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Handle 4th axis (A) #7

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7f74c39
Handle 4th axis (A)
dguerizec Mar 16, 2017
f8b2b3c
Fixed 4th axis for milling operations
dguerizec May 16, 2017
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82 changes: 70 additions & 12 deletions OpenbuildsGRBL.cps
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@ This post-Processor should work on GRBL-based machines such as
30/JAN/2017 - V6 : Modified capabilities to also allow waterjet, laser-cutting..
*/


description = "Openbuilds Grbl";
vendor = "Openbuilds";
vendorUrl = "http://openbuilds.com";
Expand Down Expand Up @@ -49,9 +50,12 @@ properties =
spindleTwoDirections : false, // true : spindle can rotate clockwise and counterclockwise, will send M3 and M4. false : spindle can only go clockwise, will only send M3
hasCoolant : false, // true : machine uses the coolant output, M8 M9 will be sent. false : coolant output not connected, so no M8 M9 will be sent
hasSpeedDial : true, // true : the spindle is of type Makite RT0700, Dewalt 611 with a Dial to set speeds 1-6. false : other spindle
wantHoming: false, // do not home by default, can be dangerous
machineHomeZ : -10, // absolute machine coordinates where the machine will move to at the end of the job - first retracting Z, then moving home X Y
machineHomeX : -10,
machineHomeY : -10
machineHomeY : -10,
fourAxis: false, // enable four axis mode
makeAAxisOtherWay: false // change direction of rotation of A axis
};

// creation of all kinds of G-code formats - controls the amount of decimals used in the generated G-Code
Expand All @@ -60,6 +64,7 @@ var mFormat = createFormat({prefix:"M", decimals:0});

var xyzFormat = createFormat({decimals:(unit == MM ? 3 : 4)});
var arcFormat = createFormat({decimals:(unit == MM ? 4 : 5)}); // uses extra digit in arcs
var abcFormat = createFormat({decimals:3, forceDecimal:true, scale:DEG}); // A axis is rotating, so set unit as degrees
var feedFormat = createFormat({decimals:0});
var rpmFormat = createFormat({decimals:0});
var secFormat = createFormat({decimals:1, forceDecimal:true});
Expand All @@ -68,6 +73,9 @@ 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 aOutput = createVariable({prefix:"A"}, abcFormat);
var bOutput = createVariable({prefix:"B"}, abcFormat);
var cOutput = createVariable({prefix:"C"}, abcFormat);
var feedOutput = createVariable({prefix:"F"}, feedFormat);
var sOutput = createVariable({prefix:"S", force:true}, rpmFormat);

Expand Down Expand Up @@ -144,7 +152,17 @@ function writeComment(text)
}

function onOpen()
{
{
if (properties.fourAxis) {
// Create the fourth axis
// See page 23 of https://github.com/AutodeskCAM/Documentation/blob/master/Autodesk%20Post%20Processor%20manual-sm-130829.pdf
var aAxis = createAxis({coordinate:0, table:true, axis:[(properties.makeAAxisOtherWay ? -1 : 1) * -1, 0, 0], cyclic:true, preference:1});
machineConfiguration = new MachineConfiguration(aAxis);

setMachineConfiguration(machineConfiguration);
optimizeMachineAngles2(1); // map tip mode
}

// Number of checks capturing fatal errors
// 1. is CAD file in same units as our GRBL configuration ?
// swarfer : GRBL obeys G20/21 so we should only need to output the correct code for the numbers we are outputting, I will look at this later
Expand All @@ -165,6 +183,9 @@ function onOpen()
// 2. is RadiusCompensation not set incorrectly ?
onRadiusCompensation();

bOutput.disable(); // five and six axis not yet supported
cOutput.disable();

// 3. here you set all the properties of your machine, so they can be used later on
var myMachine = getMachineConfiguration();
myMachine.setWidth(600);
Expand Down Expand Up @@ -303,7 +324,7 @@ function onSection()
writeBlock(gAbsIncModal.format(90)); // Set to absolute coordinates
if (isMilling())
{
writeBlock(gFormat.format(53), gMotionModal.format(0), "Z" + xyzFormat.format(properties.machineHomeZ)); // Retract spindle to Machine Z Home
if(properties.wantHoming) writeBlock(gFormat.format(53), gMotionModal.format(0), "Z" + xyzFormat.format(properties.machineHomeZ)); // Retract spindle to Machine Z Home
}
}

Expand Down Expand Up @@ -359,15 +380,22 @@ function onSection()
forceXYZ();

var remaining = currentSection.workPlane;
if (!isSameDirection(remaining.forward, new Vector(0, 0, 1)))
if (!properties.fourAxis && !isSameDirection(remaining.forward, new Vector(0, 0, 1)))
{
alert("Error", "Tool-Rotation detected - GRBL only supports 3 Axis");
error("Fatal Error in Operation " + (sectionId + 1) + ": Tool-Rotation detected but GRBL only supports 3 Axis");
alert("Error", "Tool-Rotation detected - GRBL ony supports 3 Axis or fourAxis is false");
error("Fatal Error in Operation " + (sectionId + 1) + ": Tool-Rotation detected but GRBL ony supports 3 Axis or fourAxis is false");
}
setRotation(remaining);

forceAny();

// Move A axis first if needed
if (properties.fourAxis) {
// See page 24 of https://github.com/AutodeskCAM/Documentation/blob/master/Autodesk%20Post%20Processor%20manual-sm-130829.pdf
var abc = machineConfiguration.getABC(currentSection.workPlane);
setRotation(machineConfiguration.getRemainingOrientation(abc, currentSection.workPlane));
writeBlock(gMotionModal.format(0), aOutput.format(abc.x));
}
// Rapid move to initial position, first XY, then Z
var initialPosition = getFramePosition(currentSection.getInitialPosition());
writeBlock(gAbsIncModal.format(90), gMotionModal.format(0), xOutput.format(initialPosition.x), yOutput.format(initialPosition.y));
Expand Down Expand Up @@ -434,14 +462,44 @@ function onLinear(_x, _y, _z, feed)

function onRapid5D(_x, _y, _z, _a, _b, _c)
{
alert("Error", "Tool-Rotation detected - GRBL only supports 3 Axis");
error("Tool-Rotation detected but GRBL only supports 3 Axis");
var x = xOutput.format(_x);
var y = yOutput.format(_y);
var z = zOutput.format(_z);
var a = aOutput.format(_a);
var b = bOutput.format(_b);
var c = cOutput.format(_c);
if (x || y || z || a || b || c)
{
writeBlock(gMotionModal.format(0), x, y, z, a, b, c);
feedOutput.reset();
}
}

function onLinear5D(_x, _y, _z, _a, _b, _c, feed)
{
alert("Error", "Tool-Rotation detected - GRBL only supports 3 Axis");
error("Tool-Rotation detected but GRBL only supports 3 Axis");
var x = xOutput.format(_x);
var y = yOutput.format(_y);
var z = zOutput.format(_z);
var a = aOutput.format(_a);
var b = bOutput.format(_b);
var c = cOutput.format(_c);
var f = feedOutput.format(feed);

if (x || y || z || a || b || c)
{
writeBlock(gMotionModal.format(1), x, y, z, a, b, c, f);
}
else if (f)
{
if (getNextRecord().isMotion())
{
feedOutput.reset(); // force feed on next line
}
else
{
writeBlock(gMotionModal.format(1), f);
}
}
}

function onCircular(clockwise, cx, cy, cz, x, y, z, feed)
Expand Down Expand Up @@ -502,15 +560,15 @@ function onClose()
writeBlock(gAbsIncModal.format(90)); // Set to absolute coordinates for the following moves
if (isMilling())
{
writeBlock(gAbsIncModal.format(90), gFormat.format(53), gMotionModal.format(0), "Z" + xyzFormat.format(properties.machineHomeZ)); // Retract spindle to Machine Z Home
if(properties.wantHoming) writeBlock(gAbsIncModal.format(90), gFormat.format(53), gMotionModal.format(0), "Z" + xyzFormat.format(properties.machineHomeZ)); // Retract spindle to Machine Z Home
}
writeBlock(mFormat.format(5)); // Stop Spindle
if (properties.hasCoolant)
{
writeBlock(mFormat.format(9)); // Stop Coolant
}
onDwell(properties.spindleOnOffDelay); // Wait for spindle to stop
writeBlock(gAbsIncModal.format(90), gFormat.format(53), gMotionModal.format(0), "X" + xyzFormat.format(properties.machineHomeX), "Y" + xyzFormat.format(properties.machineHomeY)); // Return to home position
if(properties.wantHoming) writeBlock(gAbsIncModal.format(90), gFormat.format(53), gMotionModal.format(0), "X" + xyzFormat.format(properties.machineHomeX), "Y" + xyzFormat.format(properties.machineHomeY)); // Return to home position

writeBlock(mFormat.format(30)); // Program End
writeln("%"); // EndOfFile marker
Expand Down