Post processor for Universal Robot UR10

[Anonymous]

Hello!

I'm trying to modify Mach3 post processor for Universal Robot UR10, 6-axis robot.

Just want to try out some 3D-milling with it.

Currently just 3-axis post is enough for me.

The robot itself can calculate joint positions(6-axis) according to xyz orientation.

So, I already got it working - by heavily modifying the g-code manually.

The largest to-do afterwards work is to repeat unchanged axis positions. I'll show an example so its easier to understand.

After post processor:

Z15

X100 Y300

Z0

What I would like it to look like is:

X*** Y*** Z15

X100 Y300 Z15

X100 Y300 Z0

So, even when the axis are unchanged it would still write them down.

Of course it wouldnt know the positions in very first lines, before those get changed.

Does anyone know how to modify post processor according to this ?

Thank you!

[LibertyMachine · Accepted solution]

In your Post Procesor, find these lines:

var xOutput = createVariable({prefix:"X"}, xyzFormat);
var yOutput = createVariable({prefix:"Y"}, xyzFormat);
var zOutput = createVariable({prefix:"Z"}, xyzFormat);

And change to this:

var xOutput = createVariable({prefix:"X", force:true}, xyzFormat);
var yOutput = createVariable({prefix:"Y", force:true}, xyzFormat);
var zOutput = createVariable({prefix:"Z", force:true}, xyzFormat);

If memory serves, that should do the trick

[Anonymous]

Works perfectly, thank you!