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- (info: Quadrilateral pocketing using cutter radius compensation)
- ; Use with care, test in simulator first.
- ; Notes:
- ; Defaults herein are inch based
- ; Uses tool diameter from tool table for cutter radius compensation
- ; Supports conventional or climb milling
- ; Ramps to depth for each z increment
- ; Mirror about x axis for negative scale
- ; Works for most rectangles and parallelograms but may require some care
- ; for specifying:
- ; point ordering (see entry move notes below)
- ; tool diameter (in tool table)
- ; stepover
- ; Entry moves:
- ; Input point ordering Requested Direction Entry line
- ; -------------------- ------------------------ ------------------
- ; 1234 == CW 2 == CW == Conventional point1 --> point2
- ; 1234 == CW 3 == CCW == Climb point1 --> point4
- ; 1234 == CCW 2 == CW == Conventional point1 --> point4
- ; 1234 == CCW 3 == CCW == Climb point1 --> point2
- ; To accomodate the widest range of tool diameters, order the point sequence
- ; (1234) so that the entry move is not directed towards an acute angle.
- ; Scaling, rotations, and offsets are supported.
- ; Scaling is applied first.
- ; Rotation is then applied (with respect to origin). It is often simplest
- ; to specify the feature so that it is centered at the origin.
- ; Offsets are applied last.
- ;----------------------------------------------------------------------
- ; Copyright: 2012
- ; Author: Dewey Garrett <dgarrett@panix.com>
- ;
- ; This program is free software; you can redistribute it and/or modify
- ; it under the terms of the GNU General Public License as published by
- ; the Free Software Foundation; either version 2 of the License, or
- ; (at your option) any later version.
- ;
- ; This program 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 General Public License for more details.
- ;
- ; You should have received a copy of the GNU General Public License
- ; along with this program; if not, write to the Free Software
- ; Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- ;----------------------------------------------------------------------
- o<qpocket> sub
- #<toolno> = #1 (=1)
- #<rpm> = #2 (=1000)
- #<dir> = #3 (=2 2conv|3climb) ; conventional=cw, climb=ccw
- #<feedrate> = #4 (=10)
- #<cutdepth> = #5 (=0.1)
- #<zincr> = #6 (=0.02)
- #<zsafe> = #7 (=0.2)
- #<zstart> = #8 (=0)
- #<x1> = #9
- #<y1> = #10
- #<x2> = #11
- #<y2> = #12
- #<x3> = #13
- #<y3> = #14
- #<x4> = #15
- #<y4> = #16
- #<scale> = #17 (=1) ; use neg value for mirroring
- #<rotate> = #18 (=0) ; angle in degrees
- #<xoff> = #19 (=0)
- #<yoff> = #20 (=0)
- #<stepover> = #21 (=0.5) ; tooldiameter fraction
- #<g64tol> = #22 (=0.002)
- #<spin_notify> = #23 (=1) ; 1 == prompt user
- #<verbose> = #24 (=0)
- #<depthpasslimit> = 100 ; outer loop
- #<outlinepasslimit> = 100 ; inner loop
- #<tdelta> = 0.0001 ; small increment to tool diameter
- #<cutdepth> = [0 - #<cutdepth>]
- #<zincr> = [0 - #<zincr>]
- g40 ; make sure cutter radius compensation off at start
- g64 p #<g64tol> ; path tolerance
- o<if10> if [#<scale> EQ 0]
- (print, qpocket: zero scale #<scale> - EXITING)
- (debug, qpocket: zero scale #<scale> - EXITING)
- (AXIS,notify, qpocket: zero scale - EXITING)
- m2
- o<if10> endif
- o<if11> if [#<scale> LT 0]
- (print, qpocket: MIRROR about x axis for negative scale #<scale>)
- (debug, qpocket: MIRROR about x axis for negative scale #<scale>)
- (AXIS,notify, qpocket: MIRROR about x axis for negative scale)
- o<if11> endif
- #<x1> = [#<scale> * #<x1>]
- #<x2> = [#<scale> * #<x2>]
- #<x3> = [#<scale> * #<x3>]
- #<x4> = [#<scale> * #<x4>]
- #<scale> = [ABS[#<scale>]]
- #<y1> = [#<scale> * #<y1>]
- #<y2> = [#<scale> * #<y2>]
- #<y3> = [#<scale> * #<y3>]
- #<y4> = [#<scale> * #<y4>]
- #<scale> = 1
- o<if20> if [[#<stepover> GT 1] OR [#<stepover> LE 0]]
- (print, qpocket: invalid stepover=#<stepover> - EXITING)
- (debug, qpocket: invalid stepover=#<stepover> - EXITING)
- (AXIS,notify, qpocket: invalid stepover - EXITING)
- m2
- o<if20> endif
- o<if30> if [[#<dir> NE 2] AND [#<dir> NE 3]]
- (print, qpocket:bad dir=#<dir> - EXITING)
- (debug, qpocket:bad dir=#<dir> - EXITING)
- (AXIS,notify, qpocket:bad dir - EXITING)
- m2
- o<if30> endif
- ;compute direction eg 2==cw,3==ccw for points as ordered:
- o<dir> call [4][#<x1>][#<y1>][#<x2>][#<y2>][#<x3>][#<y3>][#<x4>][#<y4>]
- #<pointsdir> = #<_dir:> ; direction of input points 2==cw
- #<xctr> = #<_dir:cx> ; centroid
- #<yctr> = #<_dir:cy> ; centroid
- o<ifdir1> if [#<pointsdir> LE 0]
- ; failed to get direction -- pathological case
- (print, failed to compute direction - EXITING)
- (debug, failed to compute direction - EXITING)
- (AXIS,notify, failed to compute direction - EXITING)
- m2
- o<ifdir1> endif
- ; Get data for x,y points
- #<npoints> = 4
- o<pointsdata> call [#<npoints>] [#<x1>][#<x2>][#<x3>][#<x4>]
- #<xc> = #<_pointsdata:ctr>
- #<xmin> = [#<_pointsdata:min> - #<xctr>]
- #<xmax> = [#<_pointsdata:max> - #<xctr>]
- o<pointsdata> call [#<npoints>] [#<y1>][#<y2>][#<y3>][#<y4>]
- #<yc> = #<_pointsdata:ctr>
- #<ymin> = [#<_pointsdata:min> - #<yctr>]
- #<ymax> = [#<_pointsdata:max> - #<yctr>]
- ; Respecify input points about the x,y centroid
- o<ifv0> if [#<verbose> GT 0]
- (debug, centroid: #<xctr> #<yctr>)
- o<ifv0> endif
- #<x1> = [#<x1> - #<xctr>]
- #<x2> = [#<x2> - #<xctr>]
- #<x3> = [#<x3> - #<xctr>]
- #<x4> = [#<x4> - #<xctr>]
- #<y1> = [#<y1> - #<yctr>]
- #<y2> = [#<y2> - #<yctr>]
- #<y3> = [#<y3> - #<yctr>]
- #<y4> = [#<y4> - #<yctr>]
- ; make order of points agree with input direction request
- o<if40> if [#<pointsdir> NE #<dir>]
- o<ifv1> if [#<verbose> GT 0]
- (debug, reversing input point sequence: 1-4-3-2)
- o<ifv1> endif
- ; swap points ordering: 1234 --> 1432
- #<xt> = #<x2>
- #<yt> = #<y2>
- #<x2> = #<x4>
- #<y2> = #<y4>
- #<x4> = #<xt>
- #<y4> = #<yt>
- o<if40> endif
- ; determine min size for first outline pass
- o<if50> if [[#<xmax>-#<xmin>] GT [#<ymax>-#<ymin>]]
- #<minor> = [ABS[#<ymax>-#<ymin>]/2]
- o<if50> else
- #<minor> = [ABS[#<xmax>-#<xmin>]/2]
- o<if50> endif
- ; load tool and establish scaling for first outline pass
- o<loadtool> call [#<toolno>]
- #<thetooldiam> = #5410
- #<tooldiam> = [#5410 + #<tdelta>]
- #<r> = [#<tooldiam> / 2]
- #<sizei> = [#<tooldiam> / #<minor>]
- #<qscalei> = [#<scale> * #<sizei>]
- o<ifsc> if [#<qscalei> GE #<scale>]
- (print, qpocket: tooldiam is too big #<thetooldiam> - EXITING)
- (debug, qpocket: tooldiam is too big #<thetooldiam> - EXITING)
- (AXIS,notify, qpocket: tooldiam is too big - EXITING)
- m2
- o<ifsc> endif
- ; scale the centered feature and translate to original position
- o<move> call [#<x1>][#<y1>][0][#<qscalei>][#<xctr>][#<yctr>]
- #<x1i> = #<_move:x>
- #<y1i> = #<_move:y>
- o<move> call [#<x2>][#<y2>][0][#<qscalei>][#<xctr>][#<yctr>]
- #<x2i> = #<_move:x>
- #<y2i> = #<_move:y>
- o<move> call [#<x3>][#<y3>][0][#<qscalei>][#<xctr>][#<yctr>]
- #<x3i> = #<_move:x>
- #<y3i> = #<_move:y>
- o<move> call [#<x4>][#<y4>][0][#<qscalei>][#<xctr>][#<yctr>]
- #<x4i> = #<_move:x>
- #<y4i> = #<_move:y>
- ; xni,yni are the initial points at the smallest scaling
- ; apply input rotation and offset
- o<move> call [#<x1i>][#<y1i>][#<rotate>][1][#<xoff>][#<yoff>]
- #<x1i> = #<_move:x>
- #<y1i> = #<_move:y>
- o<move> call [#<x2i>][#<y2i>][#<rotate>][1][#<xoff>][#<yoff>]
- #<x2i> = #<_move:x>
- #<y2i> = #<_move:y>
- o<move> call [#<x3i>][#<y3i>][#<rotate>][1][#<xoff>][#<yoff>]
- #<x3i> = #<_move:x>
- #<y3i> = #<_move:y>
- o<move> call [#<x4i>][#<y4i>][#<rotate>][1][#<xoff>][#<yoff>]
- #<x4i> = #<_move:x>
- #<y4i> = #<_move:y>
- ;get angles for connecting lines
- o<line> call [#<x1i>][#<y1i>][#<x2i>][#<y2i>]
- #<cos12> = #<_line:cos>
- #<sin12> = #<_line:sin>
- o<line> call [#<x2i>][#<y2i>][#<x3i>][#<y3i>]
- #<cos23> = #<_line:cos>
- #<sin23> = #<_line:sin>
- o<line> call [#<x3i>][#<y3i>][#<x4i>][#<y4i>]
- #<cos34> = #<_line:cos>
- #<sin34> = #<_line:sin>
- o<line> call [#<x4i>][#<y4i>][#<x1i>][#<y1i>]
- #<cos41> = #<_line:cos>
- #<sin41> = #<_line:sin>
- ;compute angles at line interesctions:
- o<dot> call [#<x1i>][#<y1i>][#<x2i>][#<y2i>][#<x3i>][#<y3i>]
- #<ang123> = #<_dot:ang>
- o<dot> call [#<x2i>][#<y2i>][#<x3i>][#<y3i>][#<x4i>][#<y4i>]
- #<ang234> = #<_dot:ang>
- o<dot> call [#<x3i>][#<y3i>][#<x4i>][#<y4i>][#<x1i>][#<y1i>]
- #<ang341> = #<_dot:ang>
- o<dot> call [#<x4i>][#<y4i>][#<x1i>][#<y1i>][#<x2i>][#<y2i>]
- #<ang412> = #<_dot:ang>
- f #<feedrate>
- s #<rpm> m3 ;spindle cw
- o<if60> if [#<spin_notify> GT 0]
- o<spin> call [#<rpm>] ; optionally prompt user
- o<if60> endif
- g0 z#<zsafe>
- ; depth loop (outer)
- #<zcurrent> = #<zstart>
- #<depthpass> = 1
- o<wh10> while [#<zcurrent> GT #<cutdepth>]
- #<zlast> = #<zcurrent>
- #<zcurrent> = [#<zcurrent> + #<zincr>]
- o<wh11> if [#<zcurrent> LT #<cutdepth>]
- #<zcurrent> = #<cutdepth>
- o<wh11> endif
- o<wh12> if [#<depthpass> GT #<depthpasslimit>]
- (print, qpocket: depthpasslimit exceeded #<depthpasslimit> - EXITING)
- (debug, qpocket: depthpasslimit exceeded #<depthpasslimit> - EXITING)
- (AXIS,notify, qpocket: depthpasslimit exceeded - EXITING)
- m2
- o<wh12> endif
- o<pas1> if [#<depthpass> EQ 1]
- ;entry point:
- ;go along the 1-->2 line to enter at a point where tool will fit
- #<elen12> = [ #<r> / [TAN[#<ang412>/2]]]
- #<k12> = [#<elen12> / #<r>]
- ;(print, entry 12 k=#<k12> elen12=#<elen12> angle=#<angle>)
- #<xentry> = [#<x1i> + #<elen12> * #<cos12>]
- #<yentry> = [#<y1i> + #<elen12> * #<sin12>]
- ;compute pre-entry points:
- o<dir00> if [#<dir> EQ 2] ; dir EQ 2 CW (conventional)
- #<prex2> = [#<xentry> + #<r> * #<sin12> - #<r> * #<cos12>]
- #<prey2> = [#<yentry> - #<r> * #<cos12> - #<r> * #<sin12>]
- #<prex1> = [#<prex2> + #<r> * #<cos12>]
- #<prey1> = [#<prey2> + #<r> * #<sin12>]
- #<vx> = [ #<r> * #<cos12>]
- #<vy> = [ #<r> * #<sin12>]
- o<dir00> else ;dir EQ 3 CCW (climb)
- #<prex2> = [#<xentry> - #<r> * #<sin12> - #<r> * #<cos12>]
- #<prey2> = [#<yentry> + #<r> * #<cos12> - #<r> * #<sin12>]
- #<prex1> = [#<prex2> + #<r> * #<cos12>]
- #<prey1> = [#<prey2> + #<r> * #<sin12>]
- #<vx> = [ #<r> * #<cos12>]
- #<vy> = [ #<r> * #<sin12>]
- o<dir00> endif
- g0 x #<prex1> y #<prey1> ;preentry 1
- g0 x #<prex2> y #<prey2> ;preentry 2
- o<dir10> if [#<dir> EQ 2] ; CW
- / g42 ;cutter radius comp right of path
- g2 x #<xentry> y #<yentry> i #<vx> j #<vy> ;arc entry
- o<dir10> else ;dir EQ 3 CCW
- / g41 ;cutter radius comp left of path
- g3 x #<xentry> y #<yentry> i #<vx> j #<vy> ;arc entry
- o<dir10> endif
- g1 z #<zstart> ;plunge to start height from zsafe
- o<pas1> else
- ; depthpass GT 1: return to interior entry point
- g1 x #<xentry> y #<yentry> z#<zlast> ; use zlast
- o<pas1> endif
- ; outline loop (inner)
- #<outlinepass> = 1
- #<qscale> = #<qscalei>
- #<size> = #<sizei>
- o<wh20> do
- o<wh22> if [#<outlinepass> GT #<outlinepasslimit>]
- (print, qpocket: outlinepasslimit exceeded #<outlinepasslimit> - EXITING)
- (debug, qpocket: outlinepasslimit exceeded #<outlinepasslimit> - EXITING)
- (AXIS,notify,qpocket: outlinepasslimit exceeded - EXITING)
- m2
- o<wh22> endif
- #<seq> = [#<outlinepass> mod 4]
- o<wh23> if [#<outlinepass> EQ 1]
- ; move through smallest interior outline
- g1 x #<x2i> y #<y2i> z#<zcurrent> ;ramp down to zcurrent
- x #<x3i> y #<y3i>
- x #<x4i> y #<y4i>
- x #<x1i> y #<y1i>
- x #<x2i> y #<y2i>
- #<outlinepass> = [#<outlinepass> + 1]
- o<wh23> else
- ; increasingly larger outlines
- #<size> = [#<size> + #<stepover> * #<tooldiam>]
- #<qscale> = [#<scale> * #<size>]
- #<outlinepass> = [#<outlinepass> + 1]
- o<wh24> if [#<qscale> GE #<scale>]
- #<qscale> = #<scale>
- #<outlinepass> = 0 ;terminate after this pass
- o<wh24> endif
- ; scale the centered feature and translate to original position
- o<move> call [#<x1>][#<y1>][0][#<qscale>][#<xctr>][#<yctr>]
- #<x1t> = #<_move:x>
- #<y1t> = #<_move:y>
- o<move> call [#<x2>][#<y2>][0][#<qscale>][#<xctr>][#<yctr>]
- #<x2t> = #<_move:x>
- #<y2t> = #<_move:y>
- o<move> call [#<x3>][#<y3>][0][#<qscale>][#<xctr>][#<yctr>]
- #<x3t> = #<_move:x>
- #<y3t> = #<_move:y>
- o<move> call [#<x4>][#<y4>][0][#<qscale>][#<xctr>][#<yctr>]
- #<x4t> = #<_move:x>
- #<y4t> = #<_move:y>
- ; apply input rotation and offset
- o<move> call [#<x1t>][#<y1t>][#<rotate>][1][#<xoff>][#<yoff>]
- #<x1s> = #<_move:x>
- #<y1s> = #<_move:y>
- o<move> call [#<x2t>][#<y2t>][#<rotate>][1][#<xoff>][#<yoff>]
- #<x2s> = #<_move:x>
- #<y2s> = #<_move:y>
- o<move> call [#<x3t>][#<y3t>][#<rotate>][1][#<xoff>][#<yoff>]
- #<x3s> = #<_move:x>
- #<y3s> = #<_move:y>
- o<move> call [#<x4t>][#<y4t>][#<rotate>][1][#<xoff>][#<yoff>]
- #<x4s> = #<_move:x>
- #<y4s> = #<_move:y>
- ; move through scaled interior outline
- o<seq0> if [#<seq> EQ 0]
- g1 x #<x1s> y #<y1s> z #<zcurrent>
- x #<x2s> y #<y2s>
- x #<x3s> y #<y3s>
- x #<x4s> y #<y4s>
- x #<x1s> y #<y1s>
- o<seq0> endif
- o<seq1> if [#<seq> EQ 1]
- g1 x #<x2s> y #<y2s> z #<zcurrent>
- x #<x3s> y #<y3s>
- x #<x4s> y #<y4s>
- x #<x1s> y #<y1s>
- x #<x2s> y #<y2s>
- o<seq1> endif
- o<seq2> if [#<seq> EQ 2]
- g1 x #<x3s> y #<y3s> z #<zcurrent>
- x #<x4s> y #<y4s>
- x #<x1s> y #<y1s>
- x #<x2s> y #<y2s>
- x #<x3s> y #<y3s>
- o<seq2> endif
- o<seq3> if [#<seq> EQ 3]
- g1 x #<x4s> y #<y4s> z #<zcurrent>
- x #<x1s> y #<y1s>
- x #<x2s> y #<y2s>
- x #<x3s> y #<y3s>
- x #<x4s> y #<y4s>
- o<seq3> endif
- o<wh23> endif
- o<wh20> while [#<outlinepass> GT 0]
- #<depthpass> = [#<depthpass> + 1]
- o<wh10> endwhile
- ; after finishing at input scale, need to turn corner
- ; and go along the next line enough to turn off compensation
- o<fin0> if [#<seq> EQ 0] ;end at pt 1
- #<xfinal_a> = #<x1s>
- #<yfinal_a> = #<y1s>
- #<elen12> = [#<r> / [TAN[#<ang412>/2]]]
- #<xfinal_b> = [#<x1s> + #<elen12> * #<cos12>]
- #<yfinal_b> = [#<y1s> + #<elen12> * #<sin12>]
- o<fin0> endif
- o<fin1> if [#<seq> EQ 1] ;end at pt 2
- #<xfinal_a> = #<x2s>
- #<yfinal_a> = #<y2s>
- #<elen23> = [#<r> / [TAN[#<ang123>/2]]]
- #<xfinal_b> = [#<x2s> + #<elen23> * #<cos23>]
- #<yfinal_b> = [#<y2s> + #<elen23> * #<sin23>]
- o<fin1> endif
- o<fin2> if [#<seq> EQ 2] ;end at pt 3
- #<xfinal_a> = #<x3s>
- #<yfinal_a> = #<y3s>
- #<elen34> = [#<r> / [TAN[#<ang234>/2]]]
- #<xfinal_b> = [#<x3s> + #<elen34> * #<cos34>]
- #<yfinal_b> = [#<y3s> + #<elen34> * #<sin34>]
- o<fin2> endif
- o<fin3> if [#<seq> EQ 3] ;end at pt 4
- #<xfinal_a> = #<x4s>
- #<yfinal_a> = #<y4s>
- #<elen41> = [#<r> / [TAN[#<ang341>/2]]]
- #<xfinal_b> = [#<x4s> + #<elen41> * #<cos41>]
- #<yfinal_b> = [#<y4s> + #<elen41> * #<sin41>]
- o<fin3> endif
- g1 x #<xfinal_a> y #<yfinal_a>
- g1 x #<xfinal_b> y #<yfinal_b>
- g0 z #<zsafe>
- g40 ;cutter radius compensation off
- o<qpocket> endsub
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