omio-grbl.cps

/**
  Copyright (C) 2012-2016 by Autodesk, Inc.
  All rights reserved.

  OmioCNC Grbl post processor configuration.

  This postprocessor has been modified to work with
  the OmioCNC Orange Box using the following grbl code
  as a base:

  $Revision: 41369 65a1f6cb57e3c7389dc895ea10958fc2f7947b0d $
  $Date: 2017-03-20 14:12:44 $
  
  FORKID {154F7C00-6549-4c77-ADE0-79375FE5F2AA}
  
  Modifications made by Mark Hedley Jones 2017.
*/

description = "OmioCNC Grbl";
vendor = "grbl";
vendorUrl = "https://github.com/grbl/grbl/wiki";
legal = "Copyright (C) 2012-2016 by Autodesk, Inc.";
certificationLevel = 2;
minimumRevision = 24000;

longDescription = "Milling post for OmioCNC Grbl.";

extension = "nc";
setCodePage("ascii");

capabilities = CAPABILITY_MILLING;
tolerance = spatial(0.002, MM);

minimumChordLength = spatial(0.01, MM);
minimumCircularRadius = spatial(0.01, MM);
maximumCircularRadius = spatial(1000, MM);
minimumCircularSweep = toRad(0.01);
maximumCircularSweep = toRad(180);
allowHelicalMoves = true;
allowedCircularPlanes = undefined; // allow any circular motion



// user-defined properties
properties = {
  writeMachine: false, // write machine
  writeTools: false, // writes the tools
  useG28: false, // disable to avoid G28 output for safe machine retracts - when disabled you must manually ensure safe retracts
  showSequenceNumbers: false, // show sequence numbers
  sequenceNumberStart: 10, // first sequence number
  sequenceNumberIncrement: 1, // increment for sequence numbers
  separateWordsWithSpace: true // specifies that the words should be separated with a white space
};

var numberOfToolSlots = 9999;



var mapCoolantTable = new Table(
  [9, 8],
  {initial:COOLANT_OFF, force:false},
  "Invalid coolant mode"
);

var gFormat = createFormat({prefix:"G", width:2, zeropad:true, decimals:3});
var mFormat = createFormat({prefix:"M", width:2, zeropad:true, decimals:3});

var xyzFormat = createFormat({decimals:(unit == MM ? 3 : 4), width:2, zeropad:true, decimals:3});
var feedFormat = createFormat({decimals:(unit == MM ? 1 : 2)});
var toolFormat = createFormat({decimals:0});
var rpmFormat = createFormat({decimals:0});
var secFormat = createFormat({decimals:3, forceDecimal:true}); // seconds - range 0.001-1000
var taperFormat = createFormat({decimals:1, scale:DEG});

var xOutput = createVariable({prefix:"X"}, xyzFormat);
var yOutput = createVariable({prefix:"Y"}, xyzFormat);
var zOutput = createVariable({prefix:"Z"}, xyzFormat);
var feedOutput = createVariable({prefix:"F"}, feedFormat);
var sOutput = createVariable({prefix:"S", force:true}, rpmFormat);

// circular output
var iOutput = createReferenceVariable({prefix:"I", force:true}, xyzFormat);
var jOutput = createReferenceVariable({prefix:"J", force:true}, xyzFormat);
var kOutput = createReferenceVariable({prefix:"K", force:true}, xyzFormat);

var gMotionModal = createModal({}, gFormat); // modal group 1 // G0-G3, ...
var gPlaneModal = createModal({onchange:function () {gMotionModal.reset();}}, gFormat); // modal group 2 // G17-19
var gAbsIncModal = createModal({}, gFormat); // modal group 3 // G90-91
var gFeedModeModal = createModal({}, gFormat); // modal group 5 // G93-94
var gUnitModal = createModal({}, gFormat); // modal group 6 // G20-21

var WARNING_WORK_OFFSET = 0;

// collected state
var sequenceNumber;
var currentWorkOffset;

/**
  Writes the specified block.
*/
function writeBlock() {
  if (properties.showSequenceNumbers) {
    writeWords2("N" + sequenceNumber, arguments);
    sequenceNumber += properties.sequenceNumberIncrement;
  } else {
    writeWords(arguments);
  }
}

function formatComment(text) {
  return "(" + String(text).replace(/[\(\)]/g, "") + ")";
}

/**
  Output a comment.
*/
function writeComment(text) {
  writeln(formatComment(text));
}

function onOpen() {
  if (!properties.separateWordsWithSpace) {
    setWordSeparator("");
  }

  sequenceNumber = properties.sequenceNumberStart;

  if ((getNumberOfSections() > 0) && (getSection(0).workOffset == 0)) {
    for (var i = 0; i < getNumberOfSections(); ++i) {
      if (getSection(i).workOffset > 0) {
        error(localize("Using multiple work offsets is not possible if the initial work offset is 0."));
        return;
      }
    }
  }}

function onComment(message) {}

/** Force output of X, Y, and Z. */
function forceXYZ() { 
  writeComment("forceXYZ");
  xOutput.reset();
  yOutput.reset();
  zOutput.reset();
 }


/** Force output of X, Y, Z, and F on next output. */
function forceAny() {
  writeComment("ForceAny");
  forceXYZ();
  feedOutput.reset();
}

function onSection() {  var insertToolCall = isFirstSection() ||
    currentSection.getForceToolChange && currentSection.getForceToolChange() ||
    (tool.number != getPreviousSection().getTool().number);
  
  var retracted = false; // specifies that the tool has been retracted to the safe plane
  var newWorkOffset = isFirstSection() ||
    (getPreviousSection().workOffset != currentSection.workOffset); // work offset changes
  var newWorkPlane = isFirstSection() ||
    !isSameDirection(getPreviousSection().getGlobalFinalToolAxis(), currentSection.getGlobalInitialToolAxis());
  if (insertToolCall || newWorkOffset || newWorkPlane) {
    
    // stop spindle before retract during tool change
    if (insertToolCall && !isFirstSection()) {
      onCommand(COMMAND_STOP_SPINDLE);
    }

	if (properties.useG28) {
      // retract to safe plane
      retracted = true;
      writeBlock(gFormat.format(28), gAbsIncModal.format(91), "Z" + xyzFormat.format(0)); // retract
      writeBlock(gAbsIncModal.format(90));
      zOutput.reset();
	}
  }
 
  
  writeBlock(
    mFormat.format(tool.clockwise ? 3 : 4), sOutput.format(tool.spindleRPM)
  );}

function onDwell(seconds) {  if (seconds > 99999.999) {
    warning(localize("Dwelling time is out of range."));
  }
  seconds = clamp(0.001, seconds, 99999.999);
  writeBlock(gFormat.format(4), "P" + secFormat.format(seconds));}

function onSpindleSpeed(spindleSpeed) {
  writeBlock(sOutput.format(spindleSpeed));
}

var pendingRadiusCompensation = -1;

function onRadiusCompensation() {
  pendingRadiusCompensation = radiusCompensation;
}

function onRapid(_x, _y, _z) {  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  if (x || y || z) {
    if (pendingRadiusCompensation >= 0) {
      error(localize("Radius compensation mode cannot be changed at rapid traversal."));
      return;
    }
    writeBlock(gMotionModal.format(0), x, y, z);
    feedOutput.reset();
  }}

function onLinear(_x, _y, _z, feed) {  // at least one axis is required
  if (pendingRadiusCompensation >= 0) {
    // ensure that we end at desired position when compensation is turned off
    xOutput.reset();
    yOutput.reset();
  }
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  var f = feedOutput.format(feed);
  if (x || y || z) {
    writeBlock(gMotionModal.format(1), x, y, z, f);
  } else if (f) {
    writeBlock(gMotionModal.format(1), f);
  }
}

function onRapid5D(_x, _y, _z, _a, _b, _c) {
  error(localize("Multi-axis motion is not supported."));
}

function onLinear5D(_x, _y, _z, _a, _b, _c, feed) {
  error(localize("Multi-axis motion is not supported."));
}

function onCircular(clockwise, cx, cy, cz, x, y, z, feed) {
  // one of X/Y and I/J are required and likewise
  
  if (pendingRadiusCompensation >= 0) {
    error(localize("Radius compensation cannot be activated/deactivated for a circular move."));
    return;
  }

  var start = getCurrentPosition();

  if (isFullCircle()) {
    if (isHelical()) {
      linearize(tolerance);
      return;
    }
    // TAG: are 360deg arcs supported
    switch (getCircularPlane()) {
    case PLANE_XY:
      writeBlock(gPlaneModal.format(17));
      writeBlock(gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), feedOutput.format(feed));
      break;
    case PLANE_ZX:
      writeBlock(gPlaneModal.format(18));
      writeBlock(gMotionModal.format(clockwise ? 2 : 3), zOutput.format(z), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), feedOutput.format(feed));
      break;
    case PLANE_YZ:
      writeBlock(gPlaneModal.format(19));
      writeBlock(gMotionModal.format(clockwise ? 2 : 3), yOutput.format(y), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), feedOutput.format(feed));
      break;
    default:
      linearize(tolerance);
    }
  } else {
    switch (getCircularPlane()) {
    case PLANE_XY:
      writeBlock(gPlaneModal.format(17));
      writeBlock(gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), feedOutput.format(feed));
      break;
    case PLANE_ZX:
      writeBlock(gPlaneModal.format(18));
      writeBlock(gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), feedOutput.format(feed));
      break;
    case PLANE_YZ:
      writeBlock(gPlaneModal.format(19));
      writeBlock(gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), feedOutput.format(feed));
      break;
    default:
      linearize(tolerance);
    }
  }
}

var mapCommand = {
  COMMAND_STOP:0,
  COMMAND_END:2,
  COMMAND_SPINDLE_CLOCKWISE:3,
  COMMAND_SPINDLE_COUNTERCLOCKWISE:4,
  COMMAND_STOP_SPINDLE:5,
  COMMAND_COOLANT_ON:8,
  COMMAND_COOLANT_OFF:9
};

function onCommand(command) {
  switch (command) {
  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;
  }

  var stringId = getCommandStringId(command);
  var mcode = mapCommand[stringId];
  if (mcode != undefined) {
    writeBlock(mFormat.format(mcode));
  } else {
    onUnsupportedCommand(command);
  }
}

function onSectionEnd() {
  forceAny();
}

function onClose() {
  if (properties.useG28) {
    writeBlock(gFormat.format(28), gAbsIncModal.format(91), "Z" + xyzFormat.format(0)); // retract
    zOutput.reset();
  }

  writeBlock(mFormat.format(05)); // stop program, spindle stop, coolant off

  // Dont return home at the end of the routine
  //if (!machineConfiguration.hasHomePositionX() && !machineConfiguration.hasHomePositionY()) {
  //  if (properties.useG28) {
  //    writeBlock(gFormat.format(28), gAbsIncModal.format(91), "X" + xyzFormat.format(0), "Y" + xyzFormat.format(0)); // return to home
	//}
}