from stdglue import * import linuxcnc # REMAP=M6 modalgroup=10 python=m6remap # # On a m67 tool change, probe the tool for length # if the tool table length extry is zero. # Otherwise, use the tool table length for the offset. # # move to tool change position for toolchange # wait for acknowledge of tool change # If the tool table Z length for the current tool is greater than zero # move to tool setter probe position and probe tool on tool setter. # Use the length from the probe + value in #4001-#4008 as the offset. # If the tool table Z length for the current tool is equal to zero # use the value from the tool table + value in #4001-#4008 as the offset. # move back to tool change position # set offsets # based on Versaprobe remap # # required INI settings # (Abs coordinates/ machine based units) # #[TOOLSENSOR] #X = .0690 #Y = 6.631 #Z = -3.7 #SEARCH_VEL = 20 #PROBE_VEL = 5 #MAXPROBE = -5.95 def m6remap(self, **words): # only run this if we are really moving the machine # skip this if running task for the screen if not self.task: yield INTERP_OK IMPERIAL_BASED = not(bool(self.params['_metric_machine'])) try: #Current coordinate system (ccs) ccs = int(self.params[5220]) cJHKoffset = float(self.params[4001]) print("--- Current Coordinate System = %d ---" % ccs) print("--- Current 4001 Offset = %f ---" % cJHKoffset) # we need to be in machine based units # if we aren't - switch # remember so we can switch back later switchUnitsFlag = False if bool(self.params["_imperial"]) != IMPERIAL_BASED: print ("not right Units: {}".format(bool(self.params["_imperial"]))) if IMPERIAL_BASED: print ("switched Units to imperial") self.execute("G20") else: print ("switched Units to metric") self.execute("G21") switchUnitsFlag = True s = linuxcnc.stat() s.poll() original_position = s.actual_position print("X=%f" % original_position[0]) print("Y=%f" % original_position[1]) print("Z=%f" % original_position[2]) print ("Current offset = %f" % s.g5x_offset[2]) 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 #print("Current tool: %d" % int(self.current_tool)) #print("Selected tool: %d" % int(self.selected_tool)) #print("Current pocket: %d" % int(self.current_pocket)) #print("Selected pocket: %d" % int(self.selected_pocket)) # cancel tool offset self.execute("G49") # change tool where ever we are # user sets toolchange position prior to toolchange # we will return here after try: self.selected_pocket = int(self.params["selected_pocket"]) emccanon.CHANGE_TOOL(self.selected_pocket) self.current_pocket = self.selected_pocket self.selected_pocket = -1 self.selected_tool = -1 # cause a sync() self.set_tool_parameters() self.toolchange_flag = True except InterpreterException as e: self.set_errormsg("m6remap remap error: %s" % (e)) yield INTERP_ERROR yield INTERP_EXECUTE_FINISH #print("New Current tool: %d" % int(self.current_tool)) #s = linuxcnc.stat() s.poll() if s.tool_table[0].id == 0: # Tool NOT loaded self.execute("G90") self.set_errormsg("m6remap Tool not loaded error:") yield INTERP_ERROR print(s.tool_table[0].zoffset) if s.tool_table[0].zoffset > 0: #Set offset using probed valued stored in 4001-4008 based on CCS print("Do NOT measure the tool") coffset = self.params[4000 + ccs] cmd = "G10 L2 P%d Z%f" % (ccs,coffset) print (cmd) self.execute(cmd) if switchUnitsFlag: if IMPERIAL_BASED: self.execute("G21") print ("switched Units back to metric") else: self.execute("G20") print ("switched Units back to imperial") self.execute("G90") return None print("Measure the tool") try: # move to tool probe position (from INI) self.execute("G90") self.execute("G53 G0 X[#<_ini[TOOLSENSOR]X>] Y[#<_ini[TOOLSENSOR]Y>]") print("move to probe start") self.execute("G53 G0 Z[#<_ini[TOOLSENSOR]Z_PROBE_START>]") #JHK Change # set incremental mode self.execute("G91") #Set coordinate system for my style of remap self.execute("G59.3") # course probe self.execute("F [#<_ini[TOOLSENSOR]SEARCH_VEL>]") self.execute("G38.2 Z [#<_ini[TOOLSENSOR]MAXPROBE>]") # Wait for results yield INTERP_EXECUTE_FINISH # FIXME if there is an error it never comes back # which leaves linuxcnc in g91 state if self.params[5070] == 0 or self.return_value > 0.0: self.execute("G90") self.set_errormsg("m6remap remap error:") yield INTERP_ERROR # rapid up off trigger point to do it again if bool(self.params["_imperial"]): f = 0.25 else: f = 4.0 self.execute("G43.1 Z0") self.execute("G0 Z{}".format(f)) self.execute("G59.3") self.execute("F [#<_ini[TOOLSENSOR]PROBE_VEL>]") self.execute("G38.2 Z-0.5") yield INTERP_EXECUTE_FINISH print("5063= %f" % float(self.params[5063])) # FIXME if there is an error it never comes back # which leaves linuxcnc in g91 state if self.params[5070] == 0 or self.return_value > 0.0: self.execute("G90") self.set_errormsg("m6remap remap error:") yield INTERP_ERROR # set back absolute state self.execute("G90") # return to recorded tool change position rtc_cmd = "G53 G0 Z%f" % original_position[2] print(rtc_cmd) self.execute(rtc_cmd) yield INTERP_EXECUTE_FINISH rtc_cmd = "G53 G0 X%f Y%f" % (original_position[0],original_position[1]) print(rtc_cmd) self.execute(rtc_cmd) print("New calculation") workheight = self.params[4000 + ccs] print("workheight [4000 + ccs]= %f" % float(workheight)) print("self.params[5063] = {}".format(self.params[5063])) proberesult = self.params[5063] print("proberesult= %f" % float(proberesult)) #JHK new_Z_offset = workheight + proberesult print("new_Z_offset = %f" % float(new_Z_offset)) #JHK #Set new offset for coordinate system. cmd = "G10 L2 P%d Z%f" % (ccs,new_Z_offset) print (cmd) self.execute(cmd) # apply tool offset self.execute("G43") #Restore coordinate system. if ccs == 1: self.execute("G54") if ccs == 2: self.execute("G55") if ccs == 3: self.execute("G56") if ccs == 4: self.execute("G57") if ccs == 5: self.execute("G58") if ccs == 6: self.execute("G59") if ccs == 7: self.execute("G59.1") if ccs == 8: self.execute("G59.2") #if ccs == 9 # This is used by the toolsetter # self.execute("G59.3") print("--- Restored Coordinate System = %d ---" % ccs) # if we switched units for tool change - switch back if switchUnitsFlag: if IMPERIAL_BASED: self.execute("G21") print ("switched Units back to metric") else: self.execute("G20") print ("switched Units back to imperial") except InterpreterException as e: msg = "%d: '%s' - %s" % (e.line_number,e.line_text, e.error_message) print (msg) yield INTERP_ERROR except: self.set_errormsg("m6remap remap error." ) yield INTERP_ERROR print("JHK End of remap")