blob: 02c3ab1dad0def9c4a376d39e7eb14f702d95bb4 (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
|
component thcud "Torch Height Control Up/Down Input";
description
"""
Torch Height Control
This THC takes either an up or a down input from a THC
If enabled and torch is on and X + Y velocity is within tolerance of set speed
allow the THC to offset the Z axis as needed to maintain voltage.
If enabled and torch is off and the Z axis is moving up remove any correction
at a rate not to exceed the rate of movement of the Z axis.
If enabled and torch is off and there is no correction
pass the Z position and feed back untouched.
If not enabled pass the Z position and feed back untouched.
Physical Connections typical
paraport.0.pin-12-in <= THC controller Plasma Up
paraport.0.pin-13-in <= THC controller Plasma Down
parport.0.pin-15-in <= Plasma Torch Arc Ok Signal
parport.0.pin-16-out => Plasma Torch Start Arc Contacts
HAL Plasma Connections
thc.torch-up <= paraport.0.pin-12-in
thc.torch-down <= paraport.0.pin-13-in
motion.spindle-on => parport.0.pin-16-out (start the arc)
thc.arc-ok <= motion.digital-in-00 <= parport.0.pin-15-in (arc ok signal)
HAL Motion Connections
thc.requested-vel <= motion.requested-vel
thc.current-vel <= motion.current-vel
Pyvcp Connections
In the xml file you need something like:
<checkbutton>
<text>"THC Enable"</text>
<halpin>"thc-enable"</halpin>
</checkbutton>
<spinbox>
<width>"5"</width>
<halpin>"vel-tol"</halpin>
<min_>.01</min_>
<max_>1</max_>
<resolution>0.01</resolution>
<initval>0.2</initval>
<format>"1.2f"</format>
<font>("Arial",10)</font>
</spinbox>
Connect the Pyvcp pins in the postgui.hal file like this:
net thc-enable thcud.enable <= pyvcp.thc-enable
""";
author "John Thornton";
license "GPLv2 or greater";
option singleton yes;
// Input Pins
pin in bit torch_up "Connect to an input pin";
pin in bit torch_down "Connect to input pin";
pin in float current_vel "Connect to motion.current-vel";
pin in float requested_vel "Connect to motion.requested-vel";
pin in bit torch_on "Connect to motion.spindle-on";
pin in bit arc_ok "Arc Ok from Plasma Torch";
pin in bit enable "Enable the THC, if not enabled Z position is passed through";
pin in float z_pos_in "Z Motor Position Command in from axis.n.motor-pos-cmd";
// Output Pins
pin out float z_pos_out "Z Motor Position Command Out";
pin out float z_fb_out "Z Position Feedback to Axis";
pin out float cur_offset "The Current Offset";
pin out bit vel_status "When the THC thinks we are at requested speed";
pin out bit removing_offset "Pin for testing";
// Parameters
param rw float velocity_tol "The deviation percent from planned velocity";
param rw float correction_vel "The Velocity to move Z to correct";
// Global Variables
variable float offset;
variable float last_z_in;
function _;
;;
#include "rtapi_math.h"
FUNCTION(_) {
if(enable){
float min_velocity = requested_vel -(requested_vel*(1/velocity_tol));
if(current_vel > 0 && current_vel >= min_velocity){vel_status = 1;}
else {vel_status =0;}
if(torch_on && arc_ok && vel_status){ // allow correction
if(torch_down){
offset -= correction_vel;
}
if(torch_up){
offset += correction_vel;
}
last_z_in = 0;
}
if(!torch_on){ // remove any offset
float z_diff;
z_diff = z_pos_in - last_z_in;
if(z_diff > 0 && offset != 0){ // torch is moving up
removing_offset = 1;
if(offset > 0){ // positive offset
if(offset > z_diff){ // remove some
offset -= z_diff;
}
else {offset = 0;}
}
if(offset < 0){ // negative offset
if(offset < z_diff){ // remove some
offset += z_diff;
}
else {offset = 0;}
}
}
else {removing_offset = 0;}
last_z_in = z_pos_in;
}
z_pos_out = z_pos_in + offset;
z_fb_out = z_pos_in; // keep axis motor position fb from being confused
}
if(!enable){
z_pos_out = z_pos_in;
z_fb_out = z_pos_in; // keep axis motor position fb from being confused
}
}
|
