smoothie-WLPC-AUG15.cps

/**
  Copyright (C) 2012-2015 by Autodesk, Inc.
  All rights reserved.

  Smoothie post processor configuration.

  $Revision: 39490 $
  $Date: 2015-08-28 13:42:12 +0200 (fr, 28 aug 2015) $
  
  FORKID {82D71B92-0A11-49F9-B9EA-7E75CE9DA459}
*/

description = "Generic Smoothie Mill/Laser";
vendor = "Autodesk, Inc.";
vendorUrl = "http://www.autodesk.com";
legal = "Copyright (C) 2012-2015 by Autodesk, Inc.";
certificationLevel = 2;
minimumRevision = 24000;

extension = "nc";
setCodePage("ascii");

capabilities = CAPABILITY_MILLING | CAPABILITY_JET;
tolerance = spatial(0.002, MM);

minimumChordLength = spatial(0.01, MM);
minimumCircularRadius = spatial(0.01, MM);
maximumCircularRadius = spatial(1000, MM);
minimumCircularSweep = toRad(0.01);
maximumCircularSweep = toRad(180);
allowHelicalMoves = true;
allowedCircularPlanes = undefined; // allow any circular motion
highFeedrate = (unit == IN) ? 100 : 1000;



// user-defined properties
properties = {
  writeMachine: true, // write machine
  writeTools: true, // writes the tools
  showSequenceNumbers: false, // show sequence numbers
  sequenceNumberStart: 10, // first sequence number
  sequenceNumberIncrement: 1, // increment for sequence numbers
  separateWordsWithSpace: true, // specifies that the words should be separated with a white space
  useCycles: true, // output canned cycles G81/G82/G83
  laserToolNumber: 1, // the tool number to use for laser cutting
  laserEtchPower: 0.1, // the laser etching power
  laserPower: 1, // laser cutting power
  useLaserM3M5: true // activate/deactivate laser using M3/M5
};

var numberOfToolSlots = 9999;



var mapCoolantTable = new Table(
  [107, 106, 106, 106, 106, 106, 106, 106, 106],
  {initial:COOLANT_OFF, force:true},
  "Invalid coolant mode"
);

var gFormat = createFormat({prefix:"G", decimals:0});
var mFormat = createFormat({prefix:"M", decimals:0});

var xyzFormat = createFormat({decimals:(unit == MM ? 3 : 4)});
var feedFormat = createFormat({decimals:(unit == MM ? 2 : 3)});
var toolFormat = createFormat({decimals:0});
var rpmFormat = createFormat({decimals:0});
var powerFormat = createFormat({decimals:2});
var secFormat = createFormat({decimals:3, forceDecimal:true}); // seconds - range 0.001-1000
var taperFormat = createFormat({decimals:1, scale:DEG});

var xOutput = createVariable({prefix:"X"}, xyzFormat);
var yOutput = createVariable({prefix:"Y"}, xyzFormat);
var zOutput = createVariable({prefix:"Z"}, xyzFormat);
var feedOutput = createVariable({prefix:"F"}, feedFormat);
var sOutput = createVariable({prefix:"S", force:false}, rpmFormat);
var powerOutput = createVariable({prefix:"S", force:false}, powerFormat);

// circular output
var iOutput = createReferenceVariable({prefix:"I"}, xyzFormat);
var jOutput = createReferenceVariable({prefix:"J"}, xyzFormat);
var kOutput = createReferenceVariable({prefix:"K"}, xyzFormat);

var gMotionModal = createModal({force:true}, gFormat); // modal group 1 // G0-G3, ...
var gPlaneModal = createModal({onchange:function () {gMotionModal.reset();}}, gFormat); // modal group 2 // G17-19
var gAbsIncModal = createModal({}, gFormat); // modal group 3 // G90-91
// var gFeedModeModal = createModal({}, gFormat); // modal group 5 // G93-94
var gUnitModal = createModal({}, gFormat); // modal group 6 // G20-21

var WARNING_WORK_OFFSET = 0;

// collected state
var sequenceNumber;
var currentWorkOffset;

/**
  Writes the specified block.
*/
function writeBlock() {
  if (properties.showSequenceNumbers) {
    writeWords2("N" + sequenceNumber, arguments);
    sequenceNumber += properties.sequenceNumberIncrement;
  } else {
    writeWords(arguments);
  }
}

function formatComment(text) {
  return "; " + String(text).replace(/[\(\)]/g, "");
}

/**
  Output a comment.
*/
function writeComment(text) {
  writeln(formatComment(text));
}

function onOpen() {
  if (!properties.separateWordsWithSpace) {
    setWordSeparator("");
  }


  if (!properties.useZ) {
    zOutput.disable();
  }


  sequenceNumber = properties.sequenceNumberStart;
  writeln("%");

  if (programName) {
    writeComment(programName);
  }
  if (programComment) {
    writeComment(programComment);
  }

  // dump machine configuration
  var vendor = machineConfiguration.getVendor();
  var model = machineConfiguration.getModel();
  var description = machineConfiguration.getDescription();

  if (properties.writeMachine && (vendor || model || description)) {
    writeComment(localize("Machine"));
    if (vendor) {
      writeComment("  " + localize("vendor") + ": " + vendor);
    }
    if (model) {
      writeComment("  " + localize("model") + ": " + model);
    }
    if (description) {
      writeComment("  " + localize("description") + ": "  + description);
    }
  }

  // dump tool information
  if (properties.writeTools) {
    var zRanges = {};
    if (is3D()) {
      var numberOfSections = getNumberOfSections();
      for (var i = 0; i < numberOfSections; ++i) {
        var section = getSection(i);
        var zRange = section.getGlobalZRange();
        var tool = section.getTool();
        if (zRanges[tool.number]) {
          zRanges[tool.number].expandToRange(zRange);
        } else {
          zRanges[tool.number] = zRange;
        }
      }
    }

    var tools = getToolTable();
    if (tools.getNumberOfTools() > 0) {
      for (var i = 0; i < tools.getNumberOfTools(); ++i) {
        var tool = tools.getTool(i);
        var comment = "T" + toolFormat.format(tool.number) + " " +
          "D=" + xyzFormat.format(tool.diameter) + " " +
          localize("CR") + "=" + xyzFormat.format(tool.cornerRadius);
        if ((tool.taperAngle > 0) && (tool.taperAngle < Math.PI)) {
          comment += " " + localize("TAPER") + "=" + taperFormat.format(tool.taperAngle) + localize("deg");
        }
        if (zRanges[tool.number]) {
          comment += " - " + localize("ZMIN") + "=" + xyzFormat.format(zRanges[tool.number].getMinimum());
        }
        comment += " - " + getToolTypeName(tool.type);
        writeComment(comment);
      }
    }
  }

  // absolute coordinates and feed per min
  writeBlock(gAbsIncModal.format(90)/*, gFeedModeModal.format(94)*/);
  writeBlock(gPlaneModal.format(17));

  switch (unit) {
  case IN:
    writeBlock(gUnitModal.format(20));
    break;
  case MM:
    writeBlock(gUnitModal.format(21));
    break;
  }
}

function onComment(message) {
  writeComment(message);
}

/** Force output of X, Y, and Z. */
function forceXYZ() {
  xOutput.reset();
  yOutput.reset();
  zOutput.reset();
}

/** Force output of X, Y, Z, and F on next output. */
function forceAny() {
  forceXYZ();
  feedOutput.reset();
}

/** Returns the power for the given spindle speed. */
function getPower() {
  switch (currentSection.jetMode) {
  case JET_MODE_THROUGH:
    return properties.laserPower;
  case JET_MODE_ETCHING:
    return properties.laserEtchPower;
  case JET_MODE_VAPORIZE:
  default:
    error(localize("Laser cutting mode is not supported."));
  }
  return 0;
}

function onSection() {
  var insertToolCall = isFirstSection() ||
    currentSection.getForceToolChange && currentSection.getForceToolChange() ||
    (tool.number != getPreviousSection().getTool().number);
  
  var retracted = false; // specifies that the tool has been retracted to the safe plane
  var newWorkOffset = isFirstSection() ||
    (getPreviousSection().workOffset != currentSection.workOffset); // work offset changes
  var newWorkPlane = isFirstSection() ||
    !isSameDirection(getPreviousSection().getGlobalFinalToolAxis(), currentSection.getGlobalInitialToolAxis());
  if (insertToolCall || newWorkOffset || newWorkPlane) {
    
    // stop spindle before retract during tool change
    if (insertToolCall && !isFirstSection()) {
      onCommand(COMMAND_STOP_SPINDLE);
    }

    // retract to safe plane
    retracted = true;
    writeBlock(gFormat.format(28), gAbsIncModal.format(91), "Z" + xyzFormat.format(0)); // retract
    writeBlock(gAbsIncModal.format(90));
    zOutput.reset();
  }

  writeln("");
  
  if (hasParameter("operation-comment")) {
    var comment = getParameter("operation-comment");
    if (comment) {
      writeComment(comment);
    }
  }

  if (insertToolCall) {
	if (currentSection.type != TYPE_JET) {
      retracted = true;
      onCommand(COMMAND_COOLANT_OFF);
      onCommand(COMMAND_STOP);

      if (tool.number > numberOfToolSlots) {
        warning(localize("Tool number exceeds maximum value."));
      }

      writeBlock("T" + toolFormat.format(tool.number));
      if (tool.comment) {
        writeComment(tool.comment);
      }
      var showToolZMin = false;
      if (showToolZMin) {
        if (is3D()) {
          var numberOfSections = getNumberOfSections();
          var zRange = currentSection.getGlobalZRange();
          var number = tool.number;
          for (var i = currentSection.getId() + 1; i < numberOfSections; ++i) {
            var section = getSection(i);
            if (section.getTool().number != number) {
              break;
            }
            zRange.expandToRange(section.getGlobalZRange());
          }
          writeComment(localize("ZMIN") + "=" + zRange.getMinimum());
        }
	  }
    }
  }
  
  if (currentSection.type == TYPE_JET) {
    switch (tool.type) {
    case TOOL_LASER_CUTTER:
      break;
    /*
    case TOOL_MARKER:
      break;
    */
    default:
      error(localize("The CNC does not support the required tool/process. Only laser cutting is supported."));
      return;
    }

    var toolNumber = properties.laserToolNumber; // laser
    switch (currentSection.jetMode) {
    case JET_MODE_THROUGH:
      break;
    case JET_MODE_ETCHING:
      break;
    case JET_MODE_VAPORIZE:
      break;
    default:
      error(localize("Unsupported cutting mode."));
      return;
    }

    writeBlock("T" + toolFormat.format(toolNumber));
  }

  if ((currentSection.type != TYPE_JET) &&
      (insertToolCall ||
       isFirstSection() ||
       (rpmFormat.areDifferent(tool.spindleRPM, sOutput.getCurrent())) ||
       (tool.clockwise != getPreviousSection().getTool().clockwise))) {
	if (currentSection.type != TYPE_JET) {
      if (tool.spindleRPM < 1) {
        error(localize("Spindle speed out of range."));
      }
      if (tool.spindleRPM > 99999) {
        warning(localize("Spindle speed exceeds maximum value."));
      }
	}
	if (!tool.clockwise) {
	  error(localize("CNC does not support CCW spindle rotation."));
	  return;
	}
    writeBlock(
      sOutput.format(tool.spindleRPM), mFormat.format(tool.clockwise ? 3 : 4)
    );
  }

/*
  // wcs
  var workOffset = currentSection.workOffset;
  if (workOffset == 0) {
    warningOnce(localize("Work offset has not been specified. Using G54 as WCS."), WARNING_WORK_OFFSET);
    workOffset = 1;
  }
  if (workOffset > 0) {
    if (workOffset > 6) {
      error(localize("Work offset out of range."));
      return;
    } else {
      if (workOffset != currentWorkOffset) {
        writeBlock(gFormat.format(53 + workOffset)); // G54->G59
        currentWorkOffset = workOffset;
      }
    }
  }
*/

  forceXYZ();

  { // pure 3D
    var remaining = currentSection.workPlane;
    if (!isSameDirection(remaining.forward, new Vector(0, 0, 1))) {
      error(localize("Tool orientation is not supported."));
      return;
    }
    setRotation(remaining);
  }

  // set coolant after we have positioned at Z
  {
    var c = mapCoolantTable.lookup(tool.coolant);
    if (c) {
      writeBlock(mFormat.format(c));
    } else {
      warning(localize("Coolant not supported."));
    }
  }

  forceAny();

  var initialPosition = getFramePosition(currentSection.getInitialPosition());
  if (!retracted) {
    if (getCurrentPosition().z < initialPosition.z) {
      writeBlock(gMotionModal.format(0), zOutput.format(initialPosition.z), feedOutput.format(highFeedrate));
    }
  }

  if (properties.useLaserM3M5 &&
      (currentSection.type == TYPE_JET) &&
	  (tool.type == TOOL_LASER_CUTTER)) {
    writeBlock(mFormat.format(3)); // activate laser
  }

  if (insertToolCall || retracted) {
    var lengthOffset = tool.lengthOffset;
    if (lengthOffset > numberOfToolSlots) {
      error(localize("Length offset out of range."));
      return;
    }

    gMotionModal.reset();
    writeBlock(gPlaneModal.format(17));

    if (!machineConfiguration.isHeadConfiguration()) {
      writeBlock(
        gAbsIncModal.format(90),
        gMotionModal.format(0), xOutput.format(initialPosition.x), yOutput.format(initialPosition.y), feedOutput.format(highFeedrate)
      );
      writeBlock(gMotionModal.format(0), zOutput.format(initialPosition.z), feedOutput.format(highFeedrate));
    } else {
      writeBlock(
        gAbsIncModal.format(90),
        gMotionModal.format(0),
        xOutput.format(initialPosition.x),
        yOutput.format(initialPosition.y),
        zOutput.format(initialPosition.z),
		feedOutput.format(highFeedrate)
      );
    }
  } else {
    writeBlock(
      gAbsIncModal.format(90),
      gMotionModal.format(0),
      xOutput.format(initialPosition.x),
      yOutput.format(initialPosition.y),
	  feedOutput.format(highFeedrate)
    );
  }
}

function onDwell(seconds) {
  if (seconds > 99999.999) {
    warning(localize("Dwelling time is out of range."));
  }
  seconds = clamp(0.001, seconds, 99999.999);
  writeBlock(gFormat.format(4), "S" + secFormat.format(seconds));
}

function onSpindleSpeed(spindleSpeed) {
  // only for milling
  writeBlock(sOutput.format(spindleSpeed));
}

function onCycle() {
  writeBlock(gPlaneModal.format(17));
}

function getCommonCycle(x, y, z, r) {
  forceXYZ();
  return [xOutput.format(x), yOutput.format(y),
    zOutput.format(z),
    "R" + xyzFormat.format(r)];
}

function onCyclePoint(x, y, z) {
  if (currentSection.type == TYPE_JET) {
    error(localize("Canned cycles are not allowed when using laser."));
	return;
  }

  if (!properties.useCycles) {
    expandCyclePoint(x, y, z);
    return;
  }

  if (isFirstCyclePoint()) {
    repositionToCycleClearance(cycle, x, y, z);
    
    // return to initial Z which is clearance plane and set absolute mode

    var F = cycle.feedrate;
    var P = (cycle.dwell == 0) ? 0 : clamp(0.001, cycle.dwell, 99999.999); // in seconds

    switch (cycleType) {
    case "drilling":
      writeBlock(
        gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(81),
        getCommonCycle(x, y, z, cycle.retract),
        feedOutput.format(F)
      );
      break;
    case "counter-boring":
      if (P > 0) {
        writeBlock(
          gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(82),
          getCommonCycle(x, y, z, cycle.retract),
          "S" + secFormat.format(P), // not optional
          feedOutput.format(F)
        );
      } else {
        writeBlock(
          gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(81),
          getCommonCycle(x, y, z, cycle.retract),
          feedOutput.format(F)
        );
      }
      break;
    case "chip-breaking":
      expandCyclePoint(x, y, z);
      break;
    case "deep-drilling":
      if (P > 0) {
        expandCyclePoint(x, y, z);
      } else {
        writeBlock(
          gRetractModal.format(98), gAbsIncModal.format(90), gCycleModal.format(83),
          getCommonCycle(x, y, z, cycle.retract),
          "Q" + xyzFormat.format(cycle.incrementalDepth),
          feedOutput.format(F)
        );
      }
      break;
    default:
      expandCyclePoint(x, y, z);
    }
  } else {
    if (cycleExpanded) {
      expandCyclePoint(x, y, z);
    } else {
      var _x = xOutput.format(x);
      var _y = yOutput.format(y);
      if (!_x && !_y) {
        xOutput.reset(); // at least one axis is required
        _x = xOutput.format(x);
      }
      writeBlock(_x, _y);
    }
  }
}

function onCycleEnd() {
  if (!cycleExpanded) {
    writeBlock(gCycleModal.format(80));
    zOutput.reset();
  }
}

var pendingRadiusCompensation = -1;

function onRadiusCompensation() {
  pendingRadiusCompensation = radiusCompensation;
}

var shapeArea = 0;
var shapePerimeter = 0;
var shapeSide = "inner";
var cuttingSequence = "";

function onParameter(name, value) {
  if ((name == "action") && (value == "pierce")) {
    // add delay if desired
  } else if (name == "shapeArea") {
    shapeArea = value;
  } else if (name == "shapePerimeter") {
    shapePerimeter = value;
  } else if (name == "shapeSide") {
    shapeSide = value;
  } else if (name == "beginSequence") {
    if (value == "piercing") {
      if (cuttingSequence != "piercing") {
        if (properties.allowHeadSwitches) {
          // Allow head to be switched here
        }
      }
    } else if (value == "cutting") {
      if (cuttingSequence == "piercing") {
        if (properties.allowHeadSwitches) {
          // Allow head to be switched here
        }
      }
    }
    cuttingSequence = value;
  }
}

function onPower(power) {
  powerOutput.reset();
  // writeBlock(powerOutput.format(power ? getPower() : 0));
}

function onRapid(_x, _y, _z) {
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  if (x || y || z) {
    if (pendingRadiusCompensation >= 0) {
      error(localize("Radius compensation mode cannot be changed at rapid traversal."));
      return;
    }
    writeBlock(gMotionModal.format(1), x, y, z, feedOutput.format(highFeedrate), conditional(currentSection.type == TYPE_JET, powerOutput.format(0)));
    // feedOutput.reset();
  }
}

function onLinear(_x, _y, _z, feed) {
  // at least one axis is required
  if (pendingRadiusCompensation >= 0) {
    // ensure that we end at desired position when compensation is turned off
    xOutput.reset();
    yOutput.reset();
  }
  var x = xOutput.format(_x);
  var y = yOutput.format(_y);
  var z = zOutput.format(_z);
  var f = feedOutput.format(feed);
  if (x || y || z) {
    if (pendingRadiusCompensation >= 0) {
      error(localize("Radius compensation mode is not supported."));
      return;
    } else {
      writeBlock(gMotionModal.format(1), x, y, z, f, conditional(currentSection.type == TYPE_JET, powerOutput.format(power ? getPower() : 0)));
    }
  } else if (f) {
    if (getNextRecord().isMotion()) { // try not to output feed without motion
      feedOutput.reset(); // force feed on next line
    } else {
      writeBlock(gMotionModal.format(1), f, conditional(currentSection.type == TYPE_JET, powerOutput.format(power ? getPower() : 0)));
    }
  }
}

function onRapid5D(_x, _y, _z, _a, _b, _c) {
  error(localize("Multi-axis motion is not supported."));
}

function onLinear5D(_x, _y, _z, _a, _b, _c, feed) {
  error(localize("Multi-axis motion is not supported."));
}

function onCircular(clockwise, cx, cy, cz, x, y, z, feed) {
  // one of X/Y and I/J are required and likewise
  
  if (pendingRadiusCompensation >= 0) {
    error(localize("Radius compensation cannot be activated/deactivated for a circular move."));
    return;
  }

  var start = getCurrentPosition();

  if (isFullCircle()) {
    if (isHelical()) {
      linearize(tolerance);
      return;
    }
    switch (getCircularPlane()) {
    case PLANE_XY:
      writeBlock(gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), feedOutput.format(feed), conditional(currentSection.type == TYPE_JET, powerOutput.format(power ? getPower() : 0)));
	  gMotionModal.reset();
      break;
    case PLANE_ZX:
      writeBlock(gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), zOutput.format(z), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), feedOutput.format(feed), conditional(currentSection.type == TYPE_JET, powerOutput.format(power ? getPower() : 0)));
	  gMotionModal.reset();
      break;
    case PLANE_YZ:
      writeBlock(gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), yOutput.format(y), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), feedOutput.format(feed), conditional(currentSection.type == TYPE_JET, powerOutput.format(power ? getPower() : 0)));
	  gMotionModal.reset();
      break;
    default:
      linearize(tolerance);
    }
  } else {
    switch (getCircularPlane()) {
    case PLANE_XY:
      writeBlock(gPlaneModal.format(17), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x, 0), jOutput.format(cy - start.y, 0), feedOutput.format(feed), conditional(currentSection.type == TYPE_JET, powerOutput.format(power ? getPower() : 0)));
	  gMotionModal.reset();
      break;
    case PLANE_ZX:
      writeBlock(gPlaneModal.format(18), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), iOutput.format(cx - start.x, 0), kOutput.format(cz - start.z, 0), feedOutput.format(feed), conditional(currentSection.type == TYPE_JET, powerOutput.format(power ? getPower() : 0)));
	  gMotionModal.reset();
      break;
    case PLANE_YZ:
      writeBlock(gPlaneModal.format(19), gMotionModal.format(clockwise ? 2 : 3), xOutput.format(x), yOutput.format(y), zOutput.format(z), jOutput.format(cy - start.y, 0), kOutput.format(cz - start.z, 0), feedOutput.format(feed), conditional(currentSection.type == TYPE_JET, powerOutput.format(power ? getPower() : 0)));
	  gMotionModal.reset();
      break;
    default:
      linearize(tolerance);
    }
  }
}

var mapCommand = {
  COMMAND_STOP:0,
  COMMAND_SPINDLE_CLOCKWISE:3,
  COMMAND_STOP_SPINDLE:5
};

function onCommand(command) {
  switch (command) {
  case COMMAND_START_SPINDLE:
    if (!tool.clockwise) {
	  error(localize("CNC does not support CCW spindle rotation."));
	  return;
	}
    onCommand(tool.clockwise ? COMMAND_SPINDLE_CLOCKWISE : COMMAND_SPINDLE_COUNTERCLOCKWISE);
    return;
  case COMMAND_POWER_ON:
    return;
  case COMMAND_POWER_OFF:
    return;
  case COMMAND_COOLANT_ON:
    writeBlock(mFormat.format(106)); // fan on
    return;
  case COMMAND_COOLANT_OFF:
    writeBlock(mFormat.format(107)); // fan off
    return;
  case COMMAND_LOCK_MULTI_AXIS:
    return;
  case COMMAND_UNLOCK_MULTI_AXIS:
    return;
  case COMMAND_BREAK_CONTROL:
    return;
  case COMMAND_TOOL_MEASURE:
    return;
  }

  var stringId = getCommandStringId(command);
  var mcode = mapCommand[stringId];
  if (mcode != undefined) {
    writeBlock(mFormat.format(mcode));
  } else {
    onUnsupportedCommand(command);
  }
}

function onSectionEnd() {
  writeBlock(gPlaneModal.format(17));

  if (properties.useLaserM3M5 &&
      (currentSection.type == TYPE_JET) &&
	  (tool.type == TOOL_LASER_CUTTER)) {
    writeBlock(mFormat.format(5)); // deactivate laser
  }

  forceAny();
}

function onClose() {
  onCommand(COMMAND_COOLANT_OFF);

  if (properties.useLaserM3M5 &&
      (currentSection.type == TYPE_JET) &&
	  (tool.type == TOOL_LASER_CUTTER)) {
    writeBlock(mFormat.format(5)); // deactivate laser
  }

  writeBlock(gFormat.format(28), gAbsIncModal.format(91), "Z" + xyzFormat.format(0)); // retract
  zOutput.reset();

  if (!machineConfiguration.hasHomePositionX() && !machineConfiguration.hasHomePositionY()) {
    writeBlock(gFormat.format(28), gAbsIncModal.format(91), "X" + xyzFormat.format(0), "Y" + xyzFormat.format(0)); // return to home
  }

  writeln("%");
}