kindred/create
1
1
Fork 0
Code Issues 37 Pull Requests Actions Packages Projects 9 Releases 2 Wiki Activity
Files
b384f87cb42c1bc440d17b384cf2669ca4ce1144
create/src/Mod/CAM/Path/Post/scripts/grbl_post.py
J-Dunn b384f87cb4 CAM: correct grbl_post retract heights (#23010) 
* CAM: correct grbl_post retract heights

Some small corrections to retraction heights in expansion of G8x drilling cycles for GRBL machines. 

Add comment blocks from NIST definitions to aid maintenance and understanding. 
Rename some variables for clarity and ease of future maintenance.

* [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci

* correct typo which prevented final retract move

* [pre-commit.ci] auto fixes from pre-commit.com hooks

for more information, see https://pre-commit.ci

---------

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
2025-09-02 11:15:37 -05:00

719 lines
26 KiB
Python
Raw Blame History

# -*- coding: utf-8 -*-
# ***************************************************************************
# * Copyright (c) 2014 sliptonic <shopinthewoods@gmail.com> *
# * Copyright (c) 2018, 2019 Gauthier Briere *
# * Copyright (c) 2019, 2020 Schildkroet *
# * *
# * 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 Path.Base.Util as PathUtil
import Path.Post.Utils as PostUtils
import PathScripts.PathUtils as PathUtils
import argparse
import datetime
import shlex
import re
from builtins import open as pyopen
TOOLTIP = """
Generate g-code from a Path that is compatible with the grbl controller.
import grbl_post
grbl_post.export(object, "/path/to/file.ncc")
"""
# ***************************************************************************
# * Globals set customization preferences
# ***************************************************************************
# Default values for command line arguments:
OUTPUT_COMMENTS = True # default output of comments in output gCode file
OUTPUT_HEADER = True # default output header in output gCode file
OUTPUT_LINE_NUMBERS = False # default doesn't output line numbers in output gCode file
OUTPUT_BCNC = False # default doesn't add bCNC operation block headers in output gCode file
SHOW_EDITOR = True # default show the resulting file dialog output in GUI
PRECISION = 3 # Default precision for metric (see http://linuxcnc.org/docs/2.7/html/gcode/overview.html#_g_code_best_practices)
TRANSLATE_DRILL_CYCLES = True # If true, G81, G82 & G83 are translated in G0/G1 moves
PREAMBLE = """G17 G90
""" # default preamble text will appear at the beginning of the gCode output file.
POSTAMBLE = """M5
G17 G90
M2
""" # default postamble text will appear following the last operation.
SPINDLE_WAIT = 0 # no waiting after M3 / M4 by default
RETURN_TO = None # no movements after end of program
# Customisation with no command line argument
MODAL = False # if true commands are suppressed if the same as previous line.
LINENR = 100 # line number starting value
LINEINCR = 10 # line number increment
OUTPUT_TOOL_CHANGE = (
False # default don't output M6 tool changes (comment it) as grbl currently does not handle it
)
DRILL_RETRACT_MODE = (
"G98" # Default value of drill retractations (CURRENT_Z) other possible value is G99
)
MOTION_MODE = "G90" # G90 for absolute moves, G91 for relative
UNITS = "G21" # G21 for metric, G20 for us standard
UNIT_FORMAT = "mm"
UNIT_SPEED_FORMAT = "mm/min"
PRE_OPERATION = """""" # Pre operation text will be inserted before every operation
POST_OPERATION = """""" # Post operation text will be inserted after every operation
TOOL_CHANGE = """""" # Tool Change commands will be inserted before a tool change
# ***************************************************************************
# * End of customization
# ***************************************************************************
# Parser arguments list & definition
parser = argparse.ArgumentParser(prog="grbl", add_help=False)
parser.add_argument("--comments", action="store_true", help="output comment (default)")
parser.add_argument("--no-comments", action="store_true", help="suppress comment output")
parser.add_argument("--header", action="store_true", help="output headers (default)")
parser.add_argument("--no-header", action="store_true", help="suppress header output")
parser.add_argument("--line-numbers", action="store_true", help="prefix with line numbers")
parser.add_argument(
"--no-line-numbers",
action="store_true",
help="don't prefix with line numbers (default)",
)
parser.add_argument(
"--show-editor",
action="store_true",
help="pop up editor before writing output (default)",
)
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(
"--translate_drill",
action="store_true",
help="translate drill cycles G81, G82 & G83 in G0/G1 movements",
)
parser.add_argument(
"--no-translate_drill",
action="store_true",
help="don't translate drill cycles G81, G82 & G83 in G0/G1 movements (default)",
)
parser.add_argument(
"--preamble",
help='set commands to be issued before the first command, default="G17 G90\\n"',
)
parser.add_argument(
"--postamble",
help='set commands to be issued after the last command, default="M5\\nG17 G90\\nM2\\n"',
)
parser.add_argument(
"--inches", action="store_true", help="Convert output for US imperial mode (G20)"
)
parser.add_argument("--tool-change", action="store_true", help="Insert M6 for all tool changes")
parser.add_argument(
"--wait-for-spindle",
type=int,
default=0,
help="Wait for spindle to reach desired speed after M3 / M4, default=0",
)
parser.add_argument(
"--return-to",
default="",
help="Move to the specified coordinates at the end, e.g. --return-to=0,0",
)
parser.add_argument(
"--bcnc",
action="store_true",
help="Add Job operations as bCNC block headers. Consider suppressing existing comments: Add argument --no-comments",
)
parser.add_argument(
"--no-bcnc", action="store_true", help="suppress bCNC block header output (default)"
)
TOOLTIP_ARGS = parser.format_help()
# ***************************************************************************
# * Internal global variables
# ***************************************************************************
MOTION_COMMANDS = [
"G0",
"G00",
"G1",
"G01",
"G2",
"G02",
"G3",
"G03",
] # Motion gCode commands definition
RAPID_MOVES = ["G0", "G00"] # Rapid moves gCode commands definition
SUPPRESS_COMMANDS = [] # These commands are ignored by commenting them out
COMMAND_SPACE = " "
# Global variables storing current position
CURRENT_X = 0
CURRENT_Y = 0
CURRENT_Z = 0
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 TRANSLATE_DRILL_CYCLES
global OUTPUT_TOOL_CHANGE
global SPINDLE_WAIT
global RETURN_TO
global OUTPUT_BCNC
try:
args = parser.parse_args(shlex.split(argstring))
if args.no_header:
OUTPUT_HEADER = False
if args.header:
OUTPUT_HEADER = True
if args.no_comments:
OUTPUT_COMMENTS = False
if args.comments:
OUTPUT_COMMENTS = True
if args.no_line_numbers:
OUTPUT_LINE_NUMBERS = False
if args.line_numbers:
OUTPUT_LINE_NUMBERS = True
if args.no_show_editor:
SHOW_EDITOR = False
if args.show_editor:
SHOW_EDITOR = True
PRECISION = args.precision
if args.preamble is not None:
PREAMBLE = args.preamble.replace("\\n", "\n")
if args.postamble is not None:
POSTAMBLE = args.postamble.replace("\\n", "\n")
if args.no_translate_drill:
TRANSLATE_DRILL_CYCLES = False
if args.translate_drill:
TRANSLATE_DRILL_CYCLES = True
if args.inches:
UNITS = "G20"
UNIT_SPEED_FORMAT = "in/min"
UNIT_FORMAT = "in"
PRECISION = 4
if args.tool_change:
OUTPUT_TOOL_CHANGE = True
if args.wait_for_spindle > 0:
SPINDLE_WAIT = args.wait_for_spindle
if args.return_to != "":
RETURN_TO = [int(v) for v in args.return_to.split(",")]
if len(RETURN_TO) != 2:
RETURN_TO = None
print("--return-to coordinates must be specified as <x>,<y>, ignoring")
if args.bcnc:
OUTPUT_BCNC = True
if args.no_bcnc:
OUTPUT_BCNC = False
except Exception as e:
return False
return True
# For debug...
def dump(obj):
for attr in dir(obj):
print("obj.%s = %s" % (attr, getattr(obj, attr)))
def export(objectslist, filename, argstring):
if not processArguments(argstring):
return None
global UNITS
global UNIT_FORMAT
global UNIT_SPEED_FORMAT
global MOTION_MODE
global SUPPRESS_COMMANDS
print("Post Processor: " + __name__ + " postprocessing...")
gcode = ""
# write header
if OUTPUT_HEADER:
gcode += linenumber() + "(Exported by FreeCAD)\n"
gcode += linenumber() + "(Post Processor: " + __name__ + ")\n"
gcode += linenumber() + "(Output Time:" + str(datetime.datetime.now()) + ")\n"
# Check canned cycles for drilling
if TRANSLATE_DRILL_CYCLES:
if len(SUPPRESS_COMMANDS) == 0:
SUPPRESS_COMMANDS = ["G99", "G98", "G80"]
else:
SUPPRESS_COMMANDS += ["G99", "G98", "G80"]
# Write the preamble
if OUTPUT_COMMENTS:
gcode += linenumber() + "(Begin preamble)\n"
for line in PREAMBLE.splitlines():
gcode += linenumber() + line + "\n"
# verify if PREAMBLE have changed MOTION_MODE or UNITS
if "G90" in PREAMBLE:
MOTION_MODE = "G90"
elif "G91" in PREAMBLE:
MOTION_MODE = "G91"
else:
gcode += linenumber() + MOTION_MODE + "\n"
if "G21" in PREAMBLE:
UNITS = "G21"
UNIT_FORMAT = "mm"
UNIT_SPEED_FORMAT = "mm/min"
elif "G20" in PREAMBLE:
UNITS = "G20"
UNIT_FORMAT = "in"
UNIT_SPEED_FORMAT = "in/min"
else:
gcode += linenumber() + UNITS + "\n"
for obj in objectslist:
# Debug...
# print("\n" + "*"*70)
# dump(obj)
# print("*"*70 + "\n")
if not hasattr(obj, "Path"):
print(
"The object " + obj.Name + " is not a path. Please select only path and Compounds."
)
return
# Skip inactive operations
if not PathUtil.activeForOp(obj):
continue
# do the pre_op
if OUTPUT_BCNC:
gcode += linenumber() + "(Block-name: " + obj.Label + ")\n"
gcode += linenumber() + "(Block-expand: 0)\n"
gcode += linenumber() + "(Block-enable: 1)\n"
if OUTPUT_COMMENTS:
gcode += linenumber() + "(Begin operation: " + obj.Label + ")\n"
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 + ")\n"
if coolantMode == "Flood":
gcode += linenumber() + "M8" + "\n"
if coolantMode == "Mist":
gcode += linenumber() + "M7" + "\n"
# Parse the op
gcode += parse(obj)
# do the post_op
if OUTPUT_COMMENTS:
gcode += linenumber() + "(Finish operation: " + obj.Label + ")\n"
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 + ")\n"
gcode += linenumber() + "M9" + "\n"
if RETURN_TO:
gcode += linenumber() + "G0 X%s Y%s\n" % tuple(RETURN_TO)
# do the post_amble
if OUTPUT_BCNC:
gcode += linenumber() + "(Block-name: post_amble)\n"
gcode += linenumber() + "(Block-expand: 0)\n"
gcode += linenumber() + "(Block-enable: 1)\n"
if OUTPUT_COMMENTS:
gcode += linenumber() + "(Begin postamble)\n"
for line in POSTAMBLE.splitlines():
gcode += linenumber() + line + "\n"
# show the gCode result dialog
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.")
# write the file
if filename != "-":
with pyopen(filename, "w") as gfile:
gfile.write(final)
return final
def linenumber():
if not OUTPUT_LINE_NUMBERS:
return ""
global LINENR
global LINEINCR
s = "N" + str(LINENR) + " "
LINENR += LINEINCR
return s
def format_outstring(strTable):
global COMMAND_SPACE
# construct the line for the final output
s = ""
for w in strTable:
s += w + COMMAND_SPACE
s = s.strip()
return s
def parse(pathobj):
global DRILL_RETRACT_MODE
global MOTION_MODE
global CURRENT_X
global CURRENT_Y
global CURRENT_Z
out = ""
lastcommand = None
precision_string = "." + str(PRECISION) + "f"
params = [
"X",
"Y",
"Z",
"A",
"B",
"C",
"U",
"V",
"W",
"I",
"J",
"K",
"F",
"S",
"T",
"Q",
"R",
"L",
"P",
]
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
if not hasattr(pathobj, "Path"): # groups might contain non-path things like stock.
return out
if OUTPUT_COMMENTS:
out += linenumber() + "(Path: " + pathobj.Label + ")\n"
for c in PathUtils.getPathWithPlacement(pathobj).Commands:
outstring = []
command = c.Name
outstring.append(command)
# if modal: only print the command if it is not the same as the last one
if MODAL:
if command == lastcommand:
outstring.pop(0)
# Now add the remaining parameters in order
for param in params:
if param in c.Parameters:
if param == "F":
if command not in RAPID_MOVES:
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,
)
)
elif param in ["T", "H", "S"]:
outstring.append(param + str(int(c.Parameters[param])))
elif param in ["D", "P", "L"]:
outstring.append(param + str(c.Parameters[param]))
elif param in ["A", "B", "C"]:
outstring.append(param + format(c.Parameters[param], precision_string))
else: # [X, Y, Z, U, V, W, I, J, K, R, Q] (Conversion eventuelle mm/inches)
pos = Units.Quantity(c.Parameters[param], FreeCAD.Units.Length)
outstring.append(
param + format(float(pos.getValueAs(UNIT_FORMAT)), precision_string)
)
# store the latest command
lastcommand = command
# Memorizes the current position for calculating the related movements and the withdrawal plan
if command in MOTION_COMMANDS:
if "X" in c.Parameters:
CURRENT_X = Units.Quantity(c.Parameters["X"], FreeCAD.Units.Length)
if "Y" in c.Parameters:
CURRENT_Y = Units.Quantity(c.Parameters["Y"], FreeCAD.Units.Length)
if "Z" in c.Parameters:
CURRENT_Z = Units.Quantity(c.Parameters["Z"], FreeCAD.Units.Length)
if command in ("G98", "G99"):
DRILL_RETRACT_MODE = command
if command in ("G90", "G91"):
MOTION_MODE = command
if TRANSLATE_DRILL_CYCLES:
if command in ("G81", "G82", "G83"):
out += drill_translate(outstring, command, c.Parameters)
# Erase the line we just translated
outstring = []
if SPINDLE_WAIT > 0:
if command in ("M3", "M03", "M4", "M04"):
out += linenumber() + format_outstring(outstring) + "\n"
out += linenumber() + format_outstring(["G4", "P%s" % SPINDLE_WAIT]) + "\n"
outstring = []
# Check for Tool Change:
if command in ("M6", "M06"):
if OUTPUT_COMMENTS:
out += linenumber() + "(Begin toolchange)\n"
if not OUTPUT_TOOL_CHANGE:
outstring.insert(0, "(")
outstring.append(")")
else:
for line in TOOL_CHANGE.splitlines(True):
out += linenumber() + line
if command == "message":
if OUTPUT_COMMENTS is False:
out = []
else:
outstring.pop(0) # remove the command
if command in SUPPRESS_COMMANDS:
outstring.insert(0, "(")
outstring.append(")")
# prepend a line number and append a newline
if len(outstring) >= 1:
out += linenumber() + format_outstring(outstring) + "\n"
# Check for comments containing machine-specific commands to pass literally to the controller
m = re.match(r"^\(MC_RUN_COMMAND: ([^)]+)\)$", command)
if m:
raw_command = m.group(1)
out += linenumber() + raw_command + "\n"
return out
def drill_translate(outstring, cmd, params):
global DRILL_RETRACT_MODE
global MOTION_MODE
global CURRENT_X
global CURRENT_Y
global CURRENT_Z
global UNITS
global UNIT_FORMAT
global UNIT_SPEED_FORMAT
strFormat = "." + str(PRECISION) + "f"
trBuff = ""
if OUTPUT_COMMENTS: # Comment the original command
outstring[0] = "(" + outstring[0]
outstring[-1] = outstring[-1] + ")"
trBuff += linenumber() + format_outstring(outstring) + "\n"
# cycle conversion
# currently only cycles in XY are provided (G17)
# other plains ZX (G18) and YZ (G19) are not dealt with : Z drilling only.
param_X = Units.Quantity(params["X"], FreeCAD.Units.Length)
param_Y = Units.Quantity(params["Y"], FreeCAD.Units.Length)
param_Z = Units.Quantity(params["Z"], FreeCAD.Units.Length)
param_R = Units.Quantity(params["R"], FreeCAD.Units.Length)
# R less than Z is error
if param_R < param_Z:
trBuff += linenumber() + "(drill cycle error: R less than Z )\n"
return trBuff
if MOTION_MODE == "G91": # G91 relative movements, (not generated by CAM WB drilling)
param_X += CURRENT_X
param_Y += CURRENT_Y
param_Z += CURRENT_Z
param_R += param_Z
# NIST-RS274
# 3.5.20 Set Canned Cycle Return Level — G98 and G99
# When the spindle retracts during canned cycles, there is a choice of how far it retracts: (1) retract
# perpendicular to the selected plane to the position indicated by the R word, or (2) retract
# perpendicular to the selected plane to the position that axis was in just before the canned cycle
# started (unless that position is lower than the position indicated by the R word, in which case use
# the R word position).
# To use option (1), program G99. To use option (2), program G98. Remember that the R word has
# different meanings in absolute distance mode and incremental distance mode.
# """
if DRILL_RETRACT_MODE == "G99":
clear_Z = param_R
if DRILL_RETRACT_MODE == "G98" and CURRENT_Z >= param_R:
clear_Z = CURRENT_Z
else:
clear_Z = param_R
strG0_clear_Z = "G0 Z" + format(float(clear_Z.getValueAs(UNIT_FORMAT)), strFormat) + "\n"
strG0_param_R = "G0 Z" + format(float(param_R.getValueAs(UNIT_FORMAT)), strFormat) + "\n"
# get the other parameters
drill_feedrate = Units.Quantity(params["F"], FreeCAD.Units.Velocity)
strF_Feedrate = " F" + format(float(drill_feedrate.getValueAs(UNIT_SPEED_FORMAT)), ".2f") + "\n"
if cmd == "G83":
drill_Step = Units.Quantity(params["Q"], FreeCAD.Units.Length)
a_bit = (
drill_Step * 0.05
) # NIST 3.5.16.4 G83 Cycle: "current hole bottom, backed off a bit."
elif cmd == "G82":
drill_DwellTime = params["P"]
# wrap this block to ensure machine MOTION_MODE is restored in case of error
try:
if MOTION_MODE == "G91":
trBuff += linenumber() + "G90\n" # force absolute coordinates during cycles
# NIST-RS274
# 3.5.16.1 Preliminary and In-Between Motion
# At the very beginning of the execution of any of the canned cycles, with the XY-plane selected, if
# the current Z position is below the R position, the Z-axis is traversed to the R position. This
# happens only once, regardless of the value of L.
# In addition, at the beginning of the first cycle and each repeat, the following one or two moves are
# made:
# 1. a straight traverse parallel to the XY-plane to the given XY-position,
# 2. a straight traverse of the Z-axis only to the R position, if it is not already at the R position.
if CURRENT_Z < param_R:
trBuff += linenumber() + strG0_param_R
trBuff += (
linenumber()
+ "G0 X"
+ format(float(param_X.getValueAs(UNIT_FORMAT)), strFormat)
+ " Y"
+ format(float(param_Y.getValueAs(UNIT_FORMAT)), strFormat)
+ "\n"
)
if CURRENT_Z > param_R:
trBuff += linenumber() + strG0_param_R
last_Stop_Z = param_R
# drill moves
if cmd in ("G81", "G82"):
trBuff += (
linenumber()
+ "G1 Z"
+ format(float(param_Z.getValueAs(UNIT_FORMAT)), strFormat)
+ strF_Feedrate
)
# pause where applicable
if cmd == "G82":
trBuff += linenumber() + "G4 P" + str(drill_DwellTime) + "\n"
trBuff += linenumber() + strG0_clear_Z
else: # 'G83'
if params["Q"] != 0:
while 1:
if last_Stop_Z != clear_Z:
clearance_depth = (
last_Stop_Z + a_bit
) # rapid move to just short of last drilling depth
trBuff += (
linenumber()
+ "G0 Z"
+ format(
float(clearance_depth.getValueAs(UNIT_FORMAT)),
strFormat,
)
+ "\n"
)
next_Stop_Z = last_Stop_Z - drill_Step
if next_Stop_Z > param_Z:
trBuff += (
linenumber()
+ "G1 Z"
+ format(float(next_Stop_Z.getValueAs(UNIT_FORMAT)), strFormat)
+ strF_Feedrate
)
trBuff += linenumber() + strG0_clear_Z
last_Stop_Z = next_Stop_Z
else:
trBuff += (
linenumber()
+ "G1 Z"
+ format(float(param_Z.getValueAs(UNIT_FORMAT)), strFormat)
+ strF_Feedrate
)
trBuff += linenumber() + strG0_clear_Z
break
except Exception as e:
pass
if MOTION_MODE == "G91":
trBuff += linenumber() + "G91" # Restore if changed
return trBuff
# print(__name__ + ": GCode postprocessor loaded.")
Reference in New Issue View Git Blame Copy Permalink