fanuc robodrill post how to add a rotary clamp and unclamp

[JOEWCG82]

Hello, 

I have a post that I got really close, but i am not sure how to add a unclamp(M111) before the "B"(rotary) axis position and a clamp (M111) after rotary position.  if someone one can point me in the right direction that would be helpful. 

[KrupalVala]

HI @JOEWCG82 ,

Please refer to the Syntec post processor, where you will find the 'useClampCodes' post properties. Additionally, take a look into the 'onCommand(command)' function, where we have added command cases for 'COMMAND_LOCK_MULTI_AXIS' and 'COMMAND_UNLOCK_MULTI_AXIS'. You can implement these in your post processor.

Thanks,

[JOEWCG82]

hello,

I finally had time to work on this post, when i added the 'COMMAND_LOCK_MULTI_AXIS' and 'COMMAND_UNLOCK_MULTI_AXIS'. to the post it becomes invailed. i attached the post can you let me know where i went wrong?

[KrupalVala · Accepted solution]

Hi @JOEWCG82 ,

Please define an mClampModal variable in your post processor as follows:

var mClampModal = createModalGroup(
  {strict:false},
  [
    [10, 11], // 4th axis clamp / unclamp
    [110, 111] // 5th axis clamp / unclamp
  ],
  mFormat
);

Remove the command from following location. There is no use of it.

Regarding the correction of the axis rotation direction,  B axis should rotate around the Y axis, you can update the axis parameter as follows: axis:[0, 1, 0],

Thanks,