Tip.
How to solve the backlash
This script divides the tool movement direction into four categories
(1) 0 degree to 90 degree direction
(2) 90 degrees to 180 degrees
(3) 180 degrees to 270 degrees
(4) 270 degrees to 360 degrees
When the movement direction of the tool changes, send the G54 to G57 commands to switch the coordinate system. This will cause the coordinate values to shift. If you send the G0 command to return to the original position, the tool tip position will not change, but the backlash will have been eliminated.
The values of G54 to G57 are stored in the controller such as GRBL. Please measure the amount of backlash on your machine and substitute the values.
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description = "KNOB Turning";
vendor = "KNOB";
vendorUrl = "https://www.*****.com";
longDescription = "SIMPLE CONVERT CNC LATHE WITH BACKLASH CANCEL function";
legal = "Copyright (C) knob.create project";
certificationLevel = 2;
minimumRevision = 11111;
extension = "nc";
programNameIsInteger = false;
setCodePage("ascii");
capabilities = CAPABILITY_TURNING;
tolerance = spatial(0.002, MM);
minimumChordLength = spatial(0.25, MM);
minimumCircularRadius = spatial(0.01, MM);
maximumCircularRadius = spatial(1000, MM);
minimumCircularSweep = toRad(0.01);
maximumCircularSweep = toRad(180);
allowHelicalMoves = false;
allowedCircularPlanes = 1 << PLANE_ZX;
// user-defined properties
properties = {
writeMachine: false, // write machine
preloadTool: false, // preloads next tool on tool change if any
showSequenceNumbers: true, // show sequence numbers
sequenceNumberStart: 10, // first sequence number
sequenceNumberIncrement: 1, // increment for sequence numbers
optionalStop: true, // optional stop
separateWordsWithSpace: true, // specifies that the words should be separated with a white space
useRadius: false, // specifies that arcs should be output using the radius (R word) instead of the I, J, and K words.
maximumSpindleSpeed: 100 * 60, // specifies the maximum spindle speed
useParametricFeed: false, // specifies that feed should be output using Q values
showNotes: false, // specifies that operation notes should be output.
useCycles: true, // specifies that drilling cycles should be used.
g53HomePositionX: 0, // home position for X-axis
g53HomePositionZ: 0 // home position for Z-axis
};
// user-defined property definitions
propertyDefinitions = {
writeMachine: {title:"Write machine", description:"Output the machine settings in the header of the code.", group:0, type:"boolean"},
preloadTool: {title:"Preload tool", description:"Preloads the next tool at a tool change (if any).", type:"boolean"},
showSequenceNumbers: {title:"Use sequence numbers", description:"Use sequence numbers for each block of outputted code.", group:1, type:"boolean"},
sequenceNumberStart: {title:"Start sequence number", description:"The number at which to start the sequence numbers.", group:1, type:"integer"},
sequenceNumberIncrement: {title:"Sequence number increment", description:"The amount by which the sequence number is incremented by in each block.", group:1, type:"integer"},
optionalStop: {title:"Optional stop", description:"Outputs optional stop code during when necessary in the code.", type:"boolean"},
separateWordsWithSpace: {title:"Separate words with space", description:"Adds spaces between words if 'yes' is selected.", type:"boolean"},
useRadius: {title:"Radius arcs", description:"If yes is selected, arcs are outputted using radius values rather than IJK.", type:"boolean"},
maximumSpindleSpeed: {title:"Max spindle speed", description:"Defines the maximum spindle speed allowed by your machines.", type:"integer", range:[0, 999999999]},
useParametricFeed: {title:"Parametric feed", description:"Specifies the feed value that should be output using a Q value.", type:"boolean"},
showNotes: {title:"Show notes", description:"Writes operation notes as comments in the outputted code.", type:"boolean"},
useCycles: {title:"Use cycles", description:"Specifies if canned drilling cycles should be used.", type:"boolean"},
g53HomePositionX: {title:"G53 home position X", description:"G53 X-axis home position.", type:"number"},
g53HomePositionZ: {title:"G53 home position Z", description:"G53 Z-axis home position.", type:"number"}
};
var permittedCommentChars = " ABCDEFGHIJKLMNOPQRSTUVWXYZ0123456789.,=_-";
var gFormat = createFormat({prefix:"G", decimals:0});
var mFormat = createFormat({prefix:"M", decimals:0});
var spatialFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true,trim:false,zeropad:true,width:8,forceSign:true});
var xFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true,trim:false,zeropad:true,width:8,forceSign:true});
var yFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true,trim:false,zeropad:true,width:8,forceSign:true});
var zFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true,trim:false,zeropad:true,width:8,forceSign:true,scale:1});
var rFormat = createFormat({decimals:(unit == MM ? 3 : 4), forceDecimal:true}); // radius
var feedFormat = createFormat({decimals:(unit == MM ? 4 : 5), 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 taperFormat = createFormat({decimals:1, scale:DEG});
var xOutput = createVariable({prefix:"X",force:true}, xFormat);//変化が無くても強制的に出す→可読性のため
var yOutput = createVariable({prefix:"Y",force:true}, yFormat);
var zOutput = createVariable({prefix:"Z",force:true}, zFormat);
var feedOutput = createVariable({prefix:"F",force:true}, feedFormat);
var pitchOutput = createVariable({prefix:"F", force:true}, pitchFormat);
var sOutput = createVariable({prefix:"S", force:true}, rpmFormat);
// circular output
var iOutput = createReferenceVariable({prefix:"I", force:true}, spatialFormat);
var jOutput = createReferenceVariable({prefix:"J", force:true}, spatialFormat);
var kOutput = createReferenceVariable({prefix:"K", force:true}, spatialFormat);
var g92IOutput = createVariable({prefix:"I"}, zFormat); // no scaling
var gMotionModal = createModal({force:true}, gFormat); // modal group 1 // G0-G3, ...
var gAbsIncModal = createModal({force:true}, gFormat); // modal group 3 // G90-91
var gUnitModal = createModal({force:true}, gFormat); // modal group 6 // G70-71
var gCycleModal = createModal({force:true}, gFormat); // modal group 9 // G81, ...
var gRetractModal = createModal({force:true}, gFormat); // modal group 10 // G98-99
// fixed settings
var gotSecondarySpindle = false;
var gotDoorControl = false;
var gotTailStock = true;
var gotBarFeeder = false;
var WARNING_WORK_OFFSET = 0;
var QCTP = 0;
var TURRET = 1;
var GANG = 2;
var FRONT = -1;
var REAR = 1;
// collected state
var sequenceNumber;
var currentWorkOffset;
var optionalSection = false;
var forceSpindleSpeed = false;
var toolingData;
var previousToolingData;
var pre_feed_direction = 3;
function getCode(code) {
switch(code) {
// case "PART_CATCHER_ON":
// return mFormat.format(SPECIFY YOUR CODE HERE);
// case "PART_CATCHER_OFF":
// return mFormat.format(SPECIFY YOUR CODE HERE);
case "TAILSTOCK_ON":
return mFormat.format(21);
case "TAILSTOCK_OFF":
return mFormat.format(22);
// case "ENGAGE_C_AXIS":
// machineState.cAxisIsEngaged = true;
// return cAxisEngageModal.format(UNSUPPORTED);
// case "DISENGAGE_C_AXIS":
// machineState.cAxisIsEngaged = false;
// return cAxisEngageModal.format(UNSUPPORTED);
// case "POLAR_INTERPOLATION_ON":
// return gPolarModal.format(UNSUPPORTED);
// case "POLAR_INTERPOLATION_OFF":
// return gPolarModal.format(UNSUPPORTED);
// case "STOP_LIVE_TOOL":
// machineState.liveToolIsActive = false;
// return mFormat.format(UNSUPPORTED);
// case "STOP_MAIN_SPINDLE":
// machineState.mainSpindleIsActive = false;
// return mFormat.format(UNSUPPORTED);
// case "STOP_SUB_SPINDLE":
// machineState.subSpindleIsActive = false;
// return mFormat.format(UNSUPPORTED);
// case "START_LIVE_TOOL_CW":
// machineState.liveToolIsActive = true;
// return mFormat.format(UNSUPPORTED);
// case "START_LIVE_TOOL_CCW":
// machineState.liveToolIsActive = true;
// return mFormat.format(UNSUPPORTED);
case "START_MAIN_SPINDLE_CW":
// machineState.mainSpindleIsActive = true;
return mFormat.format(3);
case "START_MAIN_SPINDLE_CCW":
// machineState.mainSpindleIsActive = true;
return mFormat.format(4);
// case "START_SUB_SPINDLE_CW":
// machineState.subSpindleIsActive = true;
// return mFormat.format(UNSUPPORTED);
// case "START_SUB_SPINDLE_CCW":
// machineState.subSpindleIsActive = true;
// return mFormat.format(UNSUPPORTED);
// case "MAIN_SPINDLE_BRAKE_ON":
// machineState.mainSpindleBrakeIsActive = true;
// return cAxisBrakeModal.format(UNSUPPORTED);
// case "MAIN_SPINDLE_BRAKE_OFF":
// machineState.mainSpindleBrakeIsActive = false;
// return cAxisBrakeModal.format(UNSUPPORTED);
// case "SUB_SPINDLE_BRAKE_ON":
// machineState.subSpindleBrakeIsActive = true;
// return cAxisBrakeModal.format(UNSUPPORTED);
// case "SUB_SPINDLE_BRAKE_OFF":
// machineState.subSpindleBrakeIsActive = false;
// return cAxisBrakeModal.format(UNSUPPORTED);
// case "FEED_MODE_UNIT_REV":
// return gFeedModeModal.format(UNSUPPORTED);
// case "FEED_MODE_UNIT_MIN":
// return gFeedModeModal.format(UNSUPPORTED);
case "CONSTANT_SURFACE_SPEED_ON":
return gSpindleModeModal.format(96);
case "CONSTANT_SURFACE_SPEED_OFF":
return gSpindleModeModal.format(97);
// case "MAINSPINDLE_AIR_BLAST_ON":
// return mFormat.format(UNSUPPORTED);
// case "MAINSPINDLE_AIR_BLAST_OFF":
// return mFormat.format(UNSUPPORTED);
// case "SUBSPINDLE_AIR_BLAST_ON":
// return mFormat.format(UNSUPPORTED);
// case "SUBSPINDLE_AIR_BLAST_OFF":
// return mFormat.format(UNSUPPORTED);
// case "CLAMP_PRIMARY_CHUCK":
// return mFormat.format(UNSUPPORTED);
// case "UNCLAMP_PRIMARY_CHUCK":
// return mFormat.format(UNSUPPORTED);
// case "CLAMP_SECONDARY_CHUCK":
// return mFormat.format(UNSUPPORTED);
// case "UNCLAMP_SECONDARY_CHUCK":
// return mFormat.format(UNSUPPORTED);
// case "SPINDLE_SYNCHRONIZATION_ON":
// machineState.spindleSynchronizationIsActive = true;
// return gSynchronizedSpindleModal.format(UNSUPPORTED);
// case "SPINDLE_SYNCHRONIZATION_OFF":
// machineState.spindleSynchronizationIsActive = false;
// return gSynchronizedSpindleModal.format(UNSUPPORTED);
// case "START_CHIP_TRANSPORT":
// return mFormat.format(UNSUPPORTED);
// case "STOP_CHIP_TRANSPORT":
// return mFormat.format(UNSUPPORTED);
// case "OPEN_DOOR":
// return mFormat.format(UNSUPPORTED);
// case "CLOSE_DOOR":
// return mFormat.format(UNSUPPORTED);
// case "COOLANT_FLOOD_ON":
// return mFormat.format(UNSUPPORTED);
// case "COOLANT_FLOOD_OFF":
// return mFormat.format(UNSUPPORTED);
// case "COOLANT_AIR_ON":
// return mFormat.format(UNSUPPORTED);
// case "COOLANT_AIR_OFF":
// return mFormat.format(UNSUPPORTED);
// case "COOLANT_THROUGH_TOOL_ON":
// return mFormat.format(UNSUPPORTED);
// case "COOLANT_THROUGH_TOOL_OFF":
// return mFormat.format(UNSUPPORTED);
// case "COOLANT_OFF":
// return mFormat.format(UNSUPPORTED);
default:
error(localize("Command " + code + " is not defined."));
return 0;
}
}
/**
Writes the specified block.
*/
function writeBlock() {
if (properties.showSequenceNumbers) {
if (optionalSection) {
var text = formatWords(arguments);
if (text) {
// writeWords("/", "N" + sequenceNumber, text);
writeWords("/", "" + "", text);
}
} else {
//writeWords2("N" + sequenceNumber, arguments);
writeWords2("" + "", 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 "; " + String(text).replace(/[()]/g, "");
}
/**
Output a comment.
*/
function writeComment(text) {
writeln(formatComment(text));
}
function backlash_comp(feed_direction,sx,sy,sz){
if(feed_direction != pre_feed_direction){
switch(feed_direction){
case 1:
writeln("G55");
break;
case 2:
writeln("G56");
break;
case 3:
writeln("G57");
break;
case 4:
writeln("G54");
break;
}
writeBlock(gMotionModal.format(0),xOutput.format(sx),yOutput.format(sy),zOutput.format(sz)); //バックラッシュ解消動作
pre_feed_direction = feed_direction;//今回の向きを記憶し、次回に備える。
}
}
function onOpen() {
sequenceNumber = properties.sequenceNumberStart;
writeln("G18");
writeln("G90");
}
function onComment(message) {
writeln("-------------------------------onComment");
writeln(message);
writeln("**********");
writeln("");
}
/** Force output of X, Y, and Z. */
function forceXYZ() {
writeln("-------------------------------forceXYZ");
writeln("**********");
writeln("");
}
/** Force output of X, Y, Z, and F on next output. */
function forceAny() {
writeln("-------------------------------forceAny");
writeln("**********");
writeln("");
}
function getSpindle() {
writeln("-------------------------------getSpindle");
writeln("**********");
writeln("");
}
function ToolingData(_tool) {
writeln("-------------------------------ToolingData");
writeln(_tool);
writeln("**********");
writeln("");
}
function onSection() {
/*
writeln("-------------------------------onSection");
writeln("**********");
writeln("");
*/
}
function onSpindleSpeed(spindleSpeed) {
writeln("-------------------------------onSpindleSpeed");
writeln(spindleSpeed);
writeln("**********");
writeln("");
}
function onDwell(seconds) {
writeln("-------------------------------onDwell");
writeln(second);
writeln("**********");
writeln("");
}
var pendingRadiusCompensation = -1;
function onRadiusCompensation() {
writeln("-------------------------------onRadiusCompensation");
writeln("**********");
writeln("");
}
var resetFeed = false;
//-------------------------------G0位置決め（早送り）
function onRapid(_x, _y, _z) {
var Fdirection;
var start00 = getCurrentPosition();//start.x/y/zにスタート位置が保存される
if(_z-start00.z<=0 && _x-start00.x<=0) Fdirection = 3;
if(_z-start00.z<=0 && _x-start00.x>0) Fdirection = 2;
if(_z-start00.z>0 && _x-start00.x<=0) Fdirection = 4;
if(_z-start00.z>0 && _x-start00.x>0) Fdirection = 1;
backlash_comp(Fdirection,start00.x,start00.y,start00.z);
writeBlock(gMotionModal.format(0),xOutput.format(_x),yOutput.format(_y),zOutput.format(_z));
}
//-------------------------------G01直線補完
function onLinear(_x, _y, _z, feed) {
//ここの処理で何故かバックラッシュ補償の行が先に実行されている様子。順序を整えないといけない。
var Fdirection;
var start01 = getCurrentPosition();//start.x/y/zにスタート位置が保存される
if(_z-start01.z<=0 && _x-start01.x<=0) Fdirection = 3;
if(_z-start01.z<=0 && _x-start01.x>0) Fdirection = 2;
if(_z-start01.z>0 && _x-start01.x<=0) Fdirection = 4;
if(_z-start01.z>0 && _x-start01.x>0) Fdirection = 1;
if(_z-start01.z>0) feed = 300;
backlash_comp(Fdirection,start01.x,start01.y,start01.z);
writeBlock(gMotionModal.format(1),xOutput.format(_x),yOutput.format(_y),zOutput.format(_z),feedOutput.format(feed));
}
//-------------------------------G02/03円弧補完
function onCircular(clockwise, cx, cy, cz, x, y, z, feed) {
//軸通過ごとに分割するプログラムに変更し、バックラッシュ補完の前段階までを行う。
var start = getCurrentPosition();//start.x/y/zにスタート位置が保存される
var direction_circle;
if(clockwise == true){
direction_circle = 2;
}else{
direction_circle = 3;
}
//時計回りと反時計回りのG2 G3設定
var ctr_pt = {xx:cx,yy:cy,zz:cz};
var str_pt = {xx:start.x,yy:start.y,zz:start.z};
var end_pt = {xx:x,yy:y,zz:z};
//各座標のオブジェクトの生成
var pass_rad;
pass_rad = Math.sqrt(
(str_pt.xx-ctr_pt.xx)*(str_pt.xx-ctr_pt.xx)+
(str_pt.yy-ctr_pt.yy)*(str_pt.yy-ctr_pt.yy)+
(str_pt.zz-ctr_pt.zz)*(str_pt.zz-ctr_pt.zz)
);
//回転半径の算出
var quadrant_start;
var quadrant_end;
if (str_pt.zz-ctr_pt.zz>=0 &&str_pt.xx-ctr_pt.xx>=0){quadrant_start = 1}
if (str_pt.zz-ctr_pt.zz< 0 &&str_pt.xx-ctr_pt.xx>=0){quadrant_start = 2}
if (str_pt.zz-ctr_pt.zz< 0 &&str_pt.xx-ctr_pt.xx< 0){quadrant_start = 3}
if (str_pt.zz-ctr_pt.zz>=0 &&str_pt.xx-ctr_pt.xx< 0){quadrant_start = 4}
if (end_pt.zz-ctr_pt.zz>=0 &&end_pt.xx-ctr_pt.xx>=0){quadrant_end = 1}
if (end_pt.zz-ctr_pt.zz< 0 &&end_pt.xx-ctr_pt.xx>=0){quadrant_end = 2}
if (end_pt.zz-ctr_pt.zz< 0 &&end_pt.xx-ctr_pt.xx< 0){quadrant_end = 3}
if (end_pt.zz-ctr_pt.zz>=0 &&end_pt.xx-ctr_pt.xx< 0){quadrant_end = 4}
//開始点と終了点の象限の管理
//開始と終了点の象限が同じ場合、小回りなのか大回りなのかを判断する。
var rot_type;
rot_type = (str_pt.xx-ctr_pt.xx) * (end_pt.zz-ctr_pt.zz) -(str_pt.zz-ctr_pt.zz) * (end_pt.xx-ctr_pt.xx);
var process_position_array = new Array(0,0,0,0,0); //値の初期化
var process_type_array = new Array("no","no","no","no","no"); //値の初期化
//パターン１：開始と終了の象限が同じ場合
//clockwiseがfalseかつrot_typeが負の場合、小回り
//clockwiseがtrue かつrot_typeが正の場合、小回り
//clockwiseがtrue かつrot_typeが負の場合、大回り
//clockwiseがfalseかつrot_typeが正の場合、大回り
if(quadrant_start == quadrant_end &&clockwise == false && rot_type <0){
process_position_array = [quadrant_start,0,0,0,0];
process_type_array = ["st_ed","no","no","no","no"];
}
if(quadrant_start == quadrant_end &&clockwise == true && rot_type >0){
process_position_array = [quadrant_start,0,0,0,0];
process_type_array = ["st_ed","no","no","no","no"];
}
if(quadrant_start == quadrant_end &&clockwise == true && rot_type <0){
process_position_array = [(quadrant_start-1+4-0)%4+1,
(quadrant_start-1+4-1)%4+1,
(quadrant_start-1+4-2)%4+1,
(quadrant_start-1+4-3)%4+1,
(quadrant_start-1+4-4)%4+1];
process_type_array = ["start","mid","mid","mid","end"];
}
if(quadrant_start == quadrant_end &&clockwise == false && rot_type >0){
process_position_array = [(quadrant_start-1+4+0)%4+1,
(quadrant_start-1+4+1)%4+1,
(quadrant_start-1+4+2)%4+1,
(quadrant_start-1+4+3)%4+1,
(quadrant_start-1+4+4)%4+1];
process_type_array = ["start","mid","mid","mid","end"];
}
//パターン2：開始と終了の象限が異なる場合
//時計回りの場合
if(quadrant_start != quadrant_end && clockwise == true){
var ci;
for ( ci = 0; ci < 5; ci++ ) {
process_position_array[ci] = (quadrant_start-1+4-ci)%4+1;
if(process_position_array[ci] == quadrant_start && process_position_array[ci] != quadrant_end){
process_type_array[ci]="start"
}
if(process_position_array[ci] != quadrant_start && process_position_array[ci] != quadrant_end)
{
process_type_array[ci]="mid"
}
if(process_position_array[ci] != quadrant_start && process_position_array[ci] == quadrant_end){
process_type_array[ci]="end"
break;
}
}
}
//反時計回りの場合
if(quadrant_start != quadrant_end && clockwise == false){
var ci;
for ( ci = 0; ci < 5; ci++ ) {
process_position_array[ci] = (quadrant_start-1+4+ci)%4+1;
if(process_position_array[ci] == quadrant_start && process_position_array[ci] != quadrant_end){
process_type_array[ci]="start"
}
if(process_position_array[ci] != quadrant_start && process_position_array[ci] != quadrant_end)
{
process_type_array[ci]="mid"
}
if(process_position_array[ci] != quadrant_start && process_position_array[ci] == quadrant_end){
process_type_array[ci]="end"
break;
}
}
}
//ここまでは処理条件の配列の設定のみ
//writeln("(------check background data---------------)");
//writeln(";start point:"+str_pt.xx +","+str_pt.yy +","+str_pt.zz);
//writeln(";ctr point:"+ctr_pt.xx +","+ctr_pt.yy +","+ctr_pt.zz);
//writeln(";end point:"+end_pt.xx +","+end_pt.yy +","+end_pt.zz);
//writeln(";start area:"+quadrant_start);
//writeln(";end area:"+quadrant_end);
//writeln(";min route type:"+rot_type);
//writeln(";rot direction:"+clockwise);
//writeln(process_position_array);
//writeln(process_type_array);
//G-CODEの場合別出力
var ki;
for ( ki = 0; ki < 5; ki++ ) {
if(process_type_array[ki] =="st_ed"){
if (quadrant_start == 1 && clockwise == true) backlash_comp(4,str_pt.xx,str_pt.yy,str_pt.zz);
if (quadrant_start == 2 && clockwise == true) backlash_comp(1,str_pt.xx,str_pt.yy,str_pt.zz);
if (quadrant_start == 3 && clockwise == true) backlash_comp(2,str_pt.xx,str_pt.yy,str_pt.zz);
if (quadrant_start == 4 && clockwise == true) backlash_comp(3,str_pt.xx,str_pt.yy,str_pt.zz);
if (quadrant_start == 1 && clockwise == false) backlash_comp(2,str_pt.xx,str_pt.yy,str_pt.zz);
if (quadrant_start == 2 && clockwise == false) backlash_comp(3,str_pt.xx,str_pt.yy,str_pt.zz);
if (quadrant_start == 3 && clockwise == false) backlash_comp(4,str_pt.xx,str_pt.yy,str_pt.zz);
if (quadrant_start == 4 && clockwise == false) backlash_comp(1,str_pt.xx,str_pt.yy,str_pt.zz);
writeBlock(gMotionModal.format(direction_circle),
xOutput.format(end_pt.xx),
yOutput.format(end_pt.yy),
zOutput.format(end_pt.zz),
iOutput.format(ctr_pt.xx-str_pt.xx,0),
jOutput.format(ctr_pt.yy-str_pt.yy,0),
kOutput.format(ctr_pt.zz-str_pt.zz,0),
feedOutput.format(feed));
// writeln("check_write");
}//↑同一象限内の移動
if(process_type_array[ki] =="start"){
//writeln("for start");
if (quadrant_start == 1 && clockwise == true) backlash_comp(4,str_pt.xx,str_pt.yy,str_pt.zz);
if (quadrant_start == 2 && clockwise == true) backlash_comp(1,str_pt.xx,str_pt.yy,str_pt.zz);
if (quadrant_start == 3 && clockwise == true) backlash_comp(2,str_pt.xx,str_pt.yy,str_pt.zz);
if (quadrant_start == 4 && clockwise == true) backlash_comp(3,str_pt.xx,str_pt.yy,str_pt.zz);
if (quadrant_start == 1 && clockwise == false) backlash_comp(2,str_pt.xx,str_pt.yy,str_pt.zz);
if (quadrant_start == 2 && clockwise == false) backlash_comp(3,str_pt.xx,str_pt.yy,str_pt.zz);
if (quadrant_start == 3 && clockwise == false) backlash_comp(4,str_pt.xx,str_pt.yy,str_pt.zz);
if (quadrant_start == 4 && clockwise == false) backlash_comp(1,str_pt.xx,str_pt.yy,str_pt.zz);
if(clockwise == true && quadrant_start ==1 && Math.abs(ctr_pt.xx-str_pt.xx)>0.001){
writeBlock(gMotionModal.format(direction_circle),
xOutput.format(ctr_pt.xx),
yOutput.format(ctr_pt.yy),
zOutput.format(ctr_pt.zz+pass_rad),
iOutput.format(ctr_pt.xx-str_pt.xx,0),
jOutput.format(ctr_pt.yy-str_pt.yy,0),
kOutput.format(ctr_pt.zz-str_pt.zz,0),
feedOutput.format(feed));
str_pt.xx = ctr_pt.xx;
str_pt.yy = ctr_pt.yy;
str_pt.zz = ctr_pt.zz+pass_rad;
}
if(clockwise == true && quadrant_start ==2 && Math.abs(ctr_pt.zz-str_pt.zz)>0.001){
writeBlock(gMotionModal.format(direction_circle),
xOutput.format(ctr_pt.xx+pass_rad),
yOutput.format(ctr_pt.yy),
zOutput.format(ctr_pt.zz),
iOutput.format(ctr_pt.xx-str_pt.xx,0),
jOutput.format(ctr_pt.yy-str_pt.yy,0),
kOutput.format(ctr_pt.zz-str_pt.zz,0),
feedOutput.format(feed));
str_pt.xx= (ctr_pt.xx+pass_rad);
str_pt.yy= (ctr_pt.yy);
str_pt.zz= (ctr_pt.zz);
}
if(clockwise == true && quadrant_start ==3 && Math.abs(ctr_pt.xx-str_pt.xx)>0.001){
writeBlock(gMotionModal.format(direction_circle),
xOutput.format(ctr_pt.xx),
yOutput.format(ctr_pt.yy),
zOutput.format(ctr_pt.zz-pass_rad),
iOutput.format(ctr_pt.xx-str_pt.xx,0),
jOutput.format(ctr_pt.yy-str_pt.yy,0),
kOutput.format(ctr_pt.zz-str_pt.zz,0),
feedOutput.format(feed));
str_pt.xx= (ctr_pt.xx);
str_pt.yy= (ctr_pt.yy);
str_pt.zz= (ctr_pt.zz-pass_rad);
}
if(clockwise == true && quadrant_start ==4 && Math.abs(ctr_pt.zz-str_pt.zz)>0.001){
writeBlock(gMotionModal.format(direction_circle),
xOutput.format(ctr_pt.xx-pass_rad),
yOutput.format(ctr_pt.yy),
zOutput.format(ctr_pt.zz),
iOutput.format(ctr_pt.xx-str_pt.xx,0),
jOutput.format(ctr_pt.yy-str_pt.yy,0),
kOutput.format(ctr_pt.zz-str_pt.zz,0),
feedOutput.format(feed));
str_pt.xx= (ctr_pt.xx-pass_rad);
str_pt.yy= (ctr_pt.yy);
str_pt.zz= (ctr_pt.zz);
}
if(clockwise == false && quadrant_start ==1 && Math.abs(ctr_pt.zz-str_pt.zz)>0.001){
writeBlock(gMotionModal.format(direction_circle),
xOutput.format(ctr_pt.xx+pass_rad),
yOutput.format(ctr_pt.yy),
zOutput.format(ctr_pt.zz),
iOutput.format(ctr_pt.xx-str_pt.xx,0),
jOutput.format(ctr_pt.yy-str_pt.yy,0),
kOutput.format(ctr_pt.zz-str_pt.zz,0),
feedOutput.format(feed));
str_pt.xx=ctr_pt.xx+pass_rad;
str_pt.yy=ctr_pt.yy;
str_pt.zz=ctr_pt.zz;
}
if(clockwise == false && quadrant_start ==2 && Math.abs(ctr_pt.xx-str_pt.xx)>0.001){
writeBlock(gMotionModal.format(direction_circle),
xOutput.format(ctr_pt.xx),
yOutput.format(ctr_pt.yy),
zOutput.format(ctr_pt.zz-pass_rad),
iOutput.format(ctr_pt.xx-str_pt.xx,0),
jOutput.format(ctr_pt.yy-str_pt.yy,0),
kOutput.format(ctr_pt.zz-str_pt.zz,0),
feedOutput.format(feed));
str_pt.xx=ctr_pt.xx;
str_pt.yy=ctr_pt.yy;
str_pt.zz=ctr_pt.zz-pass_rad;
}
if(clockwise == false && quadrant_start ==3 && Math.abs(ctr_pt.zz-str_pt.zz)>0.001){
writeBlock(gMotionModal.format(direction_circle),
xOutput.format(ctr_pt.xx-pass_rad),
yOutput.format(ctr_pt.yy),
zOutput.format(ctr_pt.zz),
iOutput.format(ctr_pt.xx-str_pt.xx,0),
jOutput.format(ctr_pt.yy-str_pt.yy,0),
kOutput.format(ctr_pt.zz-str_pt.zz,0),
feedOutput.format(feed));
str_pt.xx=(ctr_pt.xx-pass_rad);
str_pt.yy= (ctr_pt.yy);
str_pt.zz= (ctr_pt.zz);
}
if(clockwise == false && quadrant_start ==4 && Math.abs(ctr_pt.xx-str_pt.xx)>0.001){
writeBlock(gMotionModal.format(direction_circle),
xOutput.format(ctr_pt.xx),
yOutput.format(ctr_pt.yy),
zOutput.format(ctr_pt.zz+pass_rad),
iOutput.format(ctr_pt.xx-str_pt.xx,0),
jOutput.format(ctr_pt.yy-str_pt.yy,0),
kOutput.format(ctr_pt.zz-str_pt.zz,0),
feedOutput.format(feed));
str_pt.xx= (ctr_pt.xx);
str_pt.yy= (ctr_pt.yy);
str_pt.zz= (ctr_pt.zz+pass_rad);
}
}//↑異なる象限間の移動で最初のセクション
if(process_type_array[ki] =="mid"){
writeln("mid");
}//↑異なる象限間の移動で途中のセクション
if(process_type_array[ki] =="end"){
//writeln("for end");
if (quadrant_end == 1 && clockwise == true) backlash_comp(4,ctr_pt.xx+pass_rad,0,ctr_pt.zz);
if (quadrant_end == 2 && clockwise == true) backlash_comp(1,ctr_pt.xx,0,ctr_pt.zz-pass_rad);
if (quadrant_end == 3 && clockwise == true) backlash_comp(2,ctr_pt.xx-pass_rad,0,ctr_pt.zz);
if (quadrant_end == 4 && clockwise == true) backlash_comp(3,ctr_pt.xx,0,ctr_pt.zz+pass_rad);
if (quadrant_end == 1 && clockwise == false) backlash_comp(2,ctr_pt.xx,0,ctr_pt.zz+pass_rad);
if (quadrant_end == 2 && clockwise == false) backlash_comp(3,ctr_pt.xx+pass_rad,0,ctr_pt.zz);
if (quadrant_end == 3 && clockwise == false) backlash_comp(4,ctr_pt.xx,0,ctr_pt.zz-pass_rad);
if (quadrant_end == 4 && clockwise == false) backlash_comp(1,ctr_pt.xx-pass_rad,0,ctr_pt.zz);
if(clockwise == true && quadrant_end ==1 &&Math.abs(end_pt.zz-ctr_pt.zz)>0.001){
writeBlock(gMotionModal.format(direction_circle),
xOutput.format(end_pt.xx),
yOutput.format(end_pt.yy),
zOutput.format(end_pt.zz),
iOutput.format(-pass_rad,0),
jOutput.format(0,0),
kOutput.format(0,0),
feedOutput.format(feed));
}
if(clockwise == true && quadrant_end ==2 &&Math.abs(end_pt.xx-ctr_pt.xx)>0.001){
writeBlock(gMotionModal.format(direction_circle),
xOutput.format(end_pt.xx),
yOutput.format(end_pt.yy),
zOutput.format(end_pt.zz),
iOutput.format(0,0),
jOutput.format(0,0),
kOutput.format(pass_rad,0),
feedOutput.format(feed));
}
if(clockwise == true && quadrant_end ==3 &&Math.abs(end_pt.zz-ctr_pt.zz)>0.001){
writeBlock(gMotionModal.format(direction_circle),
xOutput.format(end_pt.xx),
yOutput.format(end_pt.yy),
zOutput.format(end_pt.zz),
iOutput.format(pass_rad,0),
jOutput.format(0,0),
kOutput.format(0,0),
feedOutput.format(feed));
}
if(clockwise == true && quadrant_end ==4 &&Math.abs(end_pt.xx-ctr_pt.xx)>0.001){
writeBlock(gMotionModal.format(direction_circle),
xOutput.format(end_pt.xx),
yOutput.format(end_pt.yy),
zOutput.format(end_pt.zz),
iOutput.format(0,0),
jOutput.format(0,0),
kOutput.format(-pass_rad,0),
feedOutput.format(feed));
}
if(clockwise == false && quadrant_end ==1 &&Math.abs(end_pt.xx-ctr_pt.xx)>0.001){
writeBlock(gMotionModal.format(direction_circle),
xOutput.format(end_pt.xx),
yOutput.format(end_pt.yy),
zOutput.format(end_pt.zz),
iOutput.format(0,0),
jOutput.format(0,0),
kOutput.format(-pass_rad,0),
feedOutput.format(feed));
}
if(clockwise == false && quadrant_end ==2 &&Math.abs(end_pt.zz-ctr_pt.zz)>0.001){
writeBlock(gMotionModal.format(direction_circle),
xOutput.format(end_pt.xx),
yOutput.format(end_pt.yy),
zOutput.format(end_pt.zz),
iOutput.format(-pass_rad,0),
jOutput.format(0,0),
kOutput.format(0,0),
feedOutput.format(feed));
}
if(clockwise == false && quadrant_end ==3 &&Math.abs(end_pt.xx-ctr_pt.xx)>0.001){
writeBlock(gMotionModal.format(direction_circle),
xOutput.format(end_pt.xx),
yOutput.format(end_pt.yy),
zOutput.format(end_pt.zz),
iOutput.format(0,0),
jOutput.format(0,0),
kOutput.format(pass_rad,0),
feedOutput.format(feed));
}
if(clockwise == false && quadrant_end ==4 &&Math.abs(end_pt.zz-ctr_pt.zz)>0.001){
writeBlock(gMotionModal.format(direction_circle),
xOutput.format(end_pt.xx),
yOutput.format(end_pt.yy),
zOutput.format(end_pt.zz),
iOutput.format(pass_rad,0),
jOutput.format(0,0),
kOutput.format(0,0),
feedOutput.format(feed));
}
}//↑異なる象限間の移動で最後のセクション
if(process_type_array[ki] =="no"){
}//作業完了後の処理なので何もしない。
}
}
function onCycle() {
writeln(";-------------------------------ONCycle");
writeln(";**********");
writeln("");
}
function getCommonCycle(x, y, z, r) {
writeln("-------------------------------getCommonCycle");
writeln(x);
writeln(y);
writeln(z);
writeln(r);
writeln("**********");
writeln("");
}
function onCyclePoint(x, y, z) {
writeln("-------------------------------oncyclepoint");
writeln(x);
writeln(y);
writeln(z);
writeln("**********");
writeln("");
}
function onCycleEnd() {
writeln("-------------------------------oncycleend");
writeln("**********");
writeln("");
}
var currentCoolantMode = COOLANT_OFF;
function setCoolant(coolant) {
writeln("-------------------------------setcoolant");
writeln(coolant);
writeln("**********");
writeln("");
}
function onCommand(command) {
writeln("-------------------------------oncommand");
writeln(command);
writeln("**********");
writeln("");
}
function engagePartCatcher(engage) {
writeln("-------------------------------engagePartCatcher");
writeln(engage);
writeln("**********");
writeln("");
}
function onSectionEnd() {
/*
writeln("-------------------------------ONSECTIONEND");
writeln("**********");
writeln("");
*/
}
function onClose() {
/*
writeln("-------------------------------ONCLOSE");
writeln("**********");
writeln("");
*/
}
