Remapping: Was: Stand Alone Interpe r ter

#!/usr/bin/env python # Mar 2017 Code by Michel Trahan, Bob Bevins and Sylvain Deschene # Remap of M6 in Pure Python, remap.py includes change_epilog # Machine is Biesse 346 1995, with 3 position rack toolchanger #----------------------------------------------------------------------------------- import linuxcnc from interpreter import * import emccanon from util import lineno #----------------------------------------------------------------------------------- throw_exceptions = 1 # raises InterpreterException if execute() or read() fail #----------------------------------------------------------------------------------- import xmlBiesse import sys #------------------------------------------------------------------------------------------------------ # MAIN FUNCTION : change_remap # # REMAP=M6 modalgroup=6 python=M6_Remap_BiesseRover346 # - Do not use stdglue.py, in pure python remap #------------------------------------------------------------------------------------------------------ def queuebuster(self, **words): yield INTERP_EXECUTE_FINISH def M6_Remap_BiesseRover346(self, **words): #-------------------------------------------------- # if in preview mode exit without doing anything and all ok #---------------------------------------------------------- if self.task==0: return INTERP_OK #else: # DoYield() change_prolog1(self, **words) try: #-------------------------------------------------------------------- # Get the xmlfile path from the ini file ... or hardcode here #-------------------------------------------------------------------- # [XML] # FILE=/home/bob/linuxcnc/configs/python/BiesseRover346.xml #-------------------------------------------------------------------- xmlfile = "/home/bob/linuxcnc/configs/python/BiesseRover346.xml" #--------------------------------------------------------------------- # XML - Objects to fetch needed infos ... #--------------------------------------------------------------------- self.x = xmlBiesse.xmlBiesse(xmlfile) # the xml interface # set some self values self.feedSpeed = self.x.getFeedSpeed() self.pulseDelay = self.x.getDelay("pulseDelay") self.stat = linuxcnc.stat() self.HIGH = 1 StopSpindleNow(self) # ------------------------------------- # test if spindle has really stopped #-------------------------------------- self.stat.poll() index = self.x.getSignalInfos("spindleHasStopped") isSpindleStopped = int(self.stat.din[index]) if isSpindleStopped != 1: msg = "Spindle has not stopped even after M66" self.set_errormsg(msg) return ReturnERROR() #------------------------------------------------------------------ # we are good to go #------------------------------------------------------------------ print("Spindle Stopped") #----------------------- # raise the Z #----------------------- MoveZtoZero(self) #---------------------------------------------- #----------------------- # raise all spindles #----------------------- print("Lets just try raising A,B and C for now") raisespindlesABC(self) #raiseALLspindles(self) print("ALL Spindle Raised") #-------------------------- # De Energise all spindles #-------------------------- DeEnergiseALLSpindle(self) print("ALL Spindles DeEnergised") #--------------------------------------------------------------------------------- # now go according to selected_tool given by linuxcnc for the Txxx M6 ngc command #--------------------------------------------------------------------------------- selectedtool = int(self.params["selected_tool"]) self.selected_tool = int(self.params["selected_tool"]) print("Selected Tool : %d" % selectedtool) if selectedtool > 700: # 701 to ... any combinations of drills and side drills DropTools(self, selectedtool) self.current_tool = selectedtool self.current_pocket = selectedtool self.execute("G43 H%d" % selectedtool) elif (selectedtool > 500 and selectedtool < 510): # 5 pairs of side drills (1,3,5,7,9) DropSideDrill(self, selectedtool - 500) self.current_tool = selectedtool self.current_pocket = selectedtool self.execute("G43 H%d" % selectedtool) elif (selectedtool > 400 and selectedtool < 434): # 33 drills (1-33) DropDrill(self, selectedtool - 400) self.current_tool = selectedtool self.current_pocket = selectedtool self.execute("G43 H%d" % selectedtool) else: if selectedtool == 21: if SpindleHasTool(self, "C"): DropSpindleC(self) EnergiseSpindle(self, "C") #This is if you have three ISO spindles. This is spindle#3 or C return INTERP_OK else: msg = "Spindle C has no tool" self.set_errormsg(msg) return ReturnERROR() elif selectedtool == 20: if SpindleHasTool(self, "B"): DropSpindleB(self) EnergiseSpindle(self, "B") SetG43Tool20(self) #This is if you have three ISO spindles. This is spindle#2 or B return INTERP_OK else: msg = "Spindle B has no tool" self.set_errormsg(msg) return ReturnERROR() elif selectedtool > 0 and selectedtool < 4: #only 3 tools for A (1, 2, 3) EnergiseSpindle(self, "A") # now time to see if already in spindle freePocket = FindFreePocket(self) self.current_pocket = freePocket print("freePocket = %s" % freePocket) currenttool = int(self.params["tool_in_spindle"]) print("tool in spindle = %s" % currenttool) if freePocket == -1: # what is in spindle 1 ? check if spindle has tool if SpindleHasTool(self, "A"): # we have a problem msg = "No Free Pockets and Spindle A has a tool" self.set_errormsg(msg) return ReturnERROR() else: # if not, go get the one needed #------------------------------------------ # PICKUP selected tool in according pocket #------------------------------------------ print("Spindle A has no tool, going to PickUpNewTool %d" % selectedtool) OpenCasket(self) if selectedtool == 1: #Pickup Tool 1 PickUpTool1(self) CloseCasket(self) # self.current_tool = 1 elif selectedtool == 2: #Pickup Tool 2 PickUpTool2(self) #SetG43Tool2(self) CloseCasket(self) # self.current_tool = 2 elif selectedtool == 3: #Pickup Tool 3 PickUpTool3(self) CloseCasket(self) # self.current_tool = 3 self.current_tool = selectedtool self.current_pocket = selectedtool self.execute("G43 H%d" % selectedtool) return INTERP_OK else: print("There is a free pocket") #------------------------------------------------------- # check if spindle has tool #------------------------------------------------------- if not SpindleHasTool(self, "A"): msg = "Error while droping a tool, Spindle A has no tool to drop" self.set_errormsg(msg) # replace builtin error message return ReturnERROR() print("Spindle A has tool, do drop it") #------------------------------------------------------- # check if tool already in spindle #------------------------------------------------------- if freePocket == selectedtool: DropSpindleA(self) print("Spindle A already has the right tool") self.current_tool = selectedtool self.current_pocket = selectedtool return INTERP_OK #------------------------------------ # DROP current tool in free pocket #------------------------------------ OpenCasket(self) if freePocket == 1: DropTool1(self) if selectedtool == 2: PickUpTool2(self) elif selectedtool ==3: PickUpTool3(self) CloseCasket(self) DropSpindleA(self) self.current_tool = selectedtool self.current_pocket = selectedtool self.execute("G43 H%d" % selectedtool) return INTERP_OK elif freePocket == 2: DropTool2(self) if selectedtool == 1: PickUpTool1(self) elif selectedtool ==3: PickUpTool3(self) CloseCasket(self) DropSpindleA(self) self.current_tool = selectedtool self.current_pocket = selectedtool self.execute("G43 H%d" % selectedtool) return INTERP_OK elif freePocket == 3: DropTool3(self) if selectedtool == 2: PickUpTool2(self) elif selectedtool ==1: PickUpTool1(self) CloseCasket(self) DropSpindleA(self) self.current_tool = selectedtool self.current_pocket = selectedtool self.execute("G43 H%d" % selectedtool) return INTERP_OK else: # not > 700, not between 400 and 434 (exclusive), not between 500 and 510 (exclusive), nor 0,1,2,3,10,11 msg = "Wrong tool number either 0 to remove it from spindle or 1,2,3,20,21\n" msg += "Or 401 to 433 for drills, 501, 503, 505, 507, 509 for side drills,\n" msg += "701 to whatever is defined in the tool table AND the xml file\n" msg += "Tool given was: %d" % selectedtool self.set_errormsg(msg) # replace builtin error message return ReturnERROR() #----------------------------------------- # We have errors ! catch and return error #----------------------------------------- except InterpreterException,e: msg = "BOB look at this error : %d: '%s' - %s" % (e.line_number,e.line_text, e.error_message) self.set_errormsg(msg) # replace builtin error message print("%s" % msg) return ReturnERROR() except IOError as e: print "I/O error({0}): {1}".format(e.errno, e.strerror) return ReturnERROR() except ValueError: print "Could not convert data to an integer." return ReturnERROR() except ZeroDivisionError as detail: print 'Handling run-time error:', detail return ReturnERROR() except: print "Unexpected error:", sys.exc_info()[0] raise finally: print 'Hold on, off to epilog coming up!' print("Current pocket = %s" % self.current_pocket) print("Selected pocket = %s" % self.selected_pocket) print("Param.Selected pocket = %s" % int(self.params["selected_pocket"])) print("Current tool in spindle = %s" % self.current_tool) print("Selected tool = %s" % self.selected_tool) self.return_value = self.selected_tool #----------------------- # all fine, return ok ! #----------------------- # This is the change_epilog within remap body print 'Final!' print("Self return value = %s" % self.return_value) print 'calling epilog' print 'Returned form epilog journey' print("Current pocket = %s" % self.current_pocket) print("Selected pocket = %s" % self.selected_pocket) print("Param.Selected pocket = %s" % int(self.params["selected_pocket"])) print("Current tool in spindle = %s" % self.current_tool) print("Selected tool = %s" % self.selected_tool) self.selected_pocket = int(self.params["selected_pocket"]) print("before emccannon CHANGE TOOL") emccanon.CHANGE_TOOL(self.selected_pocket) print("emccannon CHANGE TOOL sent") self.current_pocket = self.selected_pocket #self.selected_pocket = -1 #self.selected_tool = -1 # cause a sync() print("Lets Sync this Bitch, NOW") self.set_tool_parameters() self.toolchange_flag = True return INTERP_OK #---------------------------------------------------------- #---------------------------------------------------------- def change_prolog1(self, **words): try: if self.selected_pocket < 0: return "M6: no tool prepared" if self.cutter_comp_side: return "Cannot change tools with cutter radius compensation on" self.params["tool_in_spindle"] = self.current_tool self.params["selected_tool"] = self.selected_tool self.params["current_pocket"] = self.current_pocket self.params["selected_pocket"] = self.selected_pocket return INTERP_OK except Exception, e: return "M6/change_prolog: %s" % (e) def change_epilog(self, **words): try: #print("Change epilog executing....") if self.return_value > 0.0: print("pass return value") self.selected_pocket = int(self.params["selected_pocket"]) print("before emccannon CHANGE TOOL") emccanon.CHANGE_TOOL(self.selected_pocket) print("emccannon CHANGE TOOL sent") self.current_pocket = self.selected_pocket self.selected_pocket = -1 self.selected_tool = -1 # cause a sync() print("Lets Sync this Bitch, NOW") self.set_tool_parameters() self.toolchange_flag = True yield INTERP_EXECUTE_FINISH else: self.set_errormsg("M6 aborted (return code %.1f)" % (self.return_value)) return except Exception, e: self.set_errormsg("M6/change_epilog: %s" % (e)) return #---------------------------------------------------------- #-----Set me some tool offsets here!!!--------------------- #---------------------------------------------------------- def SetG43Tool20(self): self.execute("G43 H20") def SetG43Tool2(self): self.execute("G43 H2") #---------------------------------------------------------- def DropSpindleA(self): self.execute("M64 P2") #Drop Spindle self.execute("G4 P1") #wait to release pulse on lock spindle self.execute("M65 P2") #Release drop SP relay, only needs pulse self.execute("G4 P1") self.execute("M66 P9 L3 Q5") print("drop Spindle A Done") #Wait for Spindle to drop def DropSpindleB(self): index = self.x.getSignalInfos("spindleBdrop") self.execute("M64 P%d" % index) self.execute("G4 P0.5") self.execute("M65 P%d" % index) index = self.x.getSignalInfos("spindleBdown") self.execute("M66 P%d L4 Q1" % index) #self.execute("M64 P3") #self.execute("G4 P0.5") #self.execute("M65 P3") #self.execute("M66 P10 L4 Q1") print("DropSpindle(B) done") def DropSpindleC(self): self.execute("M64 P4") self.execute("G4 P0.5") self.execute("M65 P4") self.execute("M66 P11 L4 Q1") print("DropSpindle(C) done") def DropTool1(self): #id = 1 #posX, posY, posZ = self.x.getPocketPos(id, "Front") self.execute("G53 G0 X15.375 Y-25.57 Z0") #Move to front of pocket 1 #self.execute("G53 G0 F%d X%f Y%f Z0.0" % (self.feedSpeed, posX, posY), lineno()) self.execute("M64 P2") #Drop Spindle A self.execute("M66 P9 L3 Q5") #Wait for Spindle to drop self.execute("M65 P2") #Release drop SP relay, only needs pulse self.execute("M64 P10") #raise Pocket 1 self.execute("M66 P17 L3 Q5") #wait for Pocket to raise self.execute("G53 G0 Z-1.788") #Drop the Z into position #self.execute("G53 G0 F%d Z%f" % (self.feedSpeed, posZ), lineno()) self.execute("G53 G1 F200 X11.825") #Move into pocket to release tool #posX2, posY2, posZ2 = self.x.getPocketPos(id, "Top") #self.execute("G53 G1 F%d X%f " % (self.feedSpeed, posX2),lineno()) self.execute("M66 P4 L3 Q5") #Wait for pocket 1 has tool self.execute("M64 P8") #Release Spindle self.execute("M66 P13 L3 Q5") #Wait for Spindle to release self.execute("M64 P5") #Raise Spindle self.execute("M66 P7 L3 Q5") #Wait for Spindle to raise self.execute("G53 G0 Z0") #Move to Z0 self.execute("M65 P8") #Release Sp A pulse relay, only needs pulse self.execute("M64 P9") #Lock Spindle A self.execute("G4 P1.0") #wait to release pulse on lock spindle self.execute("M65 P9") #release Lock Spindle A, only needs pulse self.execute("M65 P10") #Lower Pocket 1 self.execute("G53 G0 X15.375 Y-25.57 Z0") #Move to front of pocket 1 #self.execute("G53 G0 F%d X%f Y%f Z0.0" % (self.feedSpeed, posX, posY), lineno()) #self.execute("G1 G53 F%d Z%f" % (self.feedSpeed, posZ), lineno()) #INTERP_EXECUTE_FINISH #--------------------------------------------------------------------- def DropTool2(self): self.execute("G53 G0 X15.375 Y-33.527 Z0") #Move to front of pocket 2 self.execute("M64 P2") #Drop Spindle self.execute("M66 P9 L3 Q5") #Wait for Spindle to drop self.execute("M65 P2") #Release drop SP relay, only needs pulse self.execute("M64 P11") #raise Pocket 2 self.execute("M66 P18 L3 Q5") #wait for Pocket to raise self.execute("G53 G0 Z-1.840") #Drop the Z into position self.execute("G53 G1 F200 X11.900") #Move into pocket to release tool #self.execute("M66 P5 L3 Q5") #Wait for pocket 2 has tool self.execute("M64 P8") #Release Spindle self.execute("M66 P13 L3 Q5") #Wait for Spindle to release self.execute("M64 P5") #Raise Spindle self.execute("M66 P7 L3 Q5") #Wait for Spindle to raise self.execute("G53 G0 Z0") #Move to Z0 self.execute("M65 P8") #Release Sp B pulse relay, only needs pulse self.execute("M64 P9") #Lock Spindle A self.execute("G4 P1.0") #wait to release pulse on lock spindle self.execute("M65 P9") #release Lock Spindle A, only needs pulse self.execute("M65 P11") #Lower Pocket 2 self.execute("G53 G0 X15.375 Y-33.527 Z0") #Move to front of pocket 2 #INTERP_EXECUTE_FINISH #--------------------------------------------------------------------- def DropTool3(self): self.execute("G53 G0 X15.375 Y-41.545 Z0") #Move to front of pocket 3 self.execute("M64 P2") #Drop Spindle self.execute("M66 P9 L3 Q5") #Wait for Spindle to drop self.execute("M65 P2") #Release drop SP relay, only needs pulse self.execute("M64 P12") #raise Pocket 3 self.execute("M66 P19 L3 Q5") #wait for Pocket to raise self.execute("G53 G0 Z-1.790") #Drop the Z into position self.execute("G53 G1 F200 X11.825") #Move into pocket to release tool #self.execute("M66 P6 L3 Q5") #Wait for pocket 3 has tool self.execute("M64 P8") #Release Spindle self.execute("M66 P13 L3 Q5") #Wait for Spindle to release self.execute("M64 P5") #Raise Spindle self.execute("M66 P7 L3 Q5") #Wait for Spindle to raise self.execute("G53 G0 Z0") #Move to Z0 self.execute("M65 P8") #Release Sp B pulse relay, only needs pulse self.execute("M64 P9") #Lock Spindle A self.execute("G4 P1.0") #wait to release pulse on lock spindle self.execute("M65 P9") #release Lock Spindle A, only needs pulse self.execute("M65 P12") #Lower Pocket 3 self.execute("G53 G0 X15.375 Y-41.545 Z0") #Move to front of pocket 3 #INTERP_EXECUTE_FINISH #--------------------------------------------------------------------- def PickUpTool1(self): self.execute("G53 G0 Z0") #Move to Z0 self.execute("G53 G0 X11.825 Y-25.57 Z0") #Move to top of pocket 1 self.execute("G53 G0 Z-1.788") #Drop the Z into position self.execute("M64 P10") #raise Pocket 1 self.execute("M66 P17 L3 Q5") #wait for Pocket to raise self.execute("M64 P8") #Release Spindle #self.execute("M66 P13 L3 Q5") #Wait for Spindle to release self.execute("G4 P1") self.execute("M64 P2") #Drop Spindle self.execute("M66 P9 L3 Q5") #Wait for Spindle to drop self.execute("G4 P0.5") self.execute("M65 P8") #Release Rel Spindle. only needs a pulse self.execute("M64 P9") #Lock Spindle A self.execute("G4 P0.5") #wait to release pulse on lock spindle self.execute("M65 P9") #release Lock Spindle A, only needs pulse #self.execute("M66 P12 L3 Q5") #Wait for spindle Has Tool 1 self.execute("M65 P2") #Release drop SP relay, only needs pulse self.execute("G4 P0.5") self.execute("G53 G0 X15.375") #Move out to front of pocket 1 self.execute("G4 P1.0") self.execute("M64 P5") #Raise Spindle self.execute("M66 P7 L3 Q2") #Wait for Spindle to raise self.execute("G53 G0 Z0") #Move to Z0 self.execute("M65 P5") #RAise spindle release only pulse needed self.execute("M65 P10") #Lower Pocket 1 self.execute("G53 G0 Z0") #Move to Z0 #INTERP_EXECUTE_FINISH def PickUpTool2(self): self.execute("G53 G0 Z0") #Move to Z0 self.execute("G53 G0 X11.900 Y-33.537 Z0") #Move to top of pocket 2 self.execute("G53 G0 Z-1.840") #Drop the Z into position self.execute("M64 P11") #raise Pocket 2 self.execute("M66 P18 L3 Q5") #wait for Pocket to raise self.execute("M64 P8") #Release Spindle #self.execute("M66 P13 L3 Q5") #Wait for Spindle to release self.execute("G4 P1") self.execute("M64 P2") #Drop Spindle self.execute("M66 P9 L3 Q5") #Wait for Spindle to drop self.execute("G4 P0.5") self.execute("M65 P8") #Release Rel Spindle. only needs a pulse self.execute("M64 P9") #Lock Spindle A self.execute("G4 P0.5") #wait to release pulse on lock spindle self.execute("M65 P9") #release Lock Spindle A, only needs pulse #self.execute("M66 P12 L3 Q5") #Wait for spindle Has Tool 1 self.execute("M65 P2") #Release drop SP relay, only needs pulse self.execute("G4 P0.5") self.execute("G53 G0 X15.375") #Move out to front of pocket 2 self.execute("G4 P1.0") self.execute("M64 P5") #Raise Spindle self.execute("M66 P7 L3 Q2") #Wait for Spindle to raise self.execute("G53 G0 Z0") #Move to Z0 self.execute("M65 P5") #RAise spindle release only pulse needed self.execute("M65 P11") #Lower Pocket 2 self.execute("G53 G0 Z0") #Move to Z0 #INTERP_EXECUTE_FINISH def PickUpTool3(self): self.execute("G53 G0 Z0") #Move to Z0 self.execute("G53 G0 X11.825 Y-41.545 Z0") #Move to top of pocket 3 self.execute("G53 G0 Z-1.790") #Drop the Z into position self.execute("M64 P12") #raise Pocket 3 self.execute("M66 P19 L3 Q5") #wait for Pocket to raise self.execute("M64 P8") #Release Spindle #self.execute("M66 P13 L3 Q5") #Wait for Spindle to release self.execute("G4 P1") self.execute("M64 P2") #Drop Spindle self.execute("M66 P9 L3 Q5") #Wait for Spindle to drop self.execute("G4 P0.5") self.execute("M65 P8") #Release Rel Spindle. only needs a pulse self.execute("M64 P9") #Lock Spindle A self.execute("G4 P0.5") #wait to release pulse on lock spindle self.execute("M65 P9") #release Lock Spindle A, only needs pulse #self.execute("M66 P12 L3 Q5") #Wait for spindle Has Tool 3 self.execute("M65 P2") #Release drop SP relay, only needs pulse self.execute("G4 P0.5") self.execute("G53 G0 X15.375") #Move out to front of pocket 3 self.execute("G4 P1.0") self.execute("M64 P5") #Raise Spindle self.execute("M66 P7 L3 Q2") #Wait for Spindle to raise self.execute("G53 G0 Z0") #Move to Z0 self.execute("M65 P5") #RAise spindle release only pulse needed self.execute("M65 P12") #Lower Pocket 3 self.execute("G53 G0 Z0") #Move to Z0 #INTERP_EXECUTE_FINISH #--------------------------------------------------------------------- def raisespindlesABC(self): #Raising Spindle A, B, C self.execute("M64 P5") self.execute("M64 P6") self.execute("M64 P7") self.execute("G4 P1.0") self.execute("M65 P5") self.execute("M65 P6") self.execute("M65 P7") #------------------------------ # loop through all drills #------------------------------ for i in range(1, 34, 1): self.execute("M65 P%d" % (int(i) + 15)) #------------------------------ # loop through all side drills #------------------------------ for i in range(1, 6, 1): self.execute("M65 P%d" % (int(i) + 48)) def CloseCasket(self): #---------------------------------------------------------------- self.execute("M64 P1", lineno()) self.execute("G4 P0.5", lineno()) self.execute("M65 P1", lineno()) #---------------------------------------------------------- #---------------------------------------------------------- def OpenCasket(self): #---------------------------------------------------------------- self.execute("M64 P0", lineno()) self.execute("G4 P0.5", lineno()) self.execute("M65 P0", lineno()) self.execute("M66 P2 L3 Q5", lineno()) #---------------------------------------------------------- #------------------------------------------------------------------------------------------ #---------------------------------------------------------- def CheckDIN(self, sWhich, doPoll): index = self.x.getSignalInfos(sWhich) if doPoll: self.stat.poll() return(int(self.stat.din[index])) #---------------------------------------------------------- #---------------------------------------------------------- def CheckDOUT(self, sWhich, doPoll): index = self.x.getSignalInfos(sWhich) if doPoll: self.stat.poll() #print("signal:%s index= %d" %(sWhich, index)) return(int(self.stat.dout[index])) #---------------------------------------------------------- #---------------------------------------------------------- def SendDOUT(self, sWhich, val): index = self.x.getSignalInfos(sWhich) # only call M6x if not already at desired value if CheckDOUT(self, sWhich, True) != val: self.execute("M6%d P%d" % (4 if val == 1 else 5, index),lineno()) #---------------------------------------------------------- #---------------------------------------------------------- def WaitOnSignalToBecome(self, sWhich, val, sSec): # val = 0 (L2) val = 1 (L1) index = self.x.getSignalInfos(sWhich) self.execute("M66 P%d L%d Q%f" % (index, 4 if val == 0 else 3, sSec), lineno()) #---------------------------------------------------------- #---------------------------------------------------------- def WaitAFewSeconds(self, sSec): self.execute("G4 P%f" % sSec, lineno()) #------------------------------------------------------------------- # M5 command to stop the spindle, here to clean up Spindle class, # not in moves so we don't give moves to spindle class ... #------------------------------------------------------------------- def StopSpindleNow(self): self.execute("M5", lineno()) # Now lets stop the drill spindle if running self.execute("M65 P54") # Wait for signal spindleHasStopped to go high index = self.x.getSignalInfos("spindleHasStopped") delay = self.x.getDelay("spindlehasstopped") #self.execute("M66 P%d L3 Q%f"" % (index, delay), lineno()) self.execute("M66 P8 L3 Q15") print("Stop Spindle command sent") #------------------------------------------------------------------------------------------- #------------------------------------------------------------------------------------------- # #------------------------------------------------------------------------------------------- #------------------------------------------------------------------------------------------- #---------------------------------------------------------- #---------------------------------------------------------- def MoveZtoZero(self): self.execute("G53 G0 Z0.0",lineno()) print("Moved to Z = 0.0") #---------------------------------------------------------- def SetToolOffsets(self): self.execute("G43") #---------------------------------------------------------- #---------------------------------------------------------- #---------------------------------------------------------- def isSpindleReallyStopped(self): isSpindleStopped = CheckDIN(self, "spindleHasStopped", True) print("isSpindleStopped = %s" % isSpindleStopped) if isSpindleStopped == 1: return True else: return False #---------------------------------------------------------- # raising all spindles ... to make sure they are all raised #---------------------------------------------------------- def raiseALLspindles(self): #------------------------------ # loop through all spindles #------------------------------ #------------------------------------------------ # check first if all spindle are already up #------------------------------------------------ print("raiseALLspindles") isSpindleALLup = CheckDIN(self, "spindleALLup", True) if isSpindleALLup == 0: # nope some are down, so put them all up validSpindle = ("A", "B", "C") for i in validSpindle: RaiseSpindleNoCheck(self, i) WaitOnSignalToBecome(self, "spindleALLup", self.HIGH, self.x.getDelay("spindleALLup")) isSpindleALLup = CheckDIN(self, "spindleALLup", True) if isSpindleALLup == 0: print("ERROR: SpindleAllup not true") #we have an error #------------------------------ # loop through all drills #------------------------------ for i in range(1, 34, 1): RaiseDrill(self, i) #------------------------------ # loop through all side drills #------------------------------ for i in range(1, 11, 2): RaiseSideDrill(self, i) print("All spindles, drills, and side drills are raised") #---------------------------------------------------------- #---------------------------------------------------------- def DropSpindleB(self): index = self.x.getSignalInfos("spindleBdrop") self.execute("M64 P%d" % index) self.execute("G4 P0.5") self.execute("M65 P%d" % index) index = self.x.getSignalInfos("spindleBdown") self.execute("M66 P%d L4 Q1" % index) #self.execute("M64 P3") #self.execute("G4 P0.5") #self.execute("M65 P3") #self.execute("M66 P10 L4 Q1") print("DropSpindle(B) done") def DropSpindleC(self): self.execute("M64 P4") self.execute("G4 P0.5") self.execute("M65 P4") self.execute("M66 P11 L4 Q1") print("DropSpindle(C) done") #---------------------------------------------------------- #---------------------------------------------------------- def EnergiseSpindle(self, sWhich): #------------------------------ # Deenergise if not selected #------------------------------ if sWhich != "A": self.execute("M65 P13") if sWhich != "B": self.execute("M65 P14") if sWhich != "C": self.execute("M65 P15") #------------------------------ # Energise if selected #------------------------------ if sWhich == "A": self.execute("M64 P13") elif sWhich == "B": self.execute("M64 P14") elif sWhich == "C": self.execute("M64 P15") #------------------------------ # wait a second #------------------------------ self.execute("G4 P1.0") print("EnergiseSpindle(%s) done" % sWhich) #self.execute("M64 P13") #self.execute("M65 P14") #self.execute("M65 P15") #self.execute("G4 P1.0") #---------------------------------------------------------- #---------------------------------------------------------- def DeEnergiseALLSpindle(self): self.execute("M65 P13") self.execute("M65 P14") self.execute("M65 P15") self.execute("G4 P1.0") print("DeEnergiseALLSpindle done") #---------------------------------------------------------- #---------------------------------------------------------- #---------------------------------------------------------- #---------------------------------------------------------- def SpindleHasTool(self, sWhich): doesSpindleHasTool = CheckDIN(self, "spindle%shastool" % sWhich, True) if doesSpindleHasTool == 0: print("Spindle has no tool") return False else: print("Spindle has tool") return True #------------------------------------------------------------------------------------------- #---------------------------------------------------------- def DropDrill(self, sWhich): index = self.x.getSignalInfos("spindle%ddrop" % sWhich) self.execute("M64 P%d" % (index)) self.execute("M64 P54") print("DropDrill(%s) done" % sWhich) #---------------------------------------------------------- #---------------------------------------------------------- def RaiseDrill(self, sWhich): index = self.x.getSignalInfos("spindle%ddrop" % sWhich) self.execute("M65 P%d" % (index)) print("RaiseDrill(%s) done" % sWhich) #------------------------------------------------------------------------------------------- ##---------------------------------------------------------- def DropSideDrill(self, sWhich): index = self.x.getSignalInfos("spindle%dand%ddrop" % (int(sWhich), int(sWhich) + 1)) self.execute("M64 P%d" % (index)) print("DropSideDrill(%s) done" % sWhich) #---------------------------------------------------------- #---------------------------------------------------------- def RaiseSideDrill(self, sWhich): index = self.x.getSignalInfos("spindle%dand%ddrop" % (int(sWhich), int(sWhich) + 1)) self.execute("M65 P%d" % (index)) print("RaiseSideDrill(%s) done" % sWhich) #------------------------------------------------------------------------------------------- #---------------------------------------------------------- def DropTools(self, sWhich): drillList, sidedrillList = self.x.getMultiToolsLists(sWhich) # drop the drills found for d in drillList: DropDrill(self, d) # drop the side drills found for d in sidedrillList: DropSideDrill(self, d) print("DropTools(%s) done" % sWhich) #---------------------------------------------------------- #---------------------------------------------------------- def FindFreePocket(self): #---------------------------------------------------------------- # for each pocket defined, check if it has a tool # if pocket does not have a tool, return that pocket number #---------------------------------------------------------------- #--------------------------------- # Query stat digital input status #--------------------------------- pocket1hastool = CheckDIN(self, "pocket1hastool", True) pocket2hastool = CheckDIN(self, "pocket2hastool", True) pocket3hastool = CheckDIN(self, "pocket3hastool", True) print("%s - %s - %s" % (pocket1hastool, pocket2hastool, pocket3hastool)) if pocket1hastool == 1: if pocket2hastool == 1: if pocket3hastool == 1: return -1 # all pockets have something else: return 3 # pocket 3 has no tool else: return 2 # pocket 2 has no tool else: return 1 # pocket 1 has no tool #---------------------------------------------------------- #--------------------------------------------------------------------------------------- #--------------------------------------------------------------------------------------- def DoYield(): print("In DoYield()") #--------------------------------------------------------------------------------------- # ReturnOK() #--------------------------------------------------------------------------------------- def ReturnOK(): print("Calling DoYield()") DoYield() print("After DoYield(), before return INTERP_OK") return INTERP_OK #--------------------------------------------------------------------------------------- # ReturnERROR() #--------------------------------------------------------------------------------------- def ReturnERROR(): # if DoYield() is needed but I think not #DoYield() print("Before return INTERP_ERROR") return INTERP_ERROR #--------------------------------------------------------------------------------------- #--------------------------------------------------------------------------------------- # emc_status(actualtask) #--------------------------------------------------------------------------------------- #--------------------------------------------------------------------------------------- # return tuple (task mode, task state, exec state, interp state) as strings #self.stat.poll() #task_mode = ['invalid', 'MANUAL', 'AUTO', 'MDI'][self.s.task_mode] #task_state = ['invalid', 'ESTOP', 'ESTOP_RESET', 'OFF', 'ON'][self.s.task_state] #exec_state = ['invalid', 'ERROR', 'DONE', # 'WAITING_FOR_MOTION', # 'WAITING_FOR_MOTION_QUEUE', # 'WAITING_FOR_IO', # 'WAITING_FOR_PAUSE', # 'WAITING_FOR_MOTION_AND_IO', # 'WAITING_FOR_DELAY', # 'WAITING_FOR_SYSTEM_CMD' ][self.s.exec_state] #interp_state = ['invalid', 'IDLE', 'READING', 'PAUSED', 'WAITING'][self.s.interp_state] #--------------------------------------------------------------------------------------- def emc_status(actualtask): s = linuxcnc.stat() s.poll() task_mode = s.task_mode task_state = s.task_state exec_state = s.exec_state interp_state = s.interp_state #actualtask = self.task sReturn = "---------------------------------------------------------\n" sReturn += "task_mode values are :\n" sReturn += "MODE_MANUAL : %d \n" % (linuxcnc.MODE_MANUAL) sReturn += "MODE_AUTO : %d \n" % (linuxcnc.MODE_AUTO) sReturn += "MODE_MDI : %d \n" % (linuxcnc.MODE_MDI) sReturn += "task_mode = %d \n" % (task_mode) sReturn += "\n" sReturn += "task_state values are :\n" sReturn += "STATE_ESTOP : %d \n" % (linuxcnc.STATE_ESTOP) sReturn += "STATE_ESTOP_RESET : %d \n" % (linuxcnc.STATE_ESTOP_RESET) sReturn += "STATE_OFF : %d \n" % (linuxcnc.STATE_OFF) sReturn += "STATE_ON : %d \n" % (linuxcnc.STATE_ON) sReturn += "task_state = %d \n" % (task_state) sReturn += "\n" sReturn += "exec_state values are :\n" sReturn += "EXEC_ERROR : %d \n" % (linuxcnc.EXEC_ERROR) sReturn += "EXEC_DONE : %d \n" % (linuxcnc.EXEC_DONE) sReturn += "EXEC_WAITING_FOR_MOTION : %d \n" % (linuxcnc.EXEC_WAITING_FOR_MOTION) sReturn += "EXEC_WAITING_FOR_MOTION_QUEUE : %d \n" % (linuxcnc.EXEC_WAITING_FOR_MOTION_QUEUE) sReturn += "EXEC_WAITING_FOR_IO : %d \n" % (linuxcnc.EXEC_WAITING_FOR_IO) #sReturn += "EXEC_WAITING_FOR_PAUSE : %d \n" % (linuxcnc.EXEC_WAITING_FOR_PAUSE) This does not exist sReturn += "EXEC_WAITING_FOR_MOTION_AND_IO : %d \n" % (linuxcnc.EXEC_WAITING_FOR_MOTION_AND_IO) sReturn += "EXEC_WAITING_FOR_DELAY : %d \n" % (linuxcnc.EXEC_WAITING_FOR_DELAY) sReturn += "EXEC_WAITING_FOR_SYSTEM_CMD : %d \n" % (linuxcnc.EXEC_WAITING_FOR_SYSTEM_CMD) sReturn += "exec_state = %d \n" % (exec_state) sReturn += "\n" sReturn += "interp_state values are :\n" sReturn += "INTERP_IDLE : %d \n" % (linuxcnc.INTERP_IDLE) sReturn += "INTERP_READING : %d \n" % (linuxcnc.INTERP_READING) sReturn += "INTERP_PAUSED : %d \n" % (linuxcnc.INTERP_PAUSED) sReturn += "INTERP_WAITING : %d \n" % (linuxcnc.INTERP_WAITING) sReturn += "interp_state = %d \n" % (interp_state) sReturn += "\n" sReturn += "self.task = %d\n" % (actualtask) sReturn += "---------------------------------------------------------\n" return sReturn #(task_mode, task_state, exec_state, interp_state)