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Merge pull request #3934 from J-Dunn/master
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PATH: G0 retraction and return speeds for grbl_post G83 expand
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@sliptonic
sliptonic committed Oct 7, 2020
2 parents 1816a71 + 0cc3c5c commit ae847ef
Showing 1 changed file with 75 additions and 58 deletions.
133 changes: 75 additions & 58 deletions src/Mod/Path/PathScripts/post/grbl_post.py
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Expand Up @@ -340,20 +340,20 @@ def export(objectslist, filename, argstring):


def linenumber():
if not OUTPUT_LINE_NUMBERS:
return ""
global LINENR
global LINEINCR
if OUTPUT_LINE_NUMBERS:
s = "N" + str(LINENR) + " "
LINENR += LINEINCR
return s
return ""
s = "N" + str(LINENR) + " "
LINENR += LINEINCR
return s


def format_outstring(strTbl):
def format_outstring(strTable):
global COMMAND_SPACE
# construct the line for the final output
s = ""
for w in strTbl:
for w in strTable:
s += w + COMMAND_SPACE
s = s.strip()
return s
Expand Down Expand Up @@ -431,28 +431,27 @@ def parse(pathobj):

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
del(outstring[:])
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"
del(outstring[:])
outstring = []

# Check for Tool Change:
if command in ('M6', 'M06'):
if OUTPUT_COMMENTS:
out += linenumber() + "(Begin toolchange)\n"
if not OUTPUT_TOOL_CHANGE:
outstring[0] = "(" + outstring[0]
outstring[-1] = outstring[-1] + ")"
outstring.insert(0, "(" )
outstring.append( ")" )
else:
for line in TOOL_CHANGE.splitlines(True):
out += linenumber() + line
Expand All @@ -464,8 +463,8 @@ def parse(pathobj):
outstring.pop(0) # remove the command

if command in SUPPRESS_COMMANDS:
outstring[0] = "(" + outstring[0]
outstring[-1] = outstring[-1] + ")"
outstring.insert(0, "(" )
outstring.append( ")" )

# prepend a line number and append a newline
if len(outstring) >= 1:
Expand Down Expand Up @@ -493,62 +492,80 @@ def drill_translate(outstring, cmd, params):
outstring[-1] = outstring[-1] + ")"
trBuff += linenumber() + format_outstring(outstring) + "\n"

# Conversion du cycle
# Pour l'instant, on gere uniquement les cycles dans le plan XY (G17)
# les autres plans ZX (G18) et YZ (G19) ne sont pas traites : Calculs sur Z uniquement.
if MOTION_MODE == 'G90': # Deplacements en coordonnees absolues
drill_X = Units.Quantity(params['X'], FreeCAD.Units.Length)
drill_Y = Units.Quantity(params['Y'], FreeCAD.Units.Length)
drill_Z = Units.Quantity(params['Z'], FreeCAD.Units.Length)
RETRACT_Z = Units.Quantity(params['R'], FreeCAD.Units.Length)
else: # G91 Deplacements relatifs
drill_X = CURRENT_X + Units.Quantity(params['X'], FreeCAD.Units.Length)
drill_Y = CURRENT_Y + Units.Quantity(params['Y'], FreeCAD.Units.Length)
drill_Z = CURRENT_Z + Units.Quantity(params['Z'], FreeCAD.Units.Length)
RETRACT_Z = CURRENT_Z + Units.Quantity(params['R'], FreeCAD.Units.Length)
# cycle conversion
# currently only cycles in XY are provided (G17)
# other plains ZX (G18) and YZ (G19) are not dealt with : Z drilling only.
drill_X = Units.Quantity(params['X'], FreeCAD.Units.Length)
drill_Y = Units.Quantity(params['Y'], FreeCAD.Units.Length)
drill_Z = Units.Quantity(params['Z'], FreeCAD.Units.Length)
RETRACT_Z = Units.Quantity(params['R'], FreeCAD.Units.Length)
# R less than Z is error
if RETRACT_Z < drill_Z :
trBuff += linenumber() + "(drill cycle error: R less than Z )\n"
return trBuff

if MOTION_MODE == 'G91': # G91 relative movements
drill_X += CURRENT_X
drill_Y += CURRENT_Y
drill_Z += CURRENT_Z
RETRACT_Z += CURRENT_Z

if DRILL_RETRACT_MODE == 'G98' and CURRENT_Z >= RETRACT_Z:
RETRACT_Z = CURRENT_Z

# Recupere les valeurs des autres parametres
# get the other parameters
drill_Speed = Units.Quantity(params['F'], FreeCAD.Units.Velocity)
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

strG0_RETRACT_Z = 'G0 Z' + format(float(RETRACT_Z.getValueAs(UNIT_FORMAT)), strFormat) + "\n"
strF_Drill_Speed = ' F' + format(float(drill_Speed.getValueAs(UNIT_SPEED_FORMAT)), '.2f') + "\n"

# preliminary mouvement(s)
if CURRENT_Z < RETRACT_Z:
trBuff += linenumber() + strG0_RETRACT_Z
trBuff += linenumber() + 'G0 X' + format(float(drill_X.getValueAs(UNIT_FORMAT)), strFormat) + ' Y' + format(float(drill_Y.getValueAs(UNIT_FORMAT)), strFormat) + "\n"
if CURRENT_Z > RETRACT_Z:
# trBuff += linenumber() + 'G0 Z' + format(float(CURRENT_Z.getValueAs(UNIT_FORMAT)), strFormat) + "\n" # not following NIST 3.5.16.1 Preliminary and In-Between Motion
trBuff += linenumber() + strG0_RETRACT_Z
last_Stop_Z = RETRACT_Z

# drill moves
if cmd in ('G81', 'G82'):
trBuff += linenumber() + 'G1 Z' + format(float(drill_Z.getValueAs(UNIT_FORMAT)), strFormat) + strF_Drill_Speed
# pause where applicable
if cmd == 'G82':
trBuff += linenumber() + 'G4 P' + str(drill_DwellTime) + "\n"
trBuff += linenumber() + strG0_RETRACT_Z
else: # 'G83'
if params['Q'] != 0 :
while 1:
if last_Stop_Z != RETRACT_Z :
clearance_depth = last_Stop_Z + a_bit
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 > drill_Z:
trBuff += linenumber() + 'G1 Z' + format(float(next_Stop_Z.getValueAs(UNIT_FORMAT)), strFormat) + strF_Drill_Speed
trBuff += linenumber() + strG0_RETRACT_Z
last_Stop_Z = next_Stop_Z
else:
trBuff += linenumber() + 'G1 Z' + format(float(drill_Z.getValueAs(UNIT_FORMAT)), strFormat) + strF_Drill_Speed
trBuff += linenumber() + strG0_RETRACT_Z
break

except Exception as e:
pass

if MOTION_MODE == 'G91':
trBuff += linenumber() + "G90" + "\n" # Force des deplacements en coordonnees absolues pendant les cycles

# Mouvement(s) preliminaire(s))
if CURRENT_Z < RETRACT_Z:
trBuff += linenumber() + 'G0 Z' + format(float(RETRACT_Z.getValueAs(UNIT_FORMAT)), strFormat) + "\n"
trBuff += linenumber() + 'G0 X' + format(float(drill_X.getValueAs(UNIT_FORMAT)), strFormat) + ' Y' + format(float(drill_Y.getValueAs(UNIT_FORMAT)), strFormat) + "\n"
if CURRENT_Z > RETRACT_Z:
trBuff += linenumber() + 'G0 Z' + format(float(CURRENT_Z.getValueAs(UNIT_FORMAT)), strFormat) + "\n"

# Mouvement de percage
if cmd in ('G81', 'G82'):
trBuff += linenumber() + 'G1 Z' + format(float(drill_Z.getValueAs(UNIT_FORMAT)), strFormat) + ' F' + format(float(drill_Speed.getValueAs(UNIT_SPEED_FORMAT)), '.2f') + "\n"
# Temporisation eventuelle
if cmd == 'G82':
trBuff += linenumber() + 'G4 P' + str(drill_DwellTime) + "\n"
# Sortie de percage
trBuff += linenumber() + 'G0 Z' + format(float(RETRACT_Z.getValueAs(UNIT_FORMAT)), strFormat) + "\n"
else: # 'G83'
next_Stop_Z = RETRACT_Z - drill_Step
while 1:
if next_Stop_Z > drill_Z:
trBuff += linenumber() + 'G1 Z' + format(float(next_Stop_Z.getValueAs(UNIT_FORMAT)), strFormat) + ' F' + format(float(drill_Speed.getValueAs(UNIT_SPEED_FORMAT)), '.2f') + "\n"
trBuff += linenumber() + 'G0 Z' + format(float(RETRACT_Z.getValueAs(UNIT_FORMAT)), strFormat) + "\n"
next_Stop_Z -= drill_Step
else:
trBuff += linenumber() + 'G1 Z' + format(float(drill_Z.getValueAs(UNIT_FORMAT)), strFormat) + ' F' + format(float(drill_Speed.getValueAs(UNIT_SPEED_FORMAT)), '.2f') + "\n"
trBuff += linenumber() + 'G0 Z' + format(float(RETRACT_Z.getValueAs(UNIT_FORMAT)), strFormat) + "\n"
break

if MOTION_MODE == 'G91':
trBuff += linenumber() + 'G91' # Restore le mode de deplacement relatif
trBuff += linenumber() + 'G91' # Restore if changed

return trBuff

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