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create KRL with template, simplify polygon again, general code improvement

master
Jörg Kurlbaum 3 years ago
parent
4a6b08035f
commit
0acecc16ad
6 changed files with 294 additions and 97 deletions
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  1. 9
      freecad/LaserCladdingWorkbench/commands.py
  2. 270
      freecad/LaserCladdingWorkbench/kuka.py
  3. 7
      freecad/LaserCladdingWorkbench/program.py
  4. 19
      freecad/LaserCladdingWorkbench/templates/lasercladding.dat
  5. 82
      freecad/LaserCladdingWorkbench/templates/lasercladding.src
  6. 4
      freecad/LaserCladdingWorkbench/utils.py

9
freecad/LaserCladdingWorkbench/commands.py
Unescape View File

@ -131,6 +131,7 @@ class LCSaveProg():
for pad in pads: for pad in pads:
# one pad with contours and hatchlines # one pad with contours and hatchlines
prog.create_layer()
for progpart in pad.Group: for progpart in pad.Group:
## jedes Contour oder Hatchline Feature ## jedes Contour oder Hatchline Feature
if re.match('Contour*', progpart.Name): if re.match('Contour*', progpart.Name):
@ -162,7 +163,13 @@ class LCSaveProg():
line.append(pose) line.append(pose)
prog.append_hatchline(line, progpart.pathtype) prog.append_hatchline(line, progpart.pathtype)
prog.save_prog(c.article, c.progpath) #prog.save_prog(c.article, c.progpath)
if c.templatename is None:
templatename = "lasercladding"
else:
templatename = c.templatename
prog.save_with_template(c.article, c.progpath, templatename)
App.ActiveDocument.recompute() App.ActiveDocument.recompute()

270
freecad/LaserCladdingWorkbench/kuka.py
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@ -4,22 +4,10 @@ import time
import Part import Part
import copy import copy
import os import os
import os.path
from jinja2 import Environment, FileSystemLoader
import io
TeachPointFold = """
;FOLD LIN P4 Vel= 0.2 m/s CPDAT1 Tool[1] Base[0];%{PE}%R 5.4.27,%MKUKATPBASIS,%CMOVE,%VLIN,%P 1:LIN, 2:P4, 3:, 5:0.2, 7:CPDAT1
$BWDSTART = FALSE
LDAT_ACT=LCPDAT1
FDAT_ACT=FP4
BAS(#CP_PARAMS,0.2)
LIN XP4
;ENDFOLD
"""
TeachPointDat = """
DECL E6POS XP4={X -25.1844196,Y 1122.42603,Z 1158.07996,A -14.3267002,B 0.537901878,C 179.028305,S 6,T 59,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP4={TOOL_NO 1,BASE_NO 0,IPO_FRAME #BASE,POINT2[] " "}
DECL LDAT LCPDAT1={VEL 2.0,ACC 100.0,APO_DIST 100.0,APO_FAC 50.0,ORI_TYP #VAR}
"""
header_src = """&ACCESS RVP header_src = """&ACCESS RVP
&REL 1 &REL 1
@ -27,22 +15,20 @@ header_src = """&ACCESS RVP
&PARAM EDITMASK = * &PARAM EDITMASK = *
""" """
ptp_fold = """;FOLD PTP xp1 Vel=100 % PDAT1 Tool[6]:laser6 Base[2]:Laser;%{PE}%R 8.2.24,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:xp1, 3:, 5:100, 7:PDAT1
$BWDSTART=FALSE
PDAT_ACT=PPDAT1
FDAT_ACT=Fxp1
BAS(#PTP_PARAMS,100)
PTP Xxp1
;ENDFOLD"""
z_up_pose = """{X 0.0, Y 0.0, Z 50.0, A 0.0, B 0.0, C 0.0, E1 0.0, E2 0.0}""" z_up_pose = """{X 0.0, Y 0.0, Z 50.0, A 0.0, B 0.0, C 0.0, E1 0.0, E2 0.0}"""
class Kuka_Layer:
def __init__(self):
self.contours = []
self.hatchlines = []
class Kuka_Prog: class Kuka_Prog:
def __init__(self): def __init__(self):
self.contour_path_list = [] # each layer is a tuple of Contours[] and Hatchlines[]
self.hatchlines_list = [] self.layers = []
self.current_layer = -1
# self.contour_path_list = []
# self.hatchlines_list = []
self.baseorigin = (0, 0, 0) self.baseorigin = (0, 0, 0)
self.tool = 6 self.tool = 6
self.base = 6 self.base = 6
@ -85,16 +71,23 @@ class Kuka_Prog:
else: else:
self.use_laser_out = self.laser_pilot_out self.use_laser_out = self.laser_pilot_out
def create_layer(self):
self.layers.append(Kuka_Layer())
self.current_layer += 1
return self.current_layer
def append_contour(self, poses, segmenttype='LIN'): def append_contour(self, poses, segmenttype='LIN'):
self.contour_path_list.append((poses, segmenttype)) layer = self.layers[self.current_layer]
layer.contours.append((poses, segmenttype))
def append_hatchline(self, line, segmenttype='LIN'): def append_hatchline(self, line, segmenttype='LIN'):
if not len(self.hatchlines_list): layer = self.layers[self.current_layer]
self.hatchlines_list.append((line, segmenttype)) if not len(layer.hatchlines):
layer.hatchlines.append((line, segmenttype))
# poses are sorted # poses are sorted
# but maybe we need to reverse # but maybe we need to reverse
# get the point distance from first and last pose # get the point distance from first and last pose
last, _ = self.hatchlines_list[-1] last, _ = layer.hatchlines[-1]
nfirst = line[0] nfirst = line[0]
nlast = line[-1] nlast = line[-1]
last = FreeCAD.Base.Vector(last[1].X, last[1].Y, last[1].Z) last = FreeCAD.Base.Vector(last[1].X, last[1].Y, last[1].Z)
@ -104,25 +97,7 @@ class Kuka_Prog:
dnf = last.distanceToPoint(nfirst) dnf = last.distanceToPoint(nfirst)
if dnl < dnf: if dnl < dnf:
line.reverse() line.reverse()
self.hatchlines_list.append((line, segmenttype)) layer.hatchlines.append((line, segmenttype))
def append_poses(self, poses):
if not len(self.pose_list):
self.pose_list.extend(poses)
# poses are sorted
# but maybe we need to reverse
# get the point distance from first and last pose
last = self.pose_list[-1]
nfirst = poses[0]
nlast = poses[-1]
last = FreeCAD.Base.Vector(last.X, last.Y, last.Z)
nlast = FreeCAD.Base.Vector(nlast.X, nlast.Y, nlast.Z)
nfirst = FreeCAD.Base.Vector(nfirst.X, nfirst.Y, nfirst.Z)
dnl = last.distanceToPoint(nlast)
dnf = last.distanceToPoint(nfirst)
if dnl < dnf:
poses.reverse()
self.pose_list.extend(poses)
def draw_wire(self, obj): def draw_wire(self, obj):
path = Part.makePolygon([FreeCAD.Base.Vector(p.X, p.Y, p.Z) for p in self.pose_list ]) path = Part.makePolygon([FreeCAD.Base.Vector(p.X, p.Y, p.Z) for p in self.pose_list ])
@ -134,6 +109,98 @@ class Kuka_Prog:
def get_vectors(self): def get_vectors(self):
return [FreeCAD.Base.Vector(p.X, p.Y, p.Z) for p in poses for poses in self.contour_path_list ] return [FreeCAD.Base.Vector(p.X, p.Y, p.Z) for p in poses for poses in self.contour_path_list ]
def save_with_template(self, article, path, templatename):
if self.simulation:
filename_src = "kvt_{}_sim.src".format(article)
filename_dat = "kvt_{}_sim.dat".format(article)
else:
filename_src = "kvt_{}.src".format(article)
filename_dat = "kvt_{}.dat".format(article)
user_dir = FreeCAD.getUserAppDataDir()
template_dir = os.path.join(user_dir, "Mod", "fc_lasercladding_wb", "freecad", "LaserCladdingWorkbench", "templates")
environment = Environment(loader=FileSystemLoader(template_dir))
template_src = environment.get_template(templatename+".src")
with io.StringIO("") as f:
for layer_idx, layer in enumerate(self.layers):
f.write(";- =============================\n")
f.write(";- Layer {}\n".format(layer_idx))
f.write(";- Contourpaths\n")
for contour_idx, (poses, seg_type) in enumerate(layer.contours):
f.write(";- Contourpath {}\n".format(contour_idx))
# start laser code
f.write(";- Move to pose up from contour start\n")
f.write("$VEL.CP = TRAVELSPEED ; m/s (vmax)\n")
f.write("LIN_REL {Z 90.0} C_VEL; relative 90mm up\n")
f.write("LIN refpose:{}:{} C_VEL; move to start point but save z distance\n".format(poses[0].translate_with(self.baseorigin).to_string(), z_up_pose))
if seg_type == 'LIN':
f.write("LIN refpose:{} C_VEL; GENERATED\n".format(poses[0].translate_with(self.baseorigin).to_string()))
f.write("TRIGGER WHEN DISTANCE=0 DELAY=0 DO $OUT[%d]=TRUE ; Turn on Laser at point\n" % self.use_laser_out)
f.write("$VEL.CP = WELDSPEED ; m/s ; m/s (vproc)\n")
for pose in poses[1:]:
f.write("LIN refpose:{} C_VEL; GENERATED\n".format(pose.translate_with(self.baseorigin).to_string()))
if seg_type == 'SPLINE':
f.write("SPLINE\n")
for pose in poses:
f.write(" SPL refpose:{} ; GENERATED\n".format(pose.translate_with(self.baseorigin).to_string()))
f.write("ENDSPLINE\n")
f.write(";- Turn off Laser\n")
f.write("$OUT[%d] = FALSE\n" % self.use_laser_out)
# end of subroutine
f.write(";- =============================\n")
f.write(";- Hatchlines\n")
f.write("$VEL.CP = TRAVELSPEED ; m/s ; m/s \n")
f.write("LIN_REL {Z 90.0} C_VEL; just move up \n")
(line, seg_type) = layer.hatchlines[0]
f.write("LIN refpose:{}:{} C_VEL; move to first hatch point but with z_up\n".format(line[0].translate_with(self.baseorigin).to_string(), z_up_pose))
for (line, seg_type) in layer.hatchlines:
# start laser code
f.write(";- Hatchline\n")
if seg_type == 'LIN':
f.write("$VEL.CP = TRAVELSPEED ;m/s \n")
f.write("LIN refpose:{} C_VEL; GENERATED\n".format(line[0].translate_with(self.baseorigin).to_string()))
f.write("TRIGGER WHEN DISTANCE=0 DELAY=0 DO $OUT[%d]=TRUE; Turn on Laser at point \n" % self.use_laser_out)
f.write("$VEL.CP = WELDSPEED ; m/s \n")
f.write("LIN refpose:{} C_VEL; GENERATED\n".format(line[1].translate_with(self.baseorigin).to_string()))
f.write("TRIGGER WHEN DISTANCE=0 DELAY=0 DO $OUT[%d]=FALSE; Turn off Laser at point\n" % self.use_laser_out)
f.write(";- ========= END LAYER =========\n")
f.write(";- =============================\n")
# end of subroutine
content = template_src.render(
artikel=article,
tool=self.tool,
base=self.base,
powder_out=self.powder_out,
inert_gas_out=self.inert_gas_out,
laser_out=self.use_laser_out,
laserpower=self.laser_power,
vproc=self.vproc,
vmax=self.vmax,
paths=f.getvalue()
)
# dat template
template_dat = environment.get_template(templatename+".dat")
datcontent = template_dat.render(
artikel=article
)
### Save the rendere template to output file
with open(filename_src, mode="w", encoding="utf-8") as message:
message.write(content)
print(f"... wrote {filename_src}")
with open(filename_dat, mode="w", encoding="utf-8") as message:
message.write(datcontent)
print(f"... wrote {filename_dat}")
def save_prog(self, article, path): def save_prog(self, article, path):
if self.simulation: if self.simulation:
filename = "kvt_{}_sim.src".format(article) filename = "kvt_{}_sim.src".format(article)
@ -148,6 +215,9 @@ class Kuka_Prog:
srcfile.write(";- " + time.asctime() + "\n\n") srcfile.write(";- " + time.asctime() + "\n\n")
# defining world and base # defining world and base
srcfile.write("E6POS startp\n") srcfile.write("E6POS startp\n")
srcfile.write("REAL WELDSPEED\n")
srcfile.write("REAL TRAVELSPEED\n")
srcfile.write("REAL LASERPOWER\n")
srcfile.write("E6POS point1\n") srcfile.write("E6POS point1\n")
# srcfile.write("DECL E6AXIS xp1={A1 -1.9, A2 -105.76, A3 79.97, A4 178.83, A5 -20.3, A6 -4.37, E1 -90, E2 0}\n") # srcfile.write("DECL E6AXIS xp1={A1 -1.9, A2 -105.76, A3 79.97, A4 178.83, A5 -20.3, A6 -4.37, E1 -90, E2 0}\n")
srcfile.write(";------------- definitions ------------\n") srcfile.write(";------------- definitions ------------\n")
@ -157,18 +227,27 @@ class Kuka_Prog:
srcfile.write("BAS (#BASE,%d) ;Initialicing the defaults for Vel and so on \n\n" % self.base) srcfile.write("BAS (#BASE,%d) ;Initialicing the defaults for Vel and so on \n\n" % self.base)
srcfile.write("PTP {A1 -33.31, A2 -104.71, A3 114.60, A4 282.66, A5 -39.21, A6 -104.87, E1 -90, E2 1.0}\n") srcfile.write("PTP {A1 -33.31, A2 -104.71, A3 114.60, A4 282.66, A5 -39.21, A6 -104.87, E1 -90, E2 1.0}\n")
srcfile.write("\n;------------- main part ------------\n") srcfile.write("\n;------------- main part ------------\n")
srcfile.write("startp=$POS_ACT\n")
#V = w.Velocity / 1000.0 # from mm/s to m/s #V = w.Velocity / 1000.0 # from mm/s to m/s
CDIS = 2.3 CDIS = 2.3
CVEL = 95.0 CVEL = 95.0
srcfile.write(";- Process Parameters (change here)\n")
srcfile.write("TRAVELSPEED = %f ; m/s\n" % self.vmax)
srcfile.write("WELDSPEED = %f ; m/s\n" % self.vproc)
srcfile.write("LASERPOWER = %f ; Set laser power\n" % self.laser_power)
srcfile.write(";- Movement paramters\n") #srcfile.write("; hier teach punkt eingeben\n;FOLD PTP P1 Vel=25 % PDAT1 Tool[2]:LASER Base[2]:Laser;%{PE}%R 8.2.24,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:25, 7:PDAT1\n$BWDSTART=FALSE\nPDAT_ACT=PPDAT1\nFDAT_ACT=FP1\nBAS(#PTP_PARAMS,25)\nPTP XP1\n;ENDFOLD\n")
srcfile.write("$VEL.CP = %f ; m/s ; m/s \n" % self.vmax)
srcfile.write("startp=$POS_ACT\n")
srcfile.write(";- Ab hier nicht mehr aendern!\n")
srcfile.write(";- Movement parameters\n")
srcfile.write("$VEL.CP = TRAVELSPEED\n")
srcfile.write("$APO.CDIS = %f ; mm \n" % CDIS) srcfile.write("$APO.CDIS = %f ; mm \n" % CDIS)
srcfile.write("$APO.CVEL = %f ; percent \n" % CVEL) srcfile.write("$APO.CVEL = %f ; percent \n" % CVEL)
srcfile.write(";- Input/Output settings\n") srcfile.write(";- Input/Output settings\n")
srcfile.write("$ANOUT[1] = %f ; Set laser power\n" % self.laser_power) srcfile.write("$ANOUT[1] = LASERPOWER ; Set laser power\n")
srcfile.write("$OUT[%d] = FALSE ; Set Laser off\n" % self.use_laser_out) # don't know but must be on srcfile.write("$OUT[%d] = FALSE ; Set Laser off\n" % self.use_laser_out) # don't know but must be on
if not self.simulation: if not self.simulation:
srcfile.write("$OUT[2] = TRUE ; Set Laser activation on\n") # don't know but must be on srcfile.write("$OUT[2] = TRUE ; Set Laser activation on\n") # don't know but must be on
@ -184,45 +263,52 @@ class Kuka_Prog:
srcfile.write("point1.T = startp.T\n") srcfile.write("point1.T = startp.T\n")
srcfile.write("LIN point1 C_VEL; GENERATED\n") srcfile.write("LIN point1 C_VEL; GENERATED\n")
srcfile.write("WAIT SEC 7.0\n") srcfile.write("WAIT SEC 7.0\n")
srcfile.write(";- Contourpaths\n") for layer_idx, layer in enumerate(self.layers):
for (poses, seg_type) in self.contour_path_list: srcfile.write(";- =============================\n")
# start laser code srcfile.write(";- Layer {}\n".format(layer_idx))
srcfile.write(";- Move to pose up from contour start\n") srcfile.write(";- Contourpaths\n")
srcfile.write("$VEL.CP = %f ; m/s ; m/s (vmax)\n" % self.vmax) for contour_idx, (poses, seg_type) in enumerate(layer.contours):
srcfile.write("LIN_REL {Z 90.0} C_VEL; relative 90mm up\n") srcfile.write(";- Contourpath {}\n".format(contour_idx))
srcfile.write("LIN {}:{} C_VEL; move to start point but save z distance\n".format(poses[0].translate_with(self.baseorigin).to_string(), z_up_pose)) # start laser code
if seg_type == 'LIN': srcfile.write(";- Move to pose up from contour start\n")
srcfile.write("LIN {} C_VEL; GENERATED\n".format(poses[0].translate_with(self.baseorigin).to_string())) srcfile.write("$VEL.CP = %f ; m/s ; m/s (vmax)\n" % self.vmax)
srcfile.write("TRIGGER WHEN DISTANCE=0 DELAY=0 DO $OUT[%d]=True ; Turn on Laser at point\n" % self.use_laser_out) srcfile.write("LIN_REL {Z 90.0} C_VEL; relative 90mm up\n")
srcfile.write("$VEL.CP = %f ; m/s ; m/s (vproc)\n" % self.vproc) srcfile.write("LIN {}:{} C_VEL; move to start point but save z distance\n".format(poses[0].translate_with(self.baseorigin).to_string(), z_up_pose))
for pose in poses[1:]: if seg_type == 'LIN':
srcfile.write("LIN {} C_VEL; GENERATED\n".format(pose.translate_with(self.baseorigin).to_string())) srcfile.write("LIN {} C_VEL; GENERATED\n".format(poses[0].translate_with(self.baseorigin).to_string()))
srcfile.write("TRIGGER WHEN DISTANCE=0 DELAY=0 DO $OUT[%d]=True ; Turn on Laser at point\n" % self.use_laser_out)
if seg_type == 'SPLINE': srcfile.write("$VEL.CP = %f ; m/s ; m/s (vproc)\n" % self.vproc)
srcfile.write("SPLINE\n") for pose in poses[1:]:
for pose in poses: srcfile.write("LIN {} C_VEL; GENERATED\n".format(pose.translate_with(self.baseorigin).to_string()))
srcfile.write(" SPL {} ; GENERATED\n".format(pose.translate_with(self.baseorigin).to_string()))
srcfile.write("ENDSPLINE\n") if seg_type == 'SPLINE':
srcfile.write("SPLINE\n")
srcfile.write(";- Turn off Laser\n") for pose in poses:
srcfile.write("$OUT[%d] = FALSE\n" % self.use_laser_out) srcfile.write(" SPL {} ; GENERATED\n".format(pose.translate_with(self.baseorigin).to_string()))
# end of subroutine srcfile.write("ENDSPLINE\n")
srcfile.write(";- Hatchlines\n") srcfile.write(";- Turn off Laser\n")
srcfile.write("$VEL.CP = %f ; m/s ; m/s \n" % self.vmax) srcfile.write("$OUT[%d] = FALSE\n" % self.use_laser_out)
srcfile.write("LIN_REL {Z 90.0} C_VEL; just move up \n") # end of subroutine
(line, seg_type) = self.hatchlines_list[0]
srcfile.write("LIN {}:{} C_VEL; move to first hatch point but with z_up\n".format(line[0].translate_with(self.baseorigin).to_string(), z_up_pose)) srcfile.write(";- =============================\n")
for (line, seg_type) in self.hatchlines_list: srcfile.write(";- Hatchlines\n")
# start laser code srcfile.write("$VEL.CP = %f ; m/s ; m/s \n" % self.vmax)
srcfile.write(";- Hatchline\n") srcfile.write("LIN_REL {Z 90.0} C_VEL; just move up \n")
if seg_type == 'LIN': (line, seg_type) = layer.hatchlines[0]
srcfile.write("$VEL.CP = %f ; m/s ; m/s \n" % self.vmax) srcfile.write("LIN {}:{} C_VEL; move to first hatch point but with z_up\n".format(line[0].translate_with(self.baseorigin).to_string(), z_up_pose))
srcfile.write("LIN {} C_VEL; GENERATED\n".format(line[0].translate_with(self.baseorigin).to_string())) for (line, seg_type) in layer.hatchlines:
srcfile.write("TRIGGER WHEN DISTANCE=0 DELAY=0 DO $OUT[%d]=True; Turn on Laser at point \n" % self.use_laser_out) # start laser code
srcfile.write("$VEL.CP = %f ; m/s ; m/s \n" % self.vproc) srcfile.write(";- Hatchline\n")
srcfile.write("LIN {} C_VEL; GENERATED\n".format(line[1].translate_with(self.baseorigin).to_string())) if seg_type == 'LIN':
srcfile.write("TRIGGER WHEN DISTANCE=0 DELAY=0 DO $OUT[%d]=FALSE; Turn off Laser at point\n" % self.use_laser_out) srcfile.write("$VEL.CP = %f ; m/s ; m/s \n" % self.vmax)
srcfile.write("LIN {} C_VEL; GENERATED\n".format(line[0].translate_with(self.baseorigin).to_string()))
srcfile.write("TRIGGER WHEN DISTANCE=0 DELAY=0 DO $OUT[%d]=True; Turn on Laser at point \n" % self.use_laser_out)
srcfile.write("$VEL.CP = %f ; m/s ; m/s \n" % self.vproc)
srcfile.write("LIN {} C_VEL; GENERATED\n".format(line[1].translate_with(self.baseorigin).to_string()))
srcfile.write("TRIGGER WHEN DISTANCE=0 DELAY=0 DO $OUT[%d]=FALSE; Turn off Laser at point\n" % self.use_laser_out)
srcfile.write(";- ========= END LAYER =========\n")
srcfile.write(";- =============================\n")
# end of subroutine # end of subroutine
srcfile.write("$OUT[%d] = FALSE; laser off\n" % self.use_laser_out) srcfile.write("$OUT[%d] = FALSE; laser off\n" % self.use_laser_out)
srcfile.write("$OUT[%d] = FALSE; powder off\n" % self.powder_out) srcfile.write("$OUT[%d] = FALSE; powder off\n" % self.powder_out)

7
freecad/LaserCladdingWorkbench/program.py
Unescape View File

@ -23,10 +23,10 @@ class LaserProgram:
obj.laser_real_out = 3 obj.laser_real_out = 3
obj.addProperty("App::PropertyInteger", "laser_gas_out", "Laser Parameter", "Laser inert gas") obj.addProperty("App::PropertyInteger", "laser_gas_out", "Laser Parameter", "Laser inert gas")
obj.laser_gas_out = 7 obj.laser_gas_out = 9
obj.addProperty("App::PropertyInteger", "laser_powder_out", "Laser Parameter", "Laser Powder Bucket") obj.addProperty("App::PropertyInteger", "laser_powder_out", "Laser Parameter", "Laser Powder Bucket")
obj.laser_powder_out = 9 obj.laser_powder_out = 7
obj.addProperty("App::PropertyFloat", "laser_feedrate", "Laser Parameter", "Process Velocity (Feedrate m/s)") obj.addProperty("App::PropertyFloat", "laser_feedrate", "Laser Parameter", "Process Velocity (Feedrate m/s)")
obj.laser_feedrate = 0.022500 obj.laser_feedrate = 0.022500
@ -49,6 +49,9 @@ class LaserProgram:
obj.addProperty("App::PropertyString", "article", "Export Parameters", "Article Number") obj.addProperty("App::PropertyString", "article", "Export Parameters", "Article Number")
obj.article = "0000000" obj.article = "0000000"
obj.addProperty("App::PropertyString", "templatename", "Export Parameters", "Template Filename")
obj.templatename = "lasercladding"
obj.addExtension("App::GroupExtensionPython") obj.addExtension("App::GroupExtensionPython")
obj.Proxy = self obj.Proxy = self

19
freecad/LaserCladdingWorkbench/templates/lasercladding.dat
Unescape View File

@ -0,0 +1,19 @@
&ACCESS RVO
&REL 47
&PARAM TEMPLATE = C:\KRC\Roboter\Template\ExpertVorgabe
&PARAM EDITMASK = *
DEFDAT kvt_{{artikel}} PUBLIC
;FOLD EXTERNAL DECLARATIONS;%{PE}%MKUKATPBASIS,%CEXT,%VCOMMON,%P
;FOLD BASISTECH EXT;%{PE}%MKUKATPBASIS,%CEXT,%VEXT,%P
DECL INT SUCCESS
;ENDFOLD (BASISTECH EXT)
;FOLD USER EXT;%{E}%MKUKATPUSER,%CEXT,%VEXT,%P
;Make your modifications here
;ENDFOLD (USER EXT)
;ENDFOLD (EXTERNAL DECLARATIONS)
DECL BASIS_SUGG_T LAST_BASIS={POINT1[] "P1 ",POINT2[] "P1 ",CP_PARAMS[] "CPDAT0 ",PTP_PARAMS[] "PDAT1 ",CONT[] " ",CP_VEL[] "2.0 ",PTP_VEL[] "100 ",SYNC_PARAMS[] "SYNCDAT ",SPL_NAME[] "S0 "}
DECL E6POS XP1={X 1007.93701,Y 220.6707,Z 616.796082,A -59.0254211,B -89.0309219,C -120.955002,S 6,T 27,E1 4.45351398E-05,E2 12600.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
DECL FDAT FP1={TOOL_NO 6,BASE_NO 6,IPO_FRAME #BASE,POINT2[] " ",TQ_STATE FALSE}
DECL PDAT PPDAT1={VEL 100.0,ACC 100.0,APO_DIST 100.0,GEAR_JERK 50.0}
ENDDAT

82
freecad/LaserCladdingWorkbench/templates/lasercladding.src
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@ -0,0 +1,82 @@
&ACCESS RVP
&REL 1
&PARAM TEMPLATE = C:\KRC\Roboter\Template\ExpertVorgabe
&PARAM EDITMASK = *
DEF kvt_{{artikel}}( )
;- Kuka src file, generated by FreeCAD LaserCladding WorkBench (by KVT)
E6POS refpose
E6POS pulverstart
REAL WELDSPEED
REAL TRAVELSPEED
REAL LASERPOWER
INT POWDEROUT
;------------- definitions ------------
EXT BAS (BAS_COMMAND :IN,REAL :IN ) ;set base to World
BAS (#INITMOV,0 ) ;Initialicing the defaults for Vel and so on
BAS (#TOOL,{{tool}}) ;Initialicing the defaults for Vel and so on
BAS (#BASE,{{base}}) ;Initialicing the defaults for Vel and so on
; Home Pos
PTP {A1 -33.31, A2 -104.71, A3 114.60, A4 282.66, A5 -39.21, A6 -104.87, E1 -90, E2 1.0}
; hier teach punkt eingeben
;FOLD PTP P1 Vel=25 % PDAT1 Tool[6]:LASER Base[6]:Laser;%{PE}%R 8.2.24,%MKUKATPBASIS,%CMOVE,%VPTP,%P 1:PTP, 2:P1, 3:, 5:25, 7:PDAT1
$BWDSTART=FALSE
PDAT_ACT=PPDAT1
FDAT_ACT=FP1
BAS(#PTP_PARAMS,25)
PTP XP1
;ENDFOLD
;------------- main part ------------
;- Process Parameters (change here)
TRAVELSPEED = {{vmax}} ; m/s
WELDSPEED = {{vproc}}; m/s
LASERPOWER = {{laserpower}} ; Set laser power
POWDEROUT = {{powder_out}}
;- Movement parameters
$VEL.CP = TRAVELSPEED ; m/s ; m/s
$APO.CDIS = 2.300000 ; mm
$APO.CVEL = 95.000000 ; percent
;- Input/Output settings
$ANOUT[1] = LASERPOWER ; Set laser power
$OUT[{{laser_out}}] = FALSE ; Set Laser off
$OUT[2] = TRUE ; Set Laser activation on
$OUT[POWDER_OUT] = FALSE ; Set powder on
$OUT[{{inert_gas_out}}] = FALSE ; Set inert gas on
;- Ab hier nicht mehr aendern!
;- Starting point
refpose=$POS_ACT
pulverstart = {X -110.0, Y 0.0, Z 0.0, A 0.0000, B 0.0000, C 0.0000, E1 0.0000, E2 0.0000}
pulverstart.S = refpose.S
pulverstart.T = refpose.T
LIN refpose:pulverstart C_VEL; GENERATED
WAIT SEC 7.0
$OUT[2] = TRUE ; Set Laser activation on
$OUT[POWDEROUT] = TRUE ; Set powder on
$OUT[{{inert_gas_out}}] = TRUE ; Set inert gas on
;- =============================
;- == generated poses ==
{{paths}}
;- =============================
$OUT[{{laser_out}}] = FALSE ; Set Laser off
$OUT[2] = FALSE ; Set Laser activation on
$OUT[POWDEROUT] = FALSE ; Set powder on
$OUT[{{inert_gas_out}}] = FALSE ; Set inert gas on
$VEL.CP = 0.100000 ; m/s ; m/s
;- Move to HOME position
PTP {A1 -33.31, A2 -104.71, A3 114.60, A4 282.66, A5 -39.21, A6 -104.87, E1 -90, E2 1.0}
;------------- end ------------
END

4
freecad/LaserCladdingWorkbench/utils.py
Unescape View File

@ -168,8 +168,8 @@ def create_contour_lines(geoms):
for geom in geoms: for geom in geoms:
if geom.type() == LayerGeometryType.Polygon: if geom.type() == LayerGeometryType.Polygon:
# print("Contour with {} coords".format(len(geom.coords))) # print("Contour with {} coords".format(len(geom.coords)))
#coords = rdp.rdp(geom.coords, epsilon=0.3, algo="iter", return_mask=False) coords = rdp.rdp(geom.coords, epsilon=0.2, algo="iter", return_mask=False)
#print("Simplfied Poly:", len(coords)) #print("Simplfied Poly:", len(coords))
pp = Part.makePolygon([App.Vector(x,y,0) for (x,y) in geom.coords]) pp = Part.makePolygon([App.Vector(x,y,0) for (x,y) in coords])
contours.append(pp) contours.append(pp)
return contours return contours

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