/** Copyright (C) 2012-2016 by Autodesk, Inc. All rights reserved. FANUC post processor configuration. $Revision: 41123 591b173b780196002cb4195f31d1e98157c16f91 $ $Date: 2016-07-25 16:20:06 $ FORKID {04622D27-72F0-45d4-85FB-DB346FD1AE22} */ description = "Generic FANUC"; vendor = "Fanuc"; vendorUrl = "http://www.fanuc.com"; legal = "Copyright (C) 2012-2016 by Autodesk, Inc."; certificationLevel = 2; minimumRevision = 24000; longDescription = "Generic post for Fanuc."; extension = "nc"; programNameIsInteger = true; setCodePage("ascii"); capabilities = CAPABILITY_MILLING; tolerance = spatial(0.002, MM); minimumChordLength = spatial(0.01, MM); minimumCircularRadius = spatial(0.01, MM); maximumCircularRadius = spatial(1000, MM); minimumCircularSweep = toRad(0.01); maximumCircularSweep = toRad(180); allowHelicalMoves = true; allowedCircularPlanes = undefined; // allow any circular motion // user-defined properties properties = { writeMachine: true, // write machine writeTools: true, // writes the tools preloadTool: true, // preloads next tool on tool change if any showSequenceNumbers: true, // show sequence numbers sequenceNumberStart: 10, // first sequence number sequenceNumberIncrement: 5, // increment for sequence numbers optionalStop: true, // optional stop o8: false, // specifies 8-digit program number separateWordsWithSpace: true, // specifies that the words should be separated with a white space allow3DArcs: false, // specifies that 3D circular arcs are allowed useRadius: false, // specifies that arcs should be output using the radius (R word) instead of the I, J, and K words forceIJK: false, // force output of IJK for G2/G3 when not using R word useParametricFeed: false, // specifies that feed should be output using Q values showNotes: false, // specifies that operation notes should be output useSmoothing: false, // specifies if smoothing should be used or not usePitchForTapping: false, // enable to use pitch instead of feed for the F-word for canned tapping cycles - note that your CNC control must be setup for pitch mode! useG95: false // use IPR/MPR instead of IPM/MPM }; var permittedCommentChars = " ABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789.,=_-"; var gFormat = createFormat({prefix:"G", width:2, zeropad:true, decimals:1}); var mFormat = createFormat({prefix:"M", width:2, zeropad:true, decimals:1}); var hFormat = createFormat({prefix:"H", width:2, zeropad:true, decimals:1}); var dFormat = createFormat({prefix:"D", width:2, zeropad:true, decimals:1}); var xyzFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true}); var ijkFormat = createFormat({decimals:6, forceDecimal:true}); // unitless var rFormat = xyzFormat; // radius var abcFormat = createFormat({decimals:3, forceDecimal:true, scale:DEG}); var feedFormat = createFormat({decimals:(unit == MM ? 0 : 1), forceDecimal:true}); var pitchFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true}); var toolFormat = createFormat({decimals:0}); var rpmFormat = createFormat({decimals:0}); var secFormat = createFormat({decimals:3, forceDecimal:true}); // seconds - range 0.001-99999.999 var milliFormat = createFormat({decimals:0}); // milliseconds // range 1-9999 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 pitchOutput = createVariable({prefix:"F", force:true}, pitchFormat); var sOutput = createVariable({prefix:"S", force:true}, rpmFormat); var dOutput = createVariable({}, dFormat); // circular output var iOutput = createReferenceVariable({prefix:"I"}, xyzFormat); var jOutput = createReferenceVariable({prefix:"J"}, xyzFormat); var kOutput = createReferenceVariable({prefix:"K"}, xyzFormat); var gMotionModal = createModal({}, gFormat); // modal group 1 // G0-G3, ... var gPlaneModal = createModal({onchange:function () {gMotionModal.reset();}}, gFormat); // modal group 2 // G17-19 var gAbsIncModal = createModal({}, gFormat); // modal group 3 // G90-91 var gFeedModeModal = createModal({}, gFormat); // modal group 5 // G94-95 var gUnitModal = createModal({}, gFormat); // modal group 6 // G20-21 var gCycleModal = createModal({}, gFormat); // modal group 9 // G81, ... var gRetractModal = createModal({}, gFormat); // modal group 10 // G98-99 // fixed settings var firstFeedParameter = 500; var useMultiAxisFeatures = true; var forceMultiAxisIndexing = false; // force multi-axis indexing for 3D programs var WARNING_WORK_OFFSET = 0; // collected state var sequenceNumber; var currentWorkOffset; var optionalSection = false; var forceSpindleSpeed = false; var activeMovements; // do not use by default var currentFeedId; /** Writes the specified block. */ function writeBlock() { if (properties.showSequenceNumbers) { if (optionalSection) { var text = formatWords(arguments); if (text) { writeWords("/", "N" + sequenceNumber, text); } } else { writeWords2("N" + sequenceNumber, arguments); } sequenceNumber += properties.sequenceNumberIncrement; } else { if (optionalSection) { writeWords2("/", arguments); } else { writeWords(arguments); } } } /** Writes the specified optional block. */ function writeOptionalBlock() { if (properties.showSequenceNumbers) { var words = formatWords(arguments); if (words) { writeWords("/", "N" + sequenceNumber, words); sequenceNumber += properties.sequenceNumberIncrement; } } else { writeWords2("/", arguments); } } function formatComment(text) { return "(" + filterText(String(text).toUpperCase(), permittedCommentChars).replace(/[\(\)]/g, "") + ")"; } /** Output a comment. */ function writeComment(text) { writeln(formatComment(text)); } function onOpen() { if (false) { // note: setup your machine here var aAxis = createAxis({coordinate:0, table:false, axis:[1, 0, 0], range:[-360,360], preference:1}); var cAxis = createAxis({coordinate:2, table:false, axis:[0, 0, 1], range:[-360,360], preference:1}); machineConfiguration = new MachineConfiguration(aAxis, cAxis); setMachineConfiguration(machineConfiguration); optimizeMachineAngles2(0); // TCP mode } if (!machineConfiguration.isMachineCoordinate(0)) { aOutput.disable(); } if (!machineConfiguration.isMachineCoordinate(1)) { bOutput.disable(); } if (!machineConfiguration.isMachineCoordinate(2)) { cOutput.disable(); } if (!properties.separateWordsWithSpace) { setWordSeparator(""); } if (properties.forceIJK) { iOutput = createReferenceVariable({prefix:"I", force:true}, xyzFormat); jOutput = createReferenceVariable({prefix:"J", force:true}, xyzFormat); kOutput = createReferenceVariable({prefix:"K", force:true}, xyzFormat); } sequenceNumber = properties.sequenceNumberStart; writeln("%"); if (programName) { var programId; try { programId = getAsInt(programName); } catch(e) { error(localize("Program name must be a number.")); return; } if (properties.o8) { if (!((programId >= 1) && (programId <= 99999999))) { error(localize("Program number is out of range.")); return; } } else { if (!((programId >= 1) && (programId <= 9999))) { error(localize("Program number is out of range.")); return; } } if ((programId >= 8000) && (programId <= 9999)) { warning(localize("Program number is reserved by tool builder.")); } var oFormat = createFormat({width:(properties.o8 ? 8 : 4), zeropad:true, decimals:0}); if (programComment) { writeln("O" + oFormat.format(programId) + " (" + filterText(String(programComment).toUpperCase(), permittedCommentChars) + ")"); } else { writeln("O" + oFormat.format(programId)); } } else { error(localize("Program name has not been specified.")); return; } // dump machine configuration var vendor = machineConfiguration.getVendor(); var model = machineConfiguration.getModel(); var description = machineConfiguration.getDescription(); if (properties.writeMachine && (vendor || model || description)) { writeComment(localize("Machine")); if (vendor) { writeComment(" " + localize("vendor") + ": " + vendor); } if (model) { writeComment(" " + localize("model") + ": " + model); } if (description) { writeComment(" " + localize("description") + ": " + description); } } // dump tool information if (properties.writeTools) { var zRanges = {}; if (is3D()) { var numberOfSections = getNumberOfSections(); for (var i = 0; i < numberOfSections; ++i) { var section = getSection(i); var zRange = section.getGlobalZRange(); var tool = section.getTool(); if (zRanges[tool.number]) { zRanges[tool.number].expandToRange(zRange); } else { zRanges[tool.number] = zRange; } } } var tools = getToolTable(); if (tools.getNumberOfTools() > 0) { for (var i = 0; i < tools.getNumberOfTools(); ++i) { var tool = tools.getTool(i); var comment = "T" + toolFormat.format(tool.number) + " " + "D=" + xyzFormat.format(tool.diameter) + " " + localize("CR") + "=" + xyzFormat.format(tool.cornerRadius); if ((tool.taperAngle > 0) && (tool.taperAngle < Math.PI)) { comment += " " + localize("TAPER") + "=" + taperFormat.format(tool.taperAngle) + localize("deg"); } if (zRanges[tool.number]) { comment += " - " + localize("ZMIN") + "=" + xyzFormat.format(zRanges[tool.number].getMinimum()); } comment += " - " + getToolTypeName(tool.type); writeComment(comment); } } } if (false) { // check for duplicate tool number for (var i = 0; i < getNumberOfSections(); ++i) { var sectioni = getSection(i); var tooli = sectioni.getTool(); for (var j = i + 1; j < getNumberOfSections(); ++j) { var sectionj = getSection(j); var toolj = sectionj.getTool(); if (tooli.number == toolj.number) { if (xyzFormat.areDifferent(tooli.diameter, toolj.diameter) || xyzFormat.areDifferent(tooli.cornerRadius, toolj.cornerRadius) || abcFormat.areDifferent(tooli.taperAngle, toolj.taperAngle) || (tooli.numberOfFlutes != toolj.numberOfFlutes)) { error( subst( localize("Using the same tool number for different cutter geometry for operation '%1' and '%2'."), sectioni.hasParameter("operation-comment") ? sectioni.getParameter("operation-comment") : ("#" + (i + 1)), sectionj.hasParameter("operation-comment") ? sectionj.getParameter("operation-comment") : ("#" + (j + 1)) ) ); return; } } } } } // absolute coordinates and feed per min writeBlock(gAbsIncModal.format(90), gFeedModeModal.format(properties.useG95 ? 95 : 94), gPlaneModal.format(17), gFormat.format(49), gFormat.format(40), gFormat.format(80)); switch (unit) { case IN: writeBlock(gUnitModal.format(20)); break; case MM: writeBlock(gUnitModal.format(21)); break; } if (properties.useG95 && properties.useParametricFeed) { error(localize("Parametric feed is not supported when using G95.")); return; } if (properties.useG95) { feedFormat = createFormat({decimals:(unit == MM ? 4 : 5), forceDecimal:true}); feedOutput = createVariable({prefix:"F"}, feedFormat); } } function onComment(message) { var comments = String(message).split(";"); for (comment in comments) { writeComment(comments[comment]); } } /** Force output of X, Y, and Z. */ function forceXYZ() { xOutput.reset(); yOutput.reset(); zOutput.reset(); } /** Force output of A, B, and C. */ function forceABC() { aOutput.reset(); bOutput.reset(); cOutput.reset(); } function forceFeed() { currentFeedId = undefined; feedOutput.reset(); } /** Force output of X, Y, Z, A, B, C, and F on next output. */ function forceAny() { forceXYZ(); forceABC(); forceFeed(); } var lengthCompensationActive = false; var retracted = false; // specifies that the tool has been retracted to the safe plane /** Disables length compensation if currently active or if forced. */ function disableLengthCompensation(force) { if (lengthCompensationActive || force) { validate(retracted, "Cannot cancel length compensation if the machine is not fully retracted."); writeBlock(gFormat.format(49)); lengthCompensationActive = false; } } var currentSmoothing = false; function setSmoothing(mode) { if (mode == currentSmoothing) { return false; } // 1) Make sure G49 is called before the execution of G05.1 Q1 Rx // 2) G05.1 Q1 Rx must be engaged BEFORE G43-Tool Length Comp // 3) AICC and AIAPC need to be turned on and off for each tool // 4) AICC and AIAPC does not apply to canned drilling cycles validate(!lengthCompensationActive, "Length compensation is active while trying to update smoothing."); currentSmoothing = mode; writeBlock(gFormat.format(5.1), mode ? "Q1" : "Q0"); return true; } function FeedContext(id, description, feed) { this.id = id; this.description = description; this.feed = feed; } function getFeed(f) { if (properties.useG95) { return feedOutput.format(f/spindleSpeed); // use feed value } if (activeMovements) { var feedContext = activeMovements[movement]; if (feedContext != undefined) { if (!feedFormat.areDifferent(feedContext.feed, f)) { if (feedContext.id == currentFeedId) { return ""; // nothing has changed } forceFeed(); currentFeedId = feedContext.id; return "F#" + (firstFeedParameter + feedContext.id); } } currentFeedId = undefined; // force Q feed next time } return feedOutput.format(f); // use feed value } function initializeActiveFeeds() { activeMovements = new Array(); var movements = currentSection.getMovements(); var id = 0; var activeFeeds = new Array(); if (hasParameter("operation:tool_feedCutting")) { if (movements & ((1 << MOVEMENT_CUTTING) | (1 << MOVEMENT_LINK_TRANSITION) | (1 << MOVEMENT_EXTENDED))) { var feedContext = new FeedContext(id, localize("Cutting"), getParameter("operation:tool_feedCutting")); activeFeeds.push(feedContext); activeMovements[MOVEMENT_CUTTING] = feedContext; activeMovements[MOVEMENT_LINK_TRANSITION] = feedContext; activeMovements[MOVEMENT_EXTENDED] = feedContext; } ++id; if (movements & (1 << MOVEMENT_PREDRILL)) { feedContext = new FeedContext(id, localize("Predrilling"), getParameter("operation:tool_feedCutting")); activeMovements[MOVEMENT_PREDRILL] = feedContext; activeFeeds.push(feedContext); } ++id; } if (hasParameter("operation:finishFeedrate")) { if (movements & (1 << MOVEMENT_FINISH_CUTTING)) { var feedContext = new FeedContext(id, localize("Finish"), getParameter("operation:finishFeedrate")); activeFeeds.push(feedContext); activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext; } ++id; } else if (hasParameter("operation:tool_feedCutting")) { if (movements & (1 << MOVEMENT_FINISH_CUTTING)) { var feedContext = new FeedContext(id, localize("Finish"), getParameter("operation:tool_feedCutting")); activeFeeds.push(feedContext); activeMovements[MOVEMENT_FINISH_CUTTING] = feedContext; } ++id; } if (hasParameter("operation:tool_feedEntry")) { if (movements & (1 << MOVEMENT_LEAD_IN)) { var feedContext = new FeedContext(id, localize("Entry"), getParameter("operation:tool_feedEntry")); activeFeeds.push(feedContext); activeMovements[MOVEMENT_LEAD_IN] = feedContext; } ++id; } if (hasParameter("operation:tool_feedExit")) { if (movements & (1 << MOVEMENT_LEAD_OUT)) { var feedContext = new FeedContext(id, localize("Exit"), getParameter("operation:tool_feedExit")); activeFeeds.push(feedContext); activeMovements[MOVEMENT_LEAD_OUT] = feedContext; } ++id; } if (hasParameter("operation:noEngagementFeedrate")) { if (movements & (1 << MOVEMENT_LINK_DIRECT)) { var feedContext = new FeedContext(id, localize("Direct"), getParameter("operation:noEngagementFeedrate")); activeFeeds.push(feedContext); activeMovements[MOVEMENT_LINK_DIRECT] = feedContext; } ++id; } else if (hasParameter("operation:tool_feedCutting") && hasParameter("operation:tool_feedEntry") && hasParameter("operation:tool_feedExit")) { if (movements & (1 << MOVEMENT_LINK_DIRECT)) { var feedContext = new FeedContext(id, localize("Direct"), Math.max(getParameter("operation:tool_feedCutting"), getParameter("operation:tool_feedEntry"), getParameter("operation:tool_feedExit"))); activeFeeds.push(feedContext); activeMovements[MOVEMENT_LINK_DIRECT] = feedContext; } ++id; } if (hasParameter("operation:reducedFeedrate")) { if (movements & (1 << MOVEMENT_REDUCED)) { var feedContext = new FeedContext(id, localize("Reduced"), getParameter("operation:reducedFeedrate")); activeFeeds.push(feedContext); activeMovements[MOVEMENT_REDUCED] = feedContext; } ++id; } if (hasParameter("operation:tool_feedRamp")) { if (movements & ((1 << MOVEMENT_RAMP) | (1 << MOVEMENT_RAMP_HELIX) | (1 << MOVEMENT_RAMP_PROFILE) | (1 << MOVEMENT_RAMP_ZIG_ZAG))) { var feedContext = new FeedContext(id, localize("Ramping"), getParameter("operation:tool_feedRamp")); activeFeeds.push(feedContext); activeMovements[MOVEMENT_RAMP] = feedContext; activeMovements[MOVEMENT_RAMP_HELIX] = feedContext; activeMovements[MOVEMENT_RAMP_PROFILE] = feedContext; activeMovements[MOVEMENT_RAMP_ZIG_ZAG] = feedContext; } ++id; } if (hasParameter("operation:tool_feedPlunge")) { if (movements & (1 << MOVEMENT_PLUNGE)) { var feedContext = new FeedContext(id, localize("Plunge"), getParameter("operation:tool_feedPlunge")); activeFeeds.push(feedContext); activeMovements[MOVEMENT_PLUNGE] = feedContext; } ++id; } if (true) { // high feed if (movements & (1 << MOVEMENT_HIGH_FEED)) { var feedContext = new FeedContext(id, localize("High Feed"), this.highFeedrate); activeFeeds.push(feedContext); activeMovements[MOVEMENT_HIGH_FEED] = feedContext; } ++id; } for (var i = 0; i < activeFeeds.length; ++i) { var feedContext = activeFeeds[i]; writeBlock("#" + (firstFeedParameter + feedContext.id) + "=" + feedFormat.format(feedContext.feed), formatComment(feedContext.description)); } } var currentWorkPlaneABC = undefined; function forceWorkPlane() { currentWorkPlaneABC = undefined; } function setWorkPlane(abc) { if (!forceMultiAxisIndexing && is3D() && !machineConfiguration.isMultiAxisConfiguration()) { return; // ignore } if (!((currentWorkPlaneABC == undefined) || abcFormat.areDifferent(abc.x, currentWorkPlaneABC.x) || abcFormat.areDifferent(abc.y, currentWorkPlaneABC.y) || abcFormat.areDifferent(abc.z, currentWorkPlaneABC.z))) { return; // no change } onCommand(COMMAND_UNLOCK_MULTI_AXIS); if (useMultiAxisFeatures) { if (abc.isNonZero()) { writeBlock(gFormat.format(68.2), "X" + xyzFormat.format(0), "Y" + xyzFormat.format(0), "Z" + xyzFormat.format(0), "I" + abcFormat.format(abc.x), "J" + abcFormat.format(abc.y), "K" + abcFormat.format(abc.z)); // set frame writeBlock(gFormat.format(53.1)); // turn machine } else { writeBlock(gFormat.format(69)); // cancel frame } } else { gMotionModal.reset(); writeBlock( gMotionModal.format(0), conditional(machineConfiguration.isMachineCoordinate(0), "A" + abcFormat.format(abc.x)), conditional(machineConfiguration.isMachineCoordinate(1), "B" + abcFormat.format(abc.y)), conditional(machineConfiguration.isMachineCoordinate(2), "C" + abcFormat.format(abc.z)) ); } onCommand(COMMAND_LOCK_MULTI_AXIS); currentWorkPlaneABC = abc; } var closestABC = false; // choose closest machine angles var currentMachineABC; function getWorkPlaneMachineABC(workPlane) { var W = workPlane; // map to global frame var abc = machineConfiguration.getABC(W); if (closestABC) { if (currentMachineABC) { abc = machineConfiguration.remapToABC(abc, currentMachineABC); } else { abc = machineConfiguration.getPreferredABC(abc); } } else { abc = machineConfiguration.getPreferredABC(abc); } try { abc = machineConfiguration.remapABC(abc); currentMachineABC = abc; } catch (e) { error( localize("Machine angles not supported") + ":" + conditional(machineConfiguration.isMachineCoordinate(0), " A" + abcFormat.format(abc.x)) + conditional(machineConfiguration.isMachineCoordinate(1), " B" + abcFormat.format(abc.y)) + conditional(machineConfiguration.isMachineCoordinate(2), " C" + abcFormat.format(abc.z)) ); } var direction = machineConfiguration.getDirection(abc); if (!isSameDirection(direction, W.forward)) { error(localize("Orientation not supported.")); } if (!machineConfiguration.isABCSupported(abc)) { error( localize("Work plane is not supported") + ":" + conditional(machineConfiguration.isMachineCoordinate(0), " A" + abcFormat.format(abc.x)) + conditional(machineConfiguration.isMachineCoordinate(1), " B" + abcFormat.format(abc.y)) + conditional(machineConfiguration.isMachineCoordinate(2), " C" + abcFormat.format(abc.z)) ); } var tcp = false; if (tcp) { setRotation(W); // TCP mode } else { var O = machineConfiguration.getOrientation(abc); var R = machineConfiguration.getRemainingOrientation(abc, W); setRotation(R); } return abc; } function onSection() { var forceToolAndRetract = optionalSection && !currentSection.isOptional(); optionalSection = currentSection.isOptional(); var insertToolCall = forceToolAndRetract || isFirstSection() || currentSection.getForceToolChange && currentSection.getForceToolChange() || (tool.number != getPreviousSection().getTool().number); var newWorkOffset = isFirstSection() || (getPreviousSection().workOffset != currentSection.workOffset); // work offset changes var newWorkPlane = isFirstSection() || !isSameDirection(getPreviousSection().getGlobalFinalToolAxis(), currentSection.getGlobalInitialToolAxis()); var forceSmoothing = properties.useSmoothing && (hasParameter("operation-strategy") && (getParameter("operation-strategy") == "drill") || !isFirstSection() && getPreviousSection().hasParameter("operation-strategy") && (getPreviousSection().getParameter("operation-strategy") == "drill")); // force smoothing in case !insertToolCall (2d chamfer) if (insertToolCall || newWorkOffset || newWorkPlane || forceSmoothing) { // stop spindle before retract during tool change if (insertToolCall && !isFirstSection()) { onCommand(COMMAND_STOP_SPINDLE); } // retract to safe plane retracted = true; writeBlock(gFormat.format(28), gAbsIncModal.format(91), "Z" + xyzFormat.format(0)); // retract writeBlock(gAbsIncModal.format(90)); forceXYZ(); if ((insertToolCall && !isFirstSection()) || forceSmoothing) { disableLengthCompensation(); setSmoothing(false); } } writeln(""); if (hasParameter("operation-comment")) { var comment = getParameter("operation-comment"); if (comment) { writeComment(comment); } } if (properties.showNotes && hasParameter("notes")) { var notes = getParameter("notes"); if (notes) { var lines = String(notes).split("\n"); var r1 = new RegExp("^[\\s]+", "g"); var r2 = new RegExp("[\\s]+$", "g"); for (line in lines) { var comment = lines[line].replace(r1, "").replace(r2, ""); if (comment) { writeComment(comment); } } } } if (insertToolCall) { forceWorkPlane(); retracted = true; onCommand(COMMAND_COOLANT_OFF); if (!isFirstSection() && properties.optionalStop) { onCommand(COMMAND_OPTIONAL_STOP); } if (tool.number > 10) { warning(localize("Tool number exceeds maximum value.")); } disableLengthCompensation(); writeBlock("T" + toolFormat.format(tool.number), mFormat.format(6)); if (tool.comment) { writeComment(tool.comment); } var showToolZMin = false; if (showToolZMin) { if (is3D()) { var numberOfSections = getNumberOfSections(); var zRange = currentSection.getGlobalZRange(); var number = tool.number; for (var i = currentSection.getId() + 1; i < numberOfSections; ++i) { var section = getSection(i); if (section.getTool().number != number) { break; } zRange.expandToRange(section.getGlobalZRange()); } writeComment(localize("ZMIN") + "=" + zRange.getMinimum()); } } if (properties.preloadTool) { var nextTool = getNextTool(tool.number); if (nextTool) { writeBlock("T" + toolFormat.format(nextTool.number)); } else { // preload first tool var section = getSection(0); var firstToolNumber = section.getTool().number; if (tool.number != firstToolNumber) { writeBlock("T" + toolFormat.format(firstToolNumber)); } } } } if (insertToolCall || forceSpindleSpeed || isFirstSection() || (rpmFormat.areDifferent(tool.spindleRPM, sOutput.getCurrent())) || (tool.clockwise != getPreviousSection().getTool().clockwise)) { forceSpindleSpeed = false; if (tool.spindleRPM < 1) { error(localize("Spindle speed out of range.")); return; } if (tool.spindleRPM > 99999) { warning(localize("Spindle speed exceeds maximum value.")); } writeBlock( sOutput.format(tool.spindleRPM), mFormat.format(tool.clockwise ? 3 : 4) ); onCommand(COMMAND_START_CHIP_TRANSPORT); if (forceMultiAxisIndexing || !is3D() || machineConfiguration.isMultiAxisConfiguration()) { // writeBlock(mFormat.format(xxx)); // shortest path traverse } } // wcs if (insertToolCall) { // force work offset when changing tool currentWorkOffset = undefined; } var workOffset = currentSection.workOffset; if (workOffset == 0) { warningOnce(localize("Work offset has not been specified. Using G54 as WCS."), WARNING_WORK_OFFSET); workOffset = 1; } if (workOffset > 0) { if (workOffset > 6) { var p = workOffset - 6; // 1->... if (p > 300) { error(localize("Work offset out of range.")); return; } else { if (workOffset != currentWorkOffset) { writeBlock(gFormat.format(54.1), "P" + p); // G54.1P currentWorkOffset = workOffset; } } } else { if (workOffset != currentWorkOffset) { writeBlock(gFormat.format(53 + workOffset)); // G54->G59 currentWorkOffset = workOffset; } } } forceXYZ(); if (forceMultiAxisIndexing || !is3D() || machineConfiguration.isMultiAxisConfiguration()) { // use 5-axis indexing for multi-axis mode // set working plane after datum shift if (currentSection.isMultiAxis()) { forceWorkPlane(); cancelTransformation(); } else { var abc = new Vector(0, 0, 0); if (useMultiAxisFeatures) { var eulerXYZ = currentSection.workPlane.getTransposed().eulerZYX_R; abc = new Vector(-eulerXYZ.x, -eulerXYZ.y, -eulerXYZ.z); cancelTransformation(); } else { abc = getWorkPlaneMachineABC(currentSection.workPlane); } setWorkPlane(abc); } } else { // pure 3D var remaining = currentSection.workPlane; if (!isSameDirection(remaining.forward, new Vector(0, 0, 1))) { error(localize("Tool orientation is not supported.")); return; } setRotation(remaining); } // set coolant after we have positioned at Z setCoolant(tool.coolant); if (properties.useSmoothing) { if (hasParameter("operation-strategy") && (getParameter("operation-strategy") != "drill")) { if (setSmoothing(true)) { // we force G43 using lengthCompensationActive } } else { if (setSmoothing(false)) { // we force G43 using lengthCompensationActive } } } forceAny(); gMotionModal.reset(); var initialPosition = getFramePosition(currentSection.getInitialPosition()); if (!retracted) { if (getCurrentPosition().z < initialPosition.z) { writeBlock(gMotionModal.format(0), zOutput.format(initialPosition.z)); } } if (insertToolCall || !lengthCompensationActive || retracted || (!isFirstSection() && getPreviousSection().isMultiAxis())) { var lengthOffset = tool.lengthOffset; if (lengthOffset > 99) { error(localize("Length offset out of range.")); return; } gMotionModal.reset(); writeBlock(gPlaneModal.format(17)); if (!machineConfiguration.isHeadConfiguration()) { writeBlock( gAbsIncModal.format(90), gMotionModal.format(0), xOutput.format(initialPosition.x), yOutput.format(initialPosition.y) ); writeBlock(gMotionModal.format(0), gFormat.format(currentSection.isMultiAxis() ? 43.5 : 43), zOutput.format(initialPosition.z), hFormat.format(lengthOffset)); lengthCompensationActive = true; } else { writeBlock( gAbsIncModal.format(90), gMotionModal.format(0), gFormat.format(currentSection.isMultiAxis() ? (machineConfiguration.isMultiAxisConfiguration() ? 43.4 : 43.5) : 43), xOutput.format(initialPosition.x), yOutput.format(initialPosition.y), zOutput.format(initialPosition.z), hFormat.format(lengthOffset) ); lengthCompensationActive = true; } gMotionModal.reset(); } else { writeBlock( gAbsIncModal.format(90), gMotionModal.format(0), xOutput.format(initialPosition.x), yOutput.format(initialPosition.y) ); } validate(lengthCompensationActive, "Length compensation is not active."); if (properties.useParametricFeed && hasParameter("operation-strategy") && (getParameter("operation-strategy") != "drill")) { if (!insertToolCall && activeMovements && (getCurrentSectionId() > 0) && (getPreviousSection().getPatternId() == currentSection.getPatternId())) { // use the current feeds } else { initializeActiveFeeds(); } } else { activeMovements = undefined; } retracted = false; } function onDwell(seconds) { if (seconds > 99999.999) { warning(localize("Dwelling time is out of range.")); } milliseconds = clamp(1, seconds * 1000, 99999999); writeBlock(gFeedModeModal.format(94), gFormat.format(4), "P" + milliFormat.format(milliseconds)); writeBlock(gFeedModeModal.format(properties.useG95 ? 95 : 94)); // back to G95 } function onSpindleSpeed(spindleSpeed) { writeBlock(sOutput.format(spindleSpeed)); } function onCycle() { writeBlock(gPlaneModal.format(17)); } function getCommonCycle(x, y, z, r) { forceXYZ(); // force xyz on first drill hole of any cycle return [xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + xyzFormat.format(r)]; } function onCyclePoint(x, y, z) { if (isFirstCyclePoint()) { repositionToCycleClearance(cycle, x, y, z); // return to initial Z which is clearance plane and set absolute mode var F = cycle.feedrate; if (properties.useG95) { F /= spindleSpeed; } var P = (cycle.dwell == 0) ? 0 : clamp(1, cycle.dwell * 1000, 99999999); // in milliseconds switch (cycleType) { case "drilling": writeBlock( gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(81), getCommonCycle(x, y, z, cycle.retract), feedOutput.format(F) ); break; case "counter-boring": if (P > 0) { writeBlock( gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(82), getCommonCycle(x, y, z, cycle.retract), "P" + milliFormat.format(P), feedOutput.format(F) ); } else { writeBlock( gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(81), getCommonCycle(x, y, z, cycle.retract), feedOutput.format(F) ); } break; case "chip-breaking": // cycle.accumulatedDepth is ignored if (P > 0) { expandCyclePoint(x, y, z); } else { writeBlock( gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(73), getCommonCycle(x, y, z, cycle.retract), "Q" + xyzFormat.format(cycle.incrementalDepth), feedOutput.format(F) ); } break; case "deep-drilling": if (P > 0) { expandCyclePoint(x, y, z); } else { writeBlock( gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(83), getCommonCycle(x, y, z, cycle.retract), "Q" + xyzFormat.format(cycle.incrementalDepth), // conditional(P > 0, "P" + milliFormat.format(P)), feedOutput.format(F) ); } break; case "tapping": writeBlock(mFormat.format(29), sOutput.format(tool.spindleRPM)); if (properties.usePitchForTapping) { writeBlock( gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND) ? 74 : 84), getCommonCycle(x, y, z, cycle.retract), "P" + milliFormat.format(P), pitchOutput.format(tool.threadPitch) ); forceFeed(); } else { writeBlock( gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND) ? 74 : 84), getCommonCycle(x, y, z, cycle.retract), "P" + milliFormat.format(P), feedOutput.format(F) ); } break; case "left-tapping": writeBlock(mFormat.format(29), sOutput.format(tool.spindleRPM)); if (properties.usePitchForTapping) { writeBlock( gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(74), getCommonCycle(x, y, z, cycle.retract), "P" + milliFormat.format(P), pitchOutput.format(tool.threadPitch) ); forceFeed(); } else { writeBlock( gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(74), getCommonCycle(x, y, z, cycle.retract), "P" + milliFormat.format(P), feedOutput.format(properties.useG95 ? tool.getTappingFeedrate()/spindleSpeed : tool.getTappingFeedrate()) ); } break; case "right-tapping": writeBlock(mFormat.format(29), sOutput.format(tool.spindleRPM)); if (properties.usePitchForTapping) { writeBlock( gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(84), getCommonCycle(x, y, z, cycle.retract), "P" + milliFormat.format(P), pitchOutput.format(tool.threadPitch) ); forceFeed(); } else { writeBlock( gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(84), getCommonCycle(x, y, z, cycle.retract), "P" + milliFormat.format(P), feedOutput.format(properties.useG95 ? tool.getTappingFeedrate()/spindleSpeed : tool.getTappingFeedrate()) ); } break; case "tapping-with-chip-breaking": case "left-tapping-with-chip-breaking": case "right-tapping-with-chip-breaking": writeBlock(mFormat.format(29), sOutput.format(tool.spindleRPM)); if (properties.usePitchForTapping) { writeBlock( gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND ? 74 : 84)), getCommonCycle(x, y, z, cycle.retract), "P" + milliFormat.format(P), "Q" + xyzFormat.format(cycle.incrementalDepth), pitchOutput.format(tool.threadPitch) ); forceFeed(); } else { writeBlock( gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format((tool.type == TOOL_TAP_LEFT_HAND ? 74 : 84)), getCommonCycle(x, y, z, cycle.retract), "P" + milliFormat.format(P), "Q" + xyzFormat.format(cycle.incrementalDepth), feedOutput.format(properties.useG95 ? tool.getTappingFeedrate()/spindleSpeed : tool.getTappingFeedrate()) ); } break; case "fine-boring": writeBlock( gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(76), getCommonCycle(x, y, z, cycle.retract), "P" + milliFormat.format(P), // not optional "Q" + xyzFormat.format(cycle.shift), feedOutput.format(F) ); break; case "back-boring": var dx = (gPlaneModal.getCurrent() == 19) ? cycle.backBoreDistance : 0; var dy = (gPlaneModal.getCurrent() == 18) ? cycle.backBoreDistance : 0; var dz = (gPlaneModal.getCurrent() == 17) ? cycle.backBoreDistance : 0; writeBlock( gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(87), getCommonCycle(x - dx, y - dy, z - dz, cycle.bottom), "Q" + xyzFormat.format(cycle.shift), "P" + milliFormat.format(P), // not optional feedOutput.format(F) ); break; case "reaming": if (P > 0) { writeBlock( gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(89), getCommonCycle(x, y, z, cycle.retract), "P" + milliFormat.format(P), feedOutput.format(F) ); } else { writeBlock( gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(85), getCommonCycle(x, y, z, cycle.retract), feedOutput.format(F) ); } break; case "stop-boring": if (P > 0) { expandCyclePoint(x, y, z); } else { writeBlock( gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(86), getCommonCycle(x, y, z, cycle.retract), feedOutput.format(F) ); } break; case "manual-boring": writeBlock( gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(88), getCommonCycle(x, y, z, cycle.retract), "P" + milliFormat.format(P), // not optional feedOutput.format(F) ); break; case "boring": if (P > 0) { writeBlock( gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(89), getCommonCycle(x, y, z, cycle.retract), "P" + milliFormat.format(P), // not optional feedOutput.format(F) ); } else { writeBlock( gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(85), getCommonCycle(x, y, z, cycle.retract), feedOutput.format(F) ); } break; default: expandCyclePoint(x, y, z); } } else { if (cycleExpanded) { expandCyclePoint(x, y, z); } else { writeBlock(xOutput.format(x), yOutput.format(y)); } } } function onCycleEnd() { if (!cycleExpanded) { writeBlock(gCycleModal.format(80)); zOutput.reset(); } } var pendingRadiusCompensation = -1; function onRadiusCompensation() { pendingRadiusCompensation = radiusCompensation; } function onRapid(_x, _y, _z) { var x = xOutput.format(_x); var y = yOutput.format(_y); var z = zOutput.format(_z); if (x || y || z) { if (pendingRadiusCompensation >= 0) { error(localize("Radius compensation mode cannot be changed at rapid traversal.")); return; } writeBlock(gMotionModal.format(0), x, y, z); forceFeed(); } } function onLinear(_x, _y, _z, feed) { var x = xOutput.format(_x); var y = yOutput.format(_y); var z = zOutput.format(_z); var f = getFeed(feed); if (x || y || z) { if (pendingRadiusCompensation >= 0) { pendingRadiusCompensation = -1; var d = tool.diameterOffset; if (d > 99) { warning(localize("The diameter offset exceeds the maximum value.")); } writeBlock(gPlaneModal.format(17)); switch (radiusCompensation) { case RADIUS_COMPENSATION_LEFT: dOutput.reset(); writeBlock(gMotionModal.format(1), gFormat.format(41), x, y, z, dOutput.format(d), f); break; case RADIUS_COMPENSATION_RIGHT: dOutput.reset(); writeBlock(gMotionModal.format(1), gFormat.format(42), x, y, z, dOutput.format(d), f); break; default: writeBlock(gMotionModal.format(1), gFormat.format(40), x, y, z, f); } } else { writeBlock(gMotionModal.format(1), x, y, z, f); } } else if (f) { if (getNextRecord().isMotion()) { // try not to output feed without motion forceFeed(); // force feed on next line } else { writeBlock(gMotionModal.format(1), f); } } } function onRapid5D(_x, _y, _z, _a, _b, _c) { if (pendingRadiusCompensation >= 0) { error(localize("Radius compensation mode cannot be changed at rapid traversal.")); return; } if (currentSection.isOptimizedForMachine()) { 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); writeBlock(gMotionModal.format(0), x, y, z, a, b, c); } else { forceXYZ(); var x = xOutput.format(_x); var y = yOutput.format(_y); var z = zOutput.format(_z); var i = ijkFormat.format(_a); var j = ijkFormat.format(_b); var k = ijkFormat.format(_c); writeBlock(gMotionModal.format(0), x, y, z, "I" + i, "J" + j, "K" + k); } forceFeed(); } function onLinear5D(_x, _y, _z, _a, _b, _c, feed) { if (pendingRadiusCompensation >= 0) { error(localize("Radius compensation cannot be activated/deactivated for 5-axis move.")); return; } if (currentSection.isOptimizedForMachine()) { 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 = getFeed(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()) { // try not to output feed without motion forceFeed(); // force feed on next line } else { writeBlock(gMotionModal.format(1), f); } } } else { forceXYZ(); var x = xOutput.format(_x); var y = yOutput.format(_y); var z = zOutput.format(_z); var i = ijkFormat.format(_a); var j = ijkFormat.format(_b); var k = ijkFormat.format(_c); var f = getFeed(feed); if (x || y || z || i || j || k) { writeBlock(gMotionModal.format(1), x, y, z, "I" + i, "J" + j, "K" + k, f); } else if (f) { if (getNextRecord().isMotion()) { // try not to output feed without motion forceFeed(); // force feed on next line } else { writeBlock(gMotionModal.format(1), f); } } } } function onCircular(clockwise, cx, cy, cz, x, y, z, feed) { if (pendingRadiusCompensation >= 0) { error(localize("Radius compensation cannot be activated/deactivated for a circular move.")); return; } var start = getCurrentPosition(); if (isFullCircle()) { if (properties.useRadius || isHelical()) { // radius mode does not support full arcs linearize(tolerance); return; } switch (getCircularPlane()) { case PLANE_XY: writeBlock(gAbsIncModal.format(90), gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), getFeed(feed)); break; case PLANE_ZX: writeBlock(gAbsIncModal.format(90), gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), getFeed(feed)); break; case PLANE_YZ: writeBlock(gAbsIncModal.format(90), gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), getFeed(feed)); break; default: linearize(tolerance); } } else if (!properties.useRadius) { switch (getCircularPlane()) { case PLANE_XY: writeBlock(gAbsIncModal.format(90), gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), getFeed(feed)); break; case PLANE_ZX: writeBlock(gAbsIncModal.format(90), gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), getFeed(feed)); break; case PLANE_YZ: writeBlock(gAbsIncModal.format(90), gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), getFeed(feed)); break; default: if (properties.allow3DArcs) { // make sure maximumCircularSweep is well below 360deg // we could use G02.4 or G03.4 - direction is calculated var ip = getPositionU(0.5); writeBlock(gAbsIncModal.format(90), gMotionModal.format(clockwise ? 2.4 : 3.4), xOutput.format(ip.x), yOutput.format(ip.y), zOutput.format(ip.z), getFeed(feed)); writeBlock(xOutput.format(x), yOutput.format(y), zOutput.format(z)); } else { linearize(tolerance); } } } else { // use radius mode var r = getCircularRadius(); if (toDeg(getCircularSweep()) > (180 + 1e-9)) { r = -r; // allow up to <360 deg arcs } switch (getCircularPlane()) { case PLANE_XY: writeBlock(gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), getFeed(feed)); break; case PLANE_ZX: writeBlock(gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), getFeed(feed)); break; case PLANE_YZ: writeBlock(gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), "R" + rFormat.format(r), getFeed(feed)); break; default: if (properties.allow3DArcs) { // make sure maximumCircularSweep is well below 360deg // we could use G02.4 or G03.4 - direction is calculated var ip = getPositionU(0.5); writeBlock(gAbsIncModal.format(90), gMotionModal.format(clockwise ? 2.4 : 3.4), xOutput.format(ip.x), yOutput.format(ip.y), zOutput.format(ip.z), getFeed(feed)); writeBlock(xOutput.format(x), yOutput.format(y), zOutput.format(z)); } else { linearize(tolerance); } } } } var currentCoolantMode = COOLANT_OFF; function setCoolant(coolant) { if (coolant == currentCoolantMode) { return; // coolant is already active } if (coolant == COOLANT_OFF) { writeBlock(mFormat.format((currentCoolantMode == COOLANT_THROUGH_TOOL) ? 89 : 9)); currentCoolantMode = COOLANT_OFF; return; } var m; switch (coolant) { case COOLANT_FLOOD: m = 8; break; case COOLANT_THROUGH_TOOL: m = 88; break; default: onUnsupportedCoolant(coolant); m = 9; } if (m) { writeBlock(mFormat.format(m)); currentCoolantMode = coolant; } } var mapCommand = { COMMAND_STOP:0, COMMAND_OPTIONAL_STOP:1, COMMAND_END:2, COMMAND_SPINDLE_CLOCKWISE:3, COMMAND_SPINDLE_COUNTERCLOCKWISE:4, COMMAND_STOP_SPINDLE:5, COMMAND_ORIENTATE_SPINDLE:19 }; function onCommand(command) { switch (command) { case COMMAND_COOLANT_OFF: setCoolant(COOLANT_OFF); return; case COMMAND_COOLANT_ON: setCoolant(COOLANT_FLOOD); return; case COMMAND_STOP: writeBlock(mFormat.format(0)); forceSpindleSpeed = true; return; case COMMAND_START_SPINDLE: onCommand(tool.clockwise ? COMMAND_SPINDLE_CLOCKWISE : COMMAND_SPINDLE_COUNTERCLOCKWISE); return; case COMMAND_LOCK_MULTI_AXIS: return; case COMMAND_UNLOCK_MULTI_AXIS: return; case COMMAND_START_CHIP_TRANSPORT: return; case COMMAND_STOP_CHIP_TRANSPORT: return; case COMMAND_BREAK_CONTROL: return; case COMMAND_TOOL_MEASURE: return; } var stringId = getCommandStringId(command); var mcode = mapCommand[stringId]; if (mcode != undefined) { writeBlock(mFormat.format(mcode)); } else { onUnsupportedCommand(command); } } function onSectionEnd() { writeBlock(gPlaneModal.format(17)); if (((getCurrentSectionId() + 1) >= getNumberOfSections()) || (tool.number != getNextSection().getTool().number)) { onCommand(COMMAND_BREAK_CONTROL); } forceAny(); } function onClose() { writeln(""); optionalSection = false; onCommand(COMMAND_COOLANT_OFF); writeBlock(gFormat.format(28), gAbsIncModal.format(91), "Z" + xyzFormat.format(0)); // retract retracted = true; disableLengthCompensation(true); setSmoothing(false); zOutput.reset(); setWorkPlane(new Vector(0, 0, 0)); // reset working plane if (!machineConfiguration.hasHomePositionX() && !machineConfiguration.hasHomePositionY()) { // 90/91 mode is don't care writeBlock(gFormat.format(28), gAbsIncModal.format(91), "X" + xyzFormat.format(0), "Y" + xyzFormat.format(0)); // return to home } else { var homeX; if (machineConfiguration.hasHomePositionX()) { homeX = "X" + xyzFormat.format(machineConfiguration.getHomePositionX()); } var homeY; if (machineConfiguration.hasHomePositionY()) { homeY = "Y" + xyzFormat.format(machineConfiguration.getHomePositionY()); } writeBlock(gAbsIncModal.format(90), gFormat.format(53), gMotionModal.format(0), homeX, homeY); } onImpliedCommand(COMMAND_END); onImpliedCommand(COMMAND_STOP_SPINDLE); writeBlock(mFormat.format(30)); // stop program, spindle stop, coolant off writeln("%"); }