02-16-2019, 09:59 PM(This post was last modified: 02-19-2019, 01:36 AM byrakshithb174.Edit Reason: Updated information
)
Hello,
I am working on a 3D printing project using ABB Robot. I have gone through the3D printing documentationabout how the post processor code can be modified to account for extrusion values. The documentation proposes analog output for extruder motor speed control. However, I am using Digital I/O of the IRC5 DeviceNet with some synchronization signals to achieve the material extrusion.I have already hooked up the necessary hardware andI know how to configure the I/O with ABB software.
I want to modify the post processor code (ABB_RAPID_IRC5.py) to include a specific set of commands around MoveL command ONLY when Extruder() function is called. So far, I have made the following changes:
Code:
def MoveL(self, pose, joints, conf_RLF=None): """Add a linear movement""" target = '' if pose is None: target = 'CalcRobT([%s,%s],%s,\WObj:=%s)' % (angles_2_str(joints), extaxes_2_str(joints), self.TOOLDATA, self.WOBJDATA) else: # Filter small movements #if self.LAST_POSE is not None and pose is not None: # # Skip adding a new movement if the new position is the same as the last one # if distance(pose.Pos(), self.LAST_POSE.Pos()) < 0.001 and pose_angle_between(pose, self.LAST_POSE) < 0.01: # return
# Handle 3D printing Extruder integration # self.new_move(pose) (disabled on purpose)
if conf_RLF is None: conf_RLF = [0,0,0] cf1 = 0 cf4 = 0 cf6 = 0 if joints is not None and len(joints) >= 6: cf1 = math.floor(joints[0]/90.0) cf4 = math.floor(joints[3]/90.0) cf6 = math.floor(joints[5]/90.0) [REAR, LOWERARM, FLIP] = conf_RLF cfx = 4*REAR + 2*LOWERARM + FLIP target = '[%s,[%i,%i,%i,%i],%s]' % (pose_2_str(pose), cf1, cf4, cf6,cfx, extaxes_2_str(joints))
When I make this modification, all MoveL commands are surrounded by the custom code lines like this:
Code:
custom code line 1 Custom code line 2 MoveL command custom code line 3
However, I want these custom code lines to be inserted forspecificMoveL commands that follow after Extruder() function call. For example, the following is the RAPID code generated by roboDK:
I want only the fist MoveL to be surrounded by the custom code lines and NOT the successive MoveL commands. Can anyone help me with modifying the post to achieve this?
PS: I am using an older version of ABB_RAPID_IRC5.py post file (not the new one where analog control is implemented; although I have access to that as well) since I need the exact E values from the slic3r ( not converted to ExtruderSpeed() function)
I'm just throwing an idea here. Couldn't you just create a flag (maybe a global variable) in your post processor that is initialized at FALSE and becomes TRUE when you enter the Extrude section of the post processor.
Then in your MoveL section you could adapt your code depending on the flag state.
Something like that :
Code:
if Flag_Extrude == True:
self.addline('custom code line 1') self.addline('custom code line 2') self.addline('MoveL %s,%s,%s,%s,\WObj:=%s;' % (target, self.SPEEDDATA, self.ZONEDATA, self.TOOLDATA, self.WOBJDATA)) self.addline('custom code line 3')
02-20-2019, 01:06 AM(这篇文章最后修改:02-20 -2019, 01:09 AM byrakshithb174.)
Hi Jeremy,
Thank for the suggestion.
I defined a global flag "EXTRUDE_ON" under the class RobotPost as follows:
Code:
class RobotPost(object): """Robot post object""" # ------------------------ Customize your post using the following variabl
# Extrude Flag EXTRUDE_ON = False
在这之后,我编辑了“RunCode”函数调用to set EXTRUDE_ON flag when Exrtruder() is received
Code:
def RunCode(self, code, is_function_call=False): """Adds code or a function call""" if is_function_call: code = code.replace(' ', '_') code_lower = code.lower()
if code_lower.startswith("extruder("): # Set Extruder flag true when Extruder call is intercepted self.EXTRUDE_ON = True
self.addline(code + ';') else: if code.startswith('END') or code.startswith('ELSEIF'): # remove tab after ENDWHILE or ENDIF self.TAB = self.TAB[:-len(ONETAB)]
# replace each tab by 2 spaces self.addline(code.replace('\t', ' '))
if code.startswith('IF ') or code.startswith( 'ELSEIF ') or code.startswith('WHILE '): # add tab (one tab = two spaces) self.TAB = self.TAB + ONETAB
Finally, I edited the MoveL function code to include custom lines only when EXTRUDE_ON flag is True
Code:
def MoveL(self, pose, joints, conf_RLF=None): """Add a linear movement""" target = '' if pose is None: target = r'CalcRobT([%s,%s],%s,\WObj:=%s)' % (angles_2_str( joints), extaxes_2_str(joints), self.TOOLDATA, self.WOBJDATA) else: # Filter small movements # if self.LAST_POSE is not None and pose is not None: # # Skip adding a new movement if the new position is the same as the last one # if distance(pose.Pos(), self.LAST_POSE.Pos()) < 0.001 and pose_angle_between(pose, self.LAST_POSE) < 0.01: # return
# Handle 3D printing Extruder integration # self.new_move(pose)
Am I missing anything here? There is a section at the end of the ABB_RAPID_IRC5.py to test the post. I added a simple extruder call to see if it gets picked up correctly:
Code:
ef test_post(): """Test the post with a basic program"""
When I run just the post file to check if the post processor code is working properly, I get following output:
Code:
ConfJ \On; ConfL \Off; ! Program generated by RoboDK 3.1.5 for ABB IRB 6700-155/2.85 on 18/05/2017 11:02:41 ! Using nominal kinematics. MoveAbsJ [[0.000000,3.939690,-14.734510,0.000000,14.386620,-0.000000],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v2000,z1,Tool1,\WObj:=ABBIRB6700155285Base; MoveAbsJ [[22.509530,5.585340,8.157170,67.511430,-24.426890,-64.062580],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v2000,z1,Tool1,\WObj:=ABBIRB6700155285Base; WaitTime 0.500; Extruder(0.800) MoveL [(2065.662, 1074.198, 1358.820), (0.03023582 0.26288229,-0.96431880,0.00824257],[0,0,-1,1],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]],v100,z1,Tool1,\WObj:=ABBIRB6700155285Base;
It looks like post is NOT picking up Extruder() calls? but the output file has (in)correctly added custom code lines. I am confused. Can you help with this?
Do you mean the output .MOD files using the modified post? I have included both output files from the original post and the modified post in the attachment.
Did you have a chance to check the modified post processor file? Let me know if you have any questions.
Also, do you have any documentation or source code on how robodk 3d printing project parses through gcode file generated by slic3r to create MoveL commands and configuration data (for ABB robot) within MoveL command?
