# SPDX-License-Identifier: LGPL-2.1-or-later # *************************************************************************** # * Copyright (c) 2014 sliptonic * # * Copyright (c) 2021 shadowbane1000 * # * * # * This file is part of the FreeCAD CAx development system. * # * * # * This program is free software; you can redistribute it and/or modify * # * it under the terms of the GNU Lesser General Public License (LGPL) * # * as published by the Free Software Foundation; either version 2 of * # * the License, or (at your option) any later version. * # * for detail see the LICENCE text file. * # * * # * FreeCAD is distributed in the hope that it will be useful, * # * but WITHOUT ANY WARRANTY; without even the implied warranty of * # * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * # * GNU Lesser General Public License for more details. * # * * # * You should have received a copy of the GNU Library General Public * # * License along with FreeCAD; if not, write to the Free Software * # * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 * # * USA * # * * # ***************************************************************************/ import FreeCAD from FreeCAD import Units import Path import argparse import datetime import shlex import os.path import Path.Base.Util as PathUtil import Path.Post.Utils as PostUtils import PathScripts.PathUtils as PathUtils from builtins import open as pyopen TOOLTIP = """ This is a postprocessor file for the Path workbench. It is used to take a pseudo-G-code fragment outputted by a Path object, and output real G-code suitable should be suitable for most Fanuc controllers. It has only been tested on a 21i-MB controller on a 3 axis mill. This postprocessor, once placed in the appropriate PathScripts folder, can be used directly from inside FreeCAD, via the GUI importer or via python scripts with: import fanuc_post fanuc_post.export(object,"/path/to/file.ncc","") """ now = datetime.datetime.now() parser = argparse.ArgumentParser(prog="fanuc", add_help=False) parser.add_argument("--no-header", action="store_true", help="suppress header output") parser.add_argument("--no-comments", action="store_true", help="suppress comment output") parser.add_argument("--line-numbers", action="store_true", help="prefix with line numbers") parser.add_argument( "--no-show-editor", action="store_true", help="don't pop up editor before writing output", ) parser.add_argument("--precision", help="number of digits of precision, default=3 (mm) or 4 (in)") parser.add_argument( "--preamble", help='set commands to be issued before the first command, default="G17 G54 G40 G49 G80 G90\\n"', ) parser.add_argument( "--postamble", help='set commands to be issued after the last command, default="M05\\nG17 G54 G90 G80 G40\\nM30\\n"', ) parser.add_argument( "--inches", action="store_true", help="Convert output for US imperial mode (G20)" ) parser.add_argument( "--no-modal", action="store_true", help="Don't output the Same G-command Name USE NonModal Mode", ) parser.add_argument( "--no-axis-modal", action="store_true", help="Don't output the Same Axis Value Mode" ) parser.add_argument( "--no-tlo", action="store_true", help="suppress tool length offset (G43) following tool changes", ) parser.add_argument( "--end-spindle-empty", action="store_true", help="place last tool in tool change carousel before postamble", ) TOOLTIP_ARGS = parser.format_help() # These globals set common customization preferences OUTPUT_COMMENTS = True OUTPUT_HEADER = True OUTPUT_LINE_NUMBERS = False SHOW_EDITOR = True MODAL = True # if true commands are suppressed if the same as previous line. USE_TLO = True # if true G43 will be output following tool changes OUTPUT_DOUBLES = ( False # if false duplicate axis values are suppressed if the same as previous line. ) COMMAND_SPACE = " " LINENR = 100 # line number starting value END_SPINDLE_EMPTY = False # These globals will be reflected in the Machine configuration of the project UNITS = "G21" # G21 for metric, G20 for us standard UNIT_SPEED_FORMAT = "mm/min" UNIT_FORMAT = "mm" MACHINE_NAME = "fanuc" CORNER_MIN = {"x": 0, "y": 0, "z": 0} CORNER_MAX = {"x": 500, "y": 300, "z": 300} PRECISION = 3 # this global is used to pass spindle speed from the tool command into the machining command for # rigid tapping. tapSpeed = 0 # Preamble text will appear at the beginning of the GCODE output file. DEFAULT_PREAMBLE = """G17 G54 G40 G49 G80 G90 """ # Postamble text will appear following the last operation. DEFAULT_POSTAMBLE = """M05 G17 G54 G90 G80 G40 M30 """ # Pre operation text will be inserted before every operation PRE_OPERATION = """""" # Post operation text will be inserted after every operation POST_OPERATION = """""" # Tool Change commands will be inserted before a tool change # Move to tool change Z position TOOL_CHANGE = """G28 G91 Z0 """ def processArguments(argstring): global OUTPUT_HEADER global OUTPUT_COMMENTS global OUTPUT_LINE_NUMBERS global SHOW_EDITOR global PRECISION global PREAMBLE global POSTAMBLE global UNITS global UNIT_SPEED_FORMAT global UNIT_FORMAT global MODAL global USE_TLO global END_SPINDLE_EMPTY global OUTPUT_DOUBLES global LINENR try: args = parser.parse_args(shlex.split(argstring)) if args.no_header: OUTPUT_HEADER = False else: OUTPUT_HEADER = True if args.no_comments: OUTPUT_COMMENTS = False else: OUTPUT_COMMENTS = True if args.line_numbers: OUTPUT_LINE_NUMBERS = True LINENR = 100 else: OUTPUT_LINE_NUMBERS = False if args.no_show_editor: SHOW_EDITOR = False else: SHOW_EDITOR = True print("Show editor = %s" % SHOW_EDITOR) if args.preamble is not None: PREAMBLE = args.preamble.replace("\\n", "\n") else: PREAMBLE = DEFAULT_PREAMBLE if args.postamble is not None: POSTAMBLE = args.postamble.replace("\\n", "\n") else: POSTAMBLE = DEFAULT_POSTAMBLE if args.inches: UNITS = "G20" UNIT_SPEED_FORMAT = "in/min" UNIT_FORMAT = "in" PRECISION = 4 else: UNITS = "G21" UNIT_SPEED_FORMAT = "mm/min" UNIT_FORMAT = "mm" PRECISION = 3 if args.precision: PRECISION = int(args.precision) if args.no_modal: MODAL = False else: MODAL = True if args.no_tlo: USE_TLO = False else: USE_TLO = True if args.no_axis_modal: OUTPUT_DOUBLES = True else: OUTPUT_DOUBLES = False if args.end_spindle_empty: END_SPINDLE_EMPTY = True else: END_SPINDLE_EMPTY = False except Exception: return False return True def export(objectslist, filename, argstring): if not processArguments(argstring): return None global UNITS global UNIT_FORMAT global UNIT_SPEED_FORMAT global HORIZRAPID global VERTRAPID for obj in objectslist: if not hasattr(obj, "Path"): print( "the object " + obj.Name + " is not a path. Please select only path and Compounds." ) return None print("postprocessing...") gcode = "" gcode += "%\n" # write header if OUTPUT_HEADER: # Get current version info major = int(FreeCAD.ConfigGet("BuildVersionMajor")) minor = int(FreeCAD.ConfigGet("BuildVersionMinor")) # the filename variable always contain "-", so unable to # provide more accurate information. gcode += "(" + "FREECAD-FILENAME-GOES-HERE" + ", " + "JOB-NAME-GOES-HERE" + ")\n" gcode += ( linenumber() + "(POST PROCESSOR: FANUC USING FREECAD %d.%d" % (major, minor) + ")\n" ) gcode += linenumber() + "(OUTPUT TIME:" + str(now).upper() + ")\n" # Write the preamble if OUTPUT_COMMENTS: gcode += linenumber() + "(BEGIN PREAMBLE)\n" for line in PREAMBLE.splitlines(): gcode += linenumber() + line + "\n" gcode += linenumber() + UNITS + "\n" for obj in objectslist: # to stay compatible with FreeCAD 1.0 def activeForOp(obj): # The activeForOp method is available since 2025-05-04 / # commit 1e87d8e6681b755b9757f94b1201e50eb84b28a2 if hasattr(PathUtil, "activeForOp"): return PathUtil.activeForOp(obj) if hasattr(obj, "Active"): return obj.Active if hasattr(obj, "Base") and hasattr(obj.Base, "Active"): return obj.Base.Active return True # Skip inactive operations if not activeForOp(obj): continue # do the pre_op if OUTPUT_COMMENTS: gcode += linenumber() + "(BEGIN OPERATION: %s)\n" % obj.Label.upper() gcode += linenumber() + "(MACHINE UNITS: %s)\n" % (UNIT_SPEED_FORMAT.upper()) for line in PRE_OPERATION.splitlines(True): gcode += linenumber() + line # to stay compatible with FreeCAD 1.0 def coolantModeForOp(obj): # The coolantModeForOp method is available since # 2025-05-04 / commit # 1e87d8e6681b755b9757f94b1201e50eb84b28a2 if hasattr(PathUtil, "coolantModeForOp"): return PathUtil.coolantModeForOp(obj) if ( hasattr(obj, "CoolantMode") or hasattr(obj, "Base") and hasattr(obj.Base, "CoolantMode") ): if hasattr(obj, "CoolantMode"): return obj.CoolantMode else: return obj.Base.CoolantMode return "None" # get coolant mode coolantMode = coolantModeForOp(obj) # turn coolant on if required if OUTPUT_COMMENTS: if not coolantMode == "None": gcode += linenumber() + "(COOLANT ON:" + coolantMode.upper() + ")\n" if coolantMode == "Flood": gcode += linenumber() + "M8" + "\n" if coolantMode == "Mist": gcode += linenumber() + "M7" + "\n" # process the operation gcode gcode += parse(obj) # do the post_op if OUTPUT_COMMENTS: gcode += linenumber() + "(FINISH OPERATION: %s)\n" % obj.Label.upper() for line in POST_OPERATION.splitlines(True): gcode += linenumber() + line # turn coolant off if required if not coolantMode == "None": if OUTPUT_COMMENTS: gcode += linenumber() + "(COOLANT OFF:" + coolantMode.upper() + ")\n" gcode += linenumber() + "M9" + "\n" if END_SPINDLE_EMPTY: if OUTPUT_COMMENTS: gcode += "(BEGIN MAKING SPINDLE EMPTY)\n" gcode += linenumber() + "M05\n" for line in TOOL_CHANGE.splitlines(True): gcode += linenumber() + line gcode += linenumber() + "M6 T0\n" # do the post_amble if OUTPUT_COMMENTS: gcode += "(BEGIN POSTAMBLE)\n" for line in POSTAMBLE.splitlines(): gcode += linenumber() + line + "\n" if FreeCAD.GuiUp and SHOW_EDITOR: dia = PostUtils.GCodeEditorDialog() # Workaround for 1.1 while we wait for # https://github.com/FreeCAD/FreeCAD/pull/26008 to be merged. if hasattr(dia.editor, "setPlainText"): dia.editor.setPlainText(gcode) else: dia.editor.setText(gcode) result = dia.exec_() if result: final = dia.editor.toPlainText() else: final = gcode else: final = gcode print("done postprocessing.") if not filename == "-": gfile = pyopen(filename, "w") gfile.write(final) gfile.close() return final def linenumber(): global LINENR if OUTPUT_LINE_NUMBERS is True: LINENR += 10 return "N" + str(LINENR) + " " return "" def parse(pathobj): global PRECISION global MODAL global OUTPUT_DOUBLES global UNIT_FORMAT global UNIT_SPEED_FORMAT global tapSpeed out = "" lastcommand = None precision_string = "." + str(PRECISION) + "f" currLocation = {} # keep track for no doubles print("Startup!") # the order of parameters # arcs need work. original code from mach3_4 doesn't want K properties on XY plane. Not sure # what fanuc does here. params = [ "X", "Y", "Z", "A", "B", "C", "I", "J", "F", "S", "T", "Q", "R", "L", "H", "D", "P", ] firstmove = Path.Command("G0", {"X": -1, "Y": -1, "Z": -1, "F": 0.0}) currLocation.update(firstmove.Parameters) # set First location Parameters if hasattr(pathobj, "Group"): # We have a compound or project. # if OUTPUT_COMMENTS: # out += linenumber() + "(compound: " + pathobj.Label + ")\n" for p in pathobj.Group: out += parse(p) return out else: # parsing simple path # groups might contain non-path things like stock. if not hasattr(pathobj, "Path"): return out # if OUTPUT_COMMENTS: # out += linenumber() + "(" + pathobj.Label + ")\n" adaptiveOp = False opHorizRapid = 0 opVertRapid = 0 if "Adaptive" in pathobj.Name: adaptiveOp = True if hasattr(pathobj, "ToolController"): if ( hasattr(pathobj.ToolController, "HorizRapid") and pathobj.ToolController.HorizRapid > 0 ): opHorizRapid = Units.Quantity( pathobj.ToolController.HorizRapid, FreeCAD.Units.Velocity ) else: FreeCAD.Console.PrintWarning( "Tool Controller Horizontal Rapid Values are unset" + "\n" ) if ( hasattr(pathobj.ToolController, "VertRapid") and pathobj.ToolController.VertRapid > 0 ): opVertRapid = Units.Quantity( pathobj.ToolController.VertRapid, FreeCAD.Units.Velocity ) else: FreeCAD.Console.PrintWarning( "Tool Controller Vertical Rapid Values are unset" + "\n" ) commands = PathUtils.getPathWithPlacement(pathobj).Commands for index, c in enumerate(commands): outstring = [] outsuffix = [] command = c.Name if index + 1 == len(commands): nextcommand = "" else: nextcommand = commands[index + 1].Name if adaptiveOp and c.Name in ["G0", "G00"]: if opHorizRapid and opVertRapid: command = "G1" else: outstring.append("(TOOL CONTROLLER RAPID VALUES ARE UNSET)" + "\n") # suppress moves in fixture selection if pathobj.Label == "Fixture": if command == "G0": continue # if tool a tap, we thread tap, so stop the spindle for now. # This only trigger when pathobj is a ToolController. if command == "M03" or command == "M3": if hasattr(pathobj, "Tool") and pathobj.Tool.ShapeName.lower() == "tap": tapSpeed = int(pathobj.SpindleSpeed) continue # Convert drill cycles to tap cycles if tool is a tap. # This only trigger when pathobj is a Operation. if command == "G81" or command == "G83": if ( hasattr(pathobj, "ToolController") and pathobj.ToolController.Tool.ShapeName.lower() == "tap" ): command = "G84" out += linenumber() + "G95\n" paramstring = "" for param in ["X", "Y"]: if param in c.Parameters: if ( (not OUTPUT_DOUBLES) and (param in currLocation) and (currLocation[param] == c.Parameters[param]) ): continue else: pos = Units.Quantity(c.Parameters[param], FreeCAD.Units.Length) paramstring += ( " " + param + format( float(pos.getValueAs(UNIT_FORMAT)), precision_string, ) ) if paramstring != "": out += linenumber() + "G00" + paramstring + "\n" if "S" in c.Parameters: tapSpeed = int(c.Parameters["S"]) out += "M29 S" + str(tapSpeed) + "\n" for param in ["Z", "R"]: if param in c.Parameters: if ( (not OUTPUT_DOUBLES) and (param in currLocation) and (currLocation[param] == c.Parameters[param]) ): continue else: pos = Units.Quantity(c.Parameters[param], FreeCAD.Units.Length) paramstring += ( " " + param + format( float(pos.getValueAs(UNIT_FORMAT)), precision_string, ) ) # in this mode, F is the distance per revolution of the thread (pitch) # P is the dwell time in seconds at the bottom of the thread # Q is the peck depth of the threading operation for param in ["F", "P", "Q"]: if param in c.Parameters: value = Units.Quantity(c.Parameters[param], FreeCAD.Units.Length) paramstring += ( " " + param + format( float(value.getValueAs(UNIT_FORMAT)), precision_string, ) ) out += linenumber() + "G84" + paramstring + "\n" out += linenumber() + "G80\n" out += linenumber() + "G94\n" continue outstring.append(command) # if modal: suppress the command if it is the same as the last one if MODAL is True: if command == lastcommand: outstring.pop(0) # suppress a G80 between two identical command if command == "G80" and lastcommand == nextcommand: continue if c.Name.startswith("(") and not OUTPUT_COMMENTS: # command is a comment continue # Now add the remaining parameters in order for param in params: if param in c.Parameters: if param == "F" and ( currLocation[param] != c.Parameters[param] or OUTPUT_DOUBLES ): if c.Name not in [ "G0", "G00", ]: # fanuc doesn't use rapid speeds speed = Units.Quantity(c.Parameters["F"], FreeCAD.Units.Velocity) if speed.getValueAs(UNIT_SPEED_FORMAT) > 0.0: outstring.append( param + format( float(speed.getValueAs(UNIT_SPEED_FORMAT)), precision_string, ) ) else: continue elif param == "T": outstring.append(param + str(int(c.Parameters["T"]))) elif param == "H": outstring.append(param + str(int(c.Parameters["H"]))) elif param == "D": outstring.append(param + str(int(c.Parameters["D"]))) elif param == "S": outstring.append(param + str(int(c.Parameters["S"]))) else: if ( (not OUTPUT_DOUBLES) and (param in currLocation) and (currLocation[param] == c.Parameters[param]) ): continue else: pos = Units.Quantity(c.Parameters[param], FreeCAD.Units.Length) outstring.append( param + format(float(pos.getValueAs(UNIT_FORMAT)), precision_string) ) if adaptiveOp and c.Name in ["G0", "G00"]: if opHorizRapid and opVertRapid: if "Z" not in c.Parameters: outstring.append( "F" + format( float(opHorizRapid.getValueAs(UNIT_SPEED_FORMAT)), precision_string, ) ) else: outstring.append( "F" + format( float(opVertRapid.getValueAs(UNIT_SPEED_FORMAT)), precision_string, ) ) # store the latest command lastcommand = command currLocation.update(c.Parameters) # Check for Tool Change: if command == "M6": # stop the spindle out += linenumber() + "M05\n" for line in TOOL_CHANGE.splitlines(True): out += linenumber() + line # add height offset if USE_TLO: outsuffix.append("G91 G0 G43 G54 Z-[#[2000+#4120]] H#4120") outsuffix.append("G90") if command == "message": if OUTPUT_COMMENTS is False: out = [] else: outstring.pop(0) # remove the command # prepend a line number and append a newline if len(outstring) >= 1: if OUTPUT_LINE_NUMBERS: outstring.insert(0, (linenumber())) # append the line to the final output out += COMMAND_SPACE.join(outstring).upper() out = out.strip() + "\n" if len(outsuffix) >= 1: for line in outsuffix: out += linenumber() + line + "\n" return out # print(__name__ + " gcode postprocessor loaded.")