//G CODES
// G0 - Rapid
// G1 - Feed
// G2 - Arc CW
// G3 - Arc CCW
// G40 - Cutter compensation OFF
// G43.4 - Cutter height offset (?)
// G49 - Cutter length offset OFF
// G5.1 - High speed
// G52 - Work coordinates offset
// G53 - Move in absolute coordinates
// G68.2 - Tilted work planes (https://www.linkedin.com/pulse/fanuc-g682-5-axis-tilted-work-planes-tim-markoski/)
// G69 - Coordinate rotation OFF
// G80 - Cancel canned cycles
// G90 - Absolute distance mode (using active coordinate system)
// G92.1 - Reset G92 offsets to 0
//M CODES
// M05 - Spindle rotation stop
// M25 - Pressure clamping 1 closing
// M3 - Spindle CW rotation
// M31 - B axis unlocking
// M32 - B axis locking
// M33 - C axis unlocking
// M34 - C axis locking
// M6 - Tool-change activation
// M99 - End of subroutine
#endregion
public override object Compute()
{
List <string> Tools = new List <string>();
for (int i = 0; i < Paths.Count; ++i)
{
if (!Tools.Contains(Paths[i].ToolName))
{
Tools.Add(Paths[i].ToolName);
}
}
List <string> Program = new List <string>();
/*
* // Dummy variables
* string Name = "Test";
* string Author = "Tom";
* string Date = System.DateTime.Now.ToShortDateString();
* string ProgramTime = "Not too long";
* double MaterialWidth = 200, MaterialHeight = 500, MaterialDepth = 25;
*/
bool HighSpeed = true;
// Create headers
Program.Add("%");
Program.Add("O0001");
Program.Add($"(File name : {Name} )");
Program.Add($"(Programmed by : {Author} )");
Program.Add($"(Date : {Date} )");
Program.Add($"(Program length : {ProgramTime} )");
Program.Add($"(Material : W{MaterialWidth} H{MaterialHeight} D{MaterialDepth} )");
Program.Add("");
Program.Add("");
// Comment on tools
Program.Add("( * * * * * TOOLS * * * * * )");
Program.Add($"( Number ; Diameter ; Length ; Name )");
for (int i = 0; i < Tools.Count; ++i)
{
double ToolDiameter = 12.0;
double ToolLength = 55.0;
Program.Add($"( {i} ; {ToolDiameter} ; {ToolLength} ; {Tools[i]} )");
}
Program.Add("");
Program.Add("");
Program.Add("( * * * * * START * * * * * )");
// Init gcode
Program.Add("G90 G40 G80 G49 G69");
// Reset offsets to 0
Program.Add("G92.1 X0 Y0 Z0 B0 C0");
// CMS pressure clamping closing
Program.Add("M25");
// Set to mm (G20 is inches)
Program.Add("G21");
// Go home. G0 = rapid, G53 = move in absolute coords
Program.Add("G0 G53 Z0");
Program.Add("G0 B0 C0");
// TODO: Check out the G codes in here...
for (int i = 0; i < Paths.Count; ++i)
{
Toolpath TP = Paths[i];
// Add toolpath info
// TODO: Add support for tool indexing to the whole thing
Program.Add("");
Program.Add("");
Program.Add($"( * * * * * PATH {i:D2} * * * * * )");
Program.Add($"( Operation : {TP.Name} )");
Program.Add($"( Tool no. : {Tools.IndexOf(TP.ToolName)} )");
Program.Add($"( Tool des. : {TP.ToolName} )");
Program.Add($"( Tool dia. : {TP.ToolDiameter} )");
// Tool change
Program.Add($"M6 T{Tools.IndexOf(TP.ToolName)}");
if (HighSpeed)
{
Program.Add("G5.1 Q1");
}
Program.Add($"G43.4 H{Tools.IndexOf(TP.ToolName)}");
// If toolpath is planar, lock B and C axes
if (TP.IsPlanar)
{
Program.Add($"M32 M34");
}
// Start spindle
Program.Add($"M3 S{TP.SpindleSpeed}");
Program.Add("");
// Move to first waypoint
Waypoint prev = TP.Paths[0][0];
if (prev.Type != (int)WaypointType.RAPID)
{
throw new Exception("First waypoint must be rapid. Check code.");
}
// Calculate B and C values
double B, C, prevB, prevC;
Vector3d axisFirst = -prev.Plane.ZAxis;
axisFirst.Unitize();
prevB = Rhino.RhinoMath.ToDegrees(Math.Acos(axisFirst * -Vector3d.ZAxis));
prevC = Rhino.RhinoMath.ToDegrees(Math.Atan2(axisFirst.X, axisFirst.Y));
Program.Add($"G{(int)prev.Type} X{prev.Plane.Origin.X:F3} Y{prev.Plane.Origin.Y:F3} Z{prev.Plane.Origin.Z:F3} B{prevB:F3} C{prevC:F3}");
// Go through waypoints
for (int j = 0; j < TP.Paths.Count; ++j)
{
// Parse sub-paths
Path Subpath = TP.Paths[j];
for (int k = 0; k < Subpath.Count; ++k)
{
Waypoint wp = Subpath[k];
// Calculate B and C values
Vector3d axis = -wp.Plane.ZAxis;
axis.Unitize();
B = Rhino.RhinoMath.ToDegrees(Math.Acos(axis * -Vector3d.ZAxis));
C = Rhino.RhinoMath.ToDegrees(Math.Atan2(axis.X, axis.Y));
// Compose line
List <string> Line = new List <string>();
if (wp.Type != prev.Type)
{
if ((wp.Type & 1) == 1)
{
Line.Add($"G0");
}
else if ((wp.Type & 4) == 1)
{
if ((wp.Type & 12) == 1)
{
Line.Add($"G3");
}
else
{
Line.Add($"G2");
}
}
else
{
Line.Add($"G1");
}
/*
* switch ((WaypointType)wp.Type)
* {
* case (WaypointType.RAPID):
* Line.Add($"G0");
* break;
* case (WaypointType.FEED):
* Line.Add($"G1");
* break;
* case (WaypointType.PLUNGE):
* Line.Add($"G1");
* break;
* case (WaypointType.ARC_CW):
* Line.Add($"G2");
* break;
* case (WaypointType.ARC_CCW):
* Line.Add($"G3");
* break;
* default:
* throw new NotImplementedException();
* }
*/
}
if (Math.Abs(wp.Plane.Origin.X - prev.Plane.Origin.X) > 0.00001)
{
Line.Add($"X{wp.Plane.Origin.X:F3}");
}
if (Math.Abs(wp.Plane.Origin.Y - prev.Plane.Origin.Y) > 0.00001)
{
Line.Add($"Y{wp.Plane.Origin.Y:F3}");
}
if (Math.Abs(wp.Plane.Origin.Z - prev.Plane.Origin.Z) > 0.00001)
{
Line.Add($"Z{wp.Plane.Origin.Z:F3}");
}
if (Math.Abs(B - prevB) > 0.00001)
{
Line.Add($"B{B:F3}");
}
if (Math.Abs(C - prevC) > 0.00001)
{
Line.Add($"C{C:F3}");
}
if ((wp.Type & 4) == 1)
{
Line.Add($"R0.0");
}
if ((wp.Type & 3) != (prev.Type & 3))
{
if ((wp.Type & 2) != 0)
{
Line.Add($"F{TP.PlungeRate}");
}
else if ((wp.Type & 2) == 0)
{
Line.Add($"F{TP.FeedRate}");
}
}
// Add line to program
Program.Add(string.Join(" ", Line));
// Update previous waypoint
prev = new Waypoint(wp);
prevB = B;
prevC = C;
}
}
// Stop spindle
Program.Add("M5");
// TODO: Find out what these G codes do
Program.Add("G49 G53 G69");
if (HighSpeed)
{
Program.Add("G5.1 Q0");
}
// TODO: Add another home position here?
// If toolpath is planar, unlock B and C axes
if (TP.IsPlanar)
{
Program.Add($"M31 M33");
}
Program.Add("");
}
// Return home
// TODO: Look at example, find out if G53 is global coords
// and add if necessary
Program.Add("G0 Z0");
Program.Add("G0 X-2600 Y0");
Program.Add("( * * * * * END * * * * * )");
Program.Add("M7"); // This should be to return the tool, but check
Program.Add("");
Program.Add("M99");
Program.Add("%");
return(Program);
}
public void AddPath(Toolpath p) => Paths.Add(p);
