = False + if args.no_axis_modal: + OUTPUT_DOUBLES = true + + except Exception: # pylint: disable=broad-except + return False + + return True + + +def export(objectslist, filename, argstring): + # pylint: disable=global-statement + if not processArguments(argstring): + return None + global UNITS + global UNIT_FORMAT + global UNIT_SPEED_FORMAT + global HORIZRAPID + global VERTRAPID + + for obj in objectslist: + if not hasattr(obj, "Path"): + print("the object " + obj.Name + " is not a path. Please select only path and Compounds.") + return None + + print("postprocessing...") + gcode = "" + + # write header + if OUTPUT_HEADER: + gcode += "%\n" + gcode += ";\n" + gcode += os.path.split(filename)[-1]+" ("+"FREECAD-FILENAME-GOES-HERE" + ", " + "JOB-NAME-GOES-HERE"+")\n" + gcode += linenumber() + "("+filename.upper()+",EXPORTED BY FREECAD!)\n" + gcode += linenumber() + "(POST PROCESSOR: " + __name__.upper() + ")\n" + gcode += linenumber() + "(OUTPUT TIME:" + str(now).upper() + ")\n" + + # Write the preamble + if OUTPUT_COMMENTS: + gcode += linenumber() + "(BEGIN PREAMBLE)\n" + for line in PREAMBLE.splitlines(False): + gcode += linenumber() + line + "\n" + gcode += linenumber() + UNITS + "\n" + + for obj in objectslist: + + # Skip inactive operations + if hasattr(obj, 'Active'): + if not obj.Active: + continue + if hasattr(obj, 'Base') and hasattr(obj.Base, 'Active'): + if not obj.Base.Active: + continue + + # fetch machine details + job = PathUtils.findParentJob(obj) + + myMachine = 'not set' + + if hasattr(job, "MachineName"): + myMachine = job.MachineName + + if hasattr(job, "MachineUnits"): + if job.MachineUnits == "Metric": + UNITS = "G21" + UNIT_FORMAT = 'mm' + UNIT_SPEED_FORMAT = 'mm/min' + else: + UNITS = "G20" + UNIT_FORMAT = 'in' + UNIT_SPEED_FORMAT = 'in/min' + + if hasattr(job, "SetupSheet"): + if hasattr(job.SetupSheet, "HorizRapid"): + HORIZRAPID = Units.Quantity(job.SetupSheet.HorizRapid, FreeCAD.Units.Velocity) + if hasattr(job.SetupSheet, "VertRapid"): + VERTRAPID = Units.Quantity(job.SetupSheet.HorizRapid, FreeCAD.Units.Velocity) + + # do the pre_op + if OUTPUT_COMMENTS: + gcode += linenumber() + "(BEGIN OPERATION: %s)\n" % obj.Label.upper() + gcode += linenumber() + "(MACHINE: %s, %s)\n" % (myMachine.upper(), UNIT_SPEED_FORMAT.upper()) + for line in PRE_OPERATION.splitlines(True): + gcode += linenumber() + line + + # get coolant mode + coolantMode = 'None' + if hasattr(obj, "CoolantMode") or hasattr(obj, 'Base') and hasattr(obj.Base, "CoolantMode"): + if hasattr(obj, "CoolantMode"): + coolantMode = obj.CoolantMode + else: + coolantMode = obj.Base.CoolantMode + + # turn coolant on if required + if OUTPUT_COMMENTS: + if not coolantMode == 'None': + gcode += linenumber() + '(COOLANT ON:' + coolantMode.upper() + ')\n' + if coolantMode == 'Flood': + gcode += linenumber() + 'M8' + '\n' + if coolantMode == 'Mist': + gcode += linenumber() + 'M7' + '\n' + + # process the operation gcode + gcode += parse(obj) + + # do the post_op + if OUTPUT_COMMENTS: + gcode += linenumber() + "(FINISH OPERATION: %s)\n" % obj.Label.upper() + for line in POST_OPERATION.splitlines(True): + gcode += linenumber() + line + + # turn coolant off if required + if not coolantMode == 'None': + if OUTPUT_COMMENTS: + gcode += linenumber() + '(COOLANT OFF:' + coolantMode.upper() + ')\n' + gcode += linenumber() +'M9' + '\n' + + # do the post_amble + if OUTPUT_COMMENTS: + gcode += "(BEGIN POSTAMBLE)\n" + for line in POSTAMBLE.splitlines(True): + gcode += linenumber() + line + gcode += "%\n" + + if FreeCAD.GuiUp and SHOW_EDITOR: + dia = PostUtils.GCodeEditorDialog() + dia.editor.setText(gcode) + result = dia.exec_() + if result: + final = dia.editor.toPlainText() + else: + final = gcode + else: + final = gcode + + print("done postprocessing.") + + if not filename == '-': + gfile = pythonopen(filename, "w") + gfile.write(final) + gfile.close() + + return final + + +def linenumber(): + # pylint: disable=global-statement + global LINENR + if OUTPUT_LINE_NUMBERS is True: + LINENR += 10 + return "N" + str(LINENR) + " " + return "" + + +def parse(pathobj): + # pylint: disable=global-statement + global PRECISION + global MODAL + global OUTPUT_DOUBLES + global UNIT_FORMAT + global UNIT_SPEED_FORMAT + global tapSpeed + + out = "" + lastcommand = None + precision_string = '.' + str(PRECISION) + 'f' + currLocation = {} # keep track for no doubles + print("Startup!") + + # the order of parameters + # arcs need work. original code from mach3_4 doesn't want K properties on XY plane. Not sure + # what fanuc does here. + params = ['X', 'Y', 'Z', 'A', 'B', 'C', 'I', 'J', 'F', 'S', 'T', 'Q', 'R', 'L', 'H', 'D', 'P'] + firstmove = Path.Command("G0", {"X": -1, "Y": -1, "Z": -1, "F": 0.0}) + currLocation.update(firstmove.Parameters) # set First location Parameters + + if hasattr(pathobj, "Group"): # We have a compound or project. + # if OUTPUT_COMMENTS: + # out += linenumber() + "(compound: " + pathobj.Label + ")\n" + for p in pathobj.Group: + out += parse(p) + return out + else: # parsing simple path + + # groups might contain non-path things like stock. + if not hasattr(pathobj, "Path"): + return out + + # if OUTPUT_COMMENTS: + # out += linenumber() + "(" + pathobj.Label + ")\n" + + adaptiveOp = False + opHorizRapid = 0 + opVertRapid = 0 + + if 'Adaptive' in pathobj.Name: + adaptiveOp = True + if hasattr(pathobj, 'ToolController'): + if hasattr(pathobj.ToolController, 'HorizRapid') and pathobj.ToolController.HorizRapid > 0: + opHorizRapid = Units.Quantity(pathobj.ToolController.HorizRapid, FreeCAD.Units.Velocity) + else: + FreeCAD.Console.PrintWarning('Tool Controller Horizontal Rapid Values are unset'+ '\n') + + if hasattr(pathobj.ToolController, 'VertRapid') and pathobj.ToolController.VertRapid > 0: + opVertRapid = Units.Quantity(pathobj.ToolController.VertRapid, FreeCAD.Units.Velocity) + else: + FreeCAD.Console.PrintWarning('Tool Controller Vertical Rapid Values are unset'+ '\n') + + for index,c in enumerate(pathobj.Path.Commands): + + outstring = [] + command = c.Name + if index+1 == len(pathobj.Path.Commands): + nextcommand = "" + else: + nextcommand = pathobj.Path.Commands[index+1].Name + + if adaptiveOp and c.Name in ["G0", "G00"]: + if opHorizRapid and opVertRapid: + command = 'G1' + else: + outstring.append('(TOOL CONTROLLER RAPID VALUES ARE UNSET)' + '\n') + + # suppress moves in fixture selection + if pathobj.Label == "Fixture": + if command == "G0": + continue + + # if it's a tap, we rigid tap, so don't start the spindle yet... + if command == "M03" or command == "M3": + if pathobj.Tool.ToolType == "Tap": + 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: + 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.")