NX Fanuc Robot Post Output - Create Call for Inspection after each robotic move

# # FANUC RJ Post Processor - User Customization File # # This file can be used to: # - define addition user Post Configurator options (see Post Configurator doc) # - override the default motion instructions # # Version $Id: FANUC_RJ_user_custom.tcl,v 1.6 2019/10/18 15:56:28 mchoucroun Exp $ # #---------------------------------------------------------------------- proc FANUC_do_motion_template {sDefaultTemplate} { # This routine can be used to override the default motion instruction. # 'sDefaultTemplate': default block template to generate the motion line #---------------------------------------------------------------------- # default behaviour: run the target default block template return [MOM_do_template $sDefaultTemplate CREATE] } #---------------------------------------------------------------------- # CUSTOM ENTRY POINT PROCEDURES #---------------------------------------------------------------------- #---------------------------------------------------------------------- proc FANUC_start_of_program {position} { # Triggered during MOM_start_of_program_LIB # position: start, end #---------------------------------------------------------------------- } #---------------------------------------------------------------------- proc FANUC_end_of_program {position} { # Trigerred during MOM_end_of_program # position: start, end #---------------------------------------------------------------------- } #---------------------------------------------------------------------- proc FANUC_start_of_path {position} { # Triggered during MOM_start_of_path # position: start, end #---------------------------------------------------------------------- } #---------------------------------------------------------------------- proc FANUC_end_of_path {position} { # Triggered during MOM_end_of_path # position: start, end #---------------------------------------------------------------------- } #---------------------------------------------------------------------- proc FANUC_rapid_move {position} { # Triggered during MOM_rapid_move # position: start, end #---------------------------------------------------------------------- if { $position == "end" } { CALL_INSP } } #---------------------------------------------------------------------- proc FANUC_linear_move {position} { # Triggered during MOM_linear_move # position: start, end #---------------------------------------------------------------------- if { $position == "end" } { CALL_INSP } } #---------------------------------------------------------------------- proc FANUC_circular_move {position} { # Triggered during MOM_circular_move # position: start, end #---------------------------------------------------------------------- } #---------------------------------------------------------------------- proc FANUC_robot_pose_move {position} { # Triggered during MOM_robot_pose_move # position: start, end #---------------------------------------------------------------------- if { $position == "end" } { CALL_INSP } } #---------------------------------------------------------------------- proc FANUC_write_uframe {} { # This routine can be used to override the default writing of UFRAME_NUM. #---------------------------------------------------------------------- global fanuc_UFrameNumber return "UFRAME_NUM = $fanuc_UFrameNumber;" } #---------------------------------------------------------------------- proc FANUC_write_utool {} { # This routine can be used to override the default writing of UTOOL_NUM. #---------------------------------------------------------------------- global fanuc_UToolNumber return "UTOOL_NUM = $fanuc_UToolNumber;" } proc CALL_INSP { } { global insp_num global fanuc_sLineNumber set fanuc_sLineNumber [FANUC_format_line_number] global fanuc_lMotionLines #These lines are used to set the line number #set iLineNb [FANUC_format_line_number] if { [info exists insp_num] == 1 } { incr insp_num } else { set ::insp_num 1 } lappend fanuc_lMotionLines "$::fanuc_sLineNumber CALL INSPECT($insp_num);" }