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a23f27bacd537b2c42fa1e4fe394d0b07b8cd349
create/src/Mod/CAM/Path/Post/scripts/fanuc_post.py
Petter Reinholdtsen a23f27bacd CAM: Switched Fanuc post processor to end program with M30, not M2. 
The difference according to the documentation is that M30 will rewind
the paper tape while M2 will not.  The effect on a CNC from 1994 is
that M30 turn on the indicator light marking that the program has
completed, while M2 do not, and the light is wanted to know when
the machine is done.
2025-12-11 00:57:21 +01:00

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# SPDX-License-Identifier: LGPL-2.1-or-later
# ***************************************************************************
# * Copyright (c) 2014 sliptonic <shopinthewoods@gmail.com> *
# * Copyright (c) 2021 shadowbane1000 <tyler@colberts.us> *
# * *
# * 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 *
# * *
# ***************************************************************************/
import FreeCAD
from FreeCAD import Units
import Path
import argparse
import datetime
import shlex
import os.path
import Path.Base.Util as PathUtil
import Path.Post.Utils as PostUtils
import PathScripts.PathUtils as PathUtils
from builtins import open as pyopen
TOOLTIP = """
This is a postprocessor file for the Path workbench. It is used to
take a pseudo-G-code fragment outputted by a Path object, and output
real G-code 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", help="number of digits of precision, default=3 (mm) or 4 (in)")
parser.add_argument(
"--preamble",
help='set commands to be issued before the first command, default="G17 G54 G40 G49 G80 G90\\n"',
)
parser.add_argument(
"--postamble",
help='set commands to be issued after the last command, default="M05\\nG17 G54 G90 G80 G40\\nM30\\n"',
)
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",
)
parser.add_argument(
"--end-spindle-empty",
action="store_true",
help="place last tool in tool change carousel before postamble",
)
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
END_SPINDLE_EMPTY = False
# 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.
DEFAULT_PREAMBLE = """G17 G54 G40 G49 G80 G90
"""
# Postamble text will appear following the last operation.
DEFAULT_POSTAMBLE = """M05
G17 G54 G90 G80 G40
M30
"""
# 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 = """"""
def processArguments(argstring):
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 END_SPINDLE_EMPTY
global OUTPUT_DOUBLES
global LINENR
try:
args = parser.parse_args(shlex.split(argstring))
if args.no_header:
OUTPUT_HEADER = False
else:
OUTPUT_HEADER = True
if args.no_comments:
OUTPUT_COMMENTS = False
else:
OUTPUT_COMMENTS = True
if args.line_numbers:
OUTPUT_LINE_NUMBERS = True
LINENR = 100
else:
OUTPUT_LINE_NUMBERS = False
if args.no_show_editor:
SHOW_EDITOR = False
else:
SHOW_EDITOR = True
print("Show editor = %s" % SHOW_EDITOR)
if args.preamble is not None:
PREAMBLE = args.preamble.replace("\\n", "\n")
else:
PREAMBLE = DEFAULT_PREAMBLE
if args.postamble is not None:
POSTAMBLE = args.postamble.replace("\\n", "\n")
else:
POSTAMBLE = DEFAULT_POSTAMBLE
if args.inches:
UNITS = "G20"
UNIT_SPEED_FORMAT = "in/min"
UNIT_FORMAT = "in"
PRECISION = 4
else:
UNITS = "G21"
UNIT_SPEED_FORMAT = "mm/min"
UNIT_FORMAT = "mm"
PRECISION = 3
if args.precision:
PRECISION = int(args.precision)
if args.no_modal:
MODAL = False
else:
MODAL = True
if args.no_tlo:
USE_TLO = False
else:
USE_TLO = True
if args.no_axis_modal:
OUTPUT_DOUBLES = True
else:
OUTPUT_DOUBLES = False
if args.end_spindle_empty:
END_SPINDLE_EMPTY = True
else:
END_SPINDLE_EMPTY = False
except Exception:
return False
return True
def export(objectslist, filename, argstring):
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 = ""
gcode += "%\n"
# write header
if OUTPUT_HEADER:
# Get current version info
major = int(FreeCAD.ConfigGet("BuildVersionMajor"))
minor = int(FreeCAD.ConfigGet("BuildVersionMinor"))
# the filename variable always contain "-", so unable to
# provide more accurate information.
gcode += "(" + "FREECAD-FILENAME-GOES-HERE" + ", " + "JOB-NAME-GOES-HERE" + ")\n"
gcode += (
linenumber() + "(POST PROCESSOR: FANUC USING FREECAD %d.%d" % (major, minor) + ")\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():
gcode += linenumber() + line + "\n"
gcode += linenumber() + UNITS + "\n"
for obj in objectslist:
# Skip inactive operations
if not PathUtil.activeForOp(obj):
continue
# do the pre_op
if OUTPUT_COMMENTS:
gcode += linenumber() + "(BEGIN OPERATION: %s)\n" % obj.Label.upper()
gcode += linenumber() + "(MACHINE UNITS: %s)\n" % (UNIT_SPEED_FORMAT.upper())
for line in PRE_OPERATION.splitlines(True):
gcode += linenumber() + line
# get coolant mode
coolantMode = PathUtil.coolantModeForOp(obj)
# 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"
if END_SPINDLE_EMPTY:
if OUTPUT_COMMENTS:
gcode += "(BEGIN MAKING SPINDLE EMPTY)\n"
gcode += linenumber() + "M05\n"
for line in TOOL_CHANGE.splitlines(True):
gcode += linenumber() + line
gcode += linenumber() + "M6 T0\n"
# do the post_amble
if OUTPUT_COMMENTS:
gcode += "(BEGIN POSTAMBLE)\n"
for line in POSTAMBLE.splitlines():
gcode += linenumber() + line + "\n"
gcode += "%\n"
if FreeCAD.GuiUp and SHOW_EDITOR:
dia = PostUtils.GCodeEditorDialog()
dia.editor.setPlainText(gcode)
result = dia.exec_()
if result:
final = dia.editor.toPlainText()
else:
final = gcode
else:
final = gcode
print("done postprocessing.")
if not filename == "-":
gfile = pyopen(filename, "w")
gfile.write(final)
gfile.close()
return final
def linenumber():
global LINENR
if OUTPUT_LINE_NUMBERS is True:
LINENR += 10
return "N" + str(LINENR) + " "
return ""
def parse(pathobj):
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"
)
commands = PathUtils.getPathWithPlacement(pathobj).Commands
for index, c in enumerate(commands):
outstring = []
outsuffix = []
command = c.Name
if index + 1 == len(commands):
nextcommand = ""
else:
nextcommand = 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 tool a tap, we thread tap, so stop the spindle for now.
# This only trigger when pathobj is a ToolController.
if command == "M03" or command == "M3":
if hasattr(pathobj, "Tool") and pathobj.Tool.ShapeName.lower() == "tap":
tapSpeed = int(pathobj.SpindleSpeed)
continue
# Convert drill cycles to tap cycles if tool is a tap.
# This only trigger when pathobj is a Operation.
if command == "G81" or command == "G83":
if (
hasattr(pathobj, "ToolController")
and pathobj.ToolController.Tool.ShapeName.lower() == "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.startswith("(") 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"])))
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
out += linenumber() + "M05\n"
for line in TOOL_CHANGE.splitlines(True):
out += linenumber() + line
# add height offset
if USE_TLO:
outsuffix.append("G91 G0 G43 G54 Z-[#[2000+#4120]] H#4120")
outsuffix.append("G90")
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
out += COMMAND_SPACE.join(outstring).upper()
out = out.strip() + "\n"
if len(outsuffix) >= 1:
for line in outsuffix:
out += linenumber() + line + "\n"
return out
# print(__name__ + " gcode postprocessor loaded.")
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