syil/PROTECTEDMOVE at main · toolpath/syil · GitHub

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// Copyright 2024 Toolpath Labs Inc., Justin Gray

// PROTECTED ABSOLUTE MOVE


// X #24-> ABSOLUTE X POSITION TO MOVE TO
// Y #25-> ABSOLUTE X POSITION TO MOVE TO
// Z #26-> ABSOLUTE X POSITION TO MOVE TO

// load probe config
G65 "PROBECONFIG"

M19 // ORIENT SPINDLE


#100 = @100               // TOOL NUMBER PROVIDED BY PROBECONFIG MACRO
#103 = @103               // FEED SPEED PROVIDED BY PROBECONFIG MACRO


#120=R_SYS_INFO[0,2] // CURRENT TOOL NUMBER

// NOTE: #0 IS ALWAYS VACANT, SO YOU CAN CHECK AGAINST IT TO SEE IF AN ARGUMENT WAS PASSED

G90
IF[#24==#0 && #25==#0 && #26!=#0] // Z ONLY
    G31 P2 Z[#26] F#103
ELSEIF[#24!=#0 && #25==#0 && #26==#0] // X ONLY
    G31 P2 X[#24] F#103
ELSEIF[#24==#0 && #25!=#0 && #26==#0] // Y ONLY
    G31 P2 Y[#25] F#103
ELSEIF[#24!=#0 && #25==#0 && #26!=#0] // X + Z
    G31 P2 X[#24] Z[#26] F#103
ELSEIF[#24==#0 && #25!=#0 && #26!=#0] // Y + Z
    G31 P2 Y[#25] Z[#26] F#103
ELSEIF[#24!=#0 && #25!=#0 && #26==#0] // X + Y
    G31 P2 X[#24] Y[#25] F#103
ELSEIF[#24!=#0 && #25!=#0 && #26!=#0] // X+ Y + Z
    G31 P2 X[#24] Y[#25] Z[#26] F#103
END_IF

// Error Checking
IF[R_SKIP[0,1] == 1]
    ALARM["ERROR:  PROTECTED MOVE TRIGGERED PROBE - UNEXPECTED OBSTACLE "]
END_IF
M20                             // UNLOCK SPINDLE ORIENTATION FOR SAFETY
M99