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Wang Dequan
338
configs/attic/dallur-thc/dallur-advanced.hal
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338
configs/attic/dallur-thc/dallur-advanced.hal
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# HAL config file for Rugludallur Plasma Cutting Table using classic ladder
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# Loads the dallur-advanced.hal file first to set up motion and stepgen
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# for a 3 axis stepper system where Axis A is slaved to Axis Y
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# This adds limits and home from limit to the motion module
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# Adds ESTOP button (with classicladder)
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# Creates Charge Pump Signals for 2 Parallel ports on pins 17
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# Includes unused intermittent lube pump and pressure or level sensing
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# Includes unused coolant
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# Spindle forward is used for "Torch ON" signal, reverse is not used
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# Load Driver for Two Parallel Ports, one for Breakout Board, other for Plasma Torch Height Control
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loadrt hal_parport cfg="0xa400 0xac00"
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# Connect both Parallel Ports to Threads for Read / Write
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addf parport.0.read base-thread 1
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addf parport.0.write base-thread -1
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addf parport.1.read base-thread 1
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addf parport.1.write base-thread -1
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# This configuration uses classicladder for machine logic
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# (load the realtime portion)
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# these classicladder parameters need to be optimized after ladder completion
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loadrt classicladder_rt numRungs=10 numBits=20 numWords=4 numTimers=5 numMonostables=2 numPhysInputs=20 numPhysOutputs=10 numArithmExpr=4 numSections=4
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# We kick ladder into a thread at the slower servo rate rather than base rate
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addf classicladder.0.refresh servo-thread 1
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# invoke the user part of CL to silently load the program
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# later we will need to add the clp file mentioned below
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# to the ini file so that we do not need to hardcode it here.
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loadusr -w classicladder --nogui dallur-advanced.clp
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# load the GUI as well
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loadusr classicladder
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#Reverse Direction for A(Auxiliary) Axis so both motors drive in same direction
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setp parport.0.pin-09-out-invert 1
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# begin to connect physical pins to signals
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# this is EMC's standard motion pinouts
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#Axis for Cart, single stepper motor marked Axis X in breakout
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net Xstep parport.0.pin-02-out
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net Xdir parport.0.pin-06-out
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#Axis for Gantry, primary stepper motor (same side as ctrl box), marked Axis Y in breakout
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net Ystep parport.0.pin-03-out
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net Ydir parport.0.pin-07-out
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#Axis for Gantry, secondary stepper motor (other side of ctrl box), marked Axis A(Auxiliary) in breakout
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net Ystep parport.0.pin-05-out
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net Ydir parport.0.pin-09-out
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#Axis for Height Control, single stepper motor marked Axis Z in breakout
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net Zstep parport.0.pin-04-out
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net Zdir parport.0.pin-08-out
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#Enable signals not used because of Charge Pump
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#linksp Yen parport.0.pin-06-out
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#linksp Yen parport.0.pin-09-out
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#linksp Xen parport.0.pin-03-out
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# Estop signals
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# This signal is the internal or gui estop command from EMC
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net estop-out iocontrol.0.user-enable-out classicladder.0.in-00
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# This is a one-shot on timer when signal above goes high.
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net estop-in iocontrol.0.user-request-enable classicladder.0.in-02
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# This bit is an external estop button connected to parport pin 10
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net ext-estop parport.0.pin-10-in
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net ext-estop classicladder.0.in-01
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# This bit signal is command to estop from CL to EMC
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net emc-enable-in iocontrol.0.emc-enable-in classicladder.0.out-00
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# Spindle Signal, forward drives Torch ON
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# Spindle reverse is not used (might be used for a Running Start later)
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net turn_torch_on parport.1.pin-01-out
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#net spindle-reverse spindle.0.reverse parport.0.pin-17-out
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#Create a limit switch signal for each axis
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#Read limit switches from normally open circuit on parport 0
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net limit-reached-x parport.0.pin-11-in-not
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net limit-reached-y parport.0.pin-12-in-not
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net limit-reached-z parport.0.pin-13-in-not
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net limit-reached-a parport.0.pin-15-in-not
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#Connect all limit signals to relevant axes
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net limit-reached-x joint.0.neg-lim-sw-in
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net limit-reached-x joint.0.pos-lim-sw-in
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net limit-reached-y joint.1.neg-lim-sw-in
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net limit-reached-y joint.1.pos-lim-sw-in
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net limit-reached-a joint.1.neg-lim-sw-in
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net limit-reached-a joint.1.neg-lim-sw-in
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net limit-reached-z joint.2.neg-lim-sw-in
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net limit-reached-z joint.2.neg-lim-sw-in
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########## Charge Pump #########
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# This is for Charge Pump which requires a 15khz signal to activate, maxfreq is the limiter
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loadrt freqgen step_type=0
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loadrt siggen
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loadrt threads name1=fastcp period1=30000 name2=slowcp period2=1000000
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net velcp siggen.0.square
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net velcp freqgen.0.velocity
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net stepcp freqgen.0.step
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addf siggen.0.update slowcp
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addf freqgen.update-freq slowcp
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addf freqgen.make-pulses fastcp
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setp freqgen.0.velocity-scale 1000000
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setp freqgen.0.maxfreq 15000
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net stepcp parport.0.pin-17-out
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net stepcp parport.1.pin-17-out
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###########Torch Height Control ########
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# Load the necessary functions
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loadrt mux2 count=7
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loadrt or2 count=4
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loadrt not count=4
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loadrt sum2 count=2
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loadrt comp count=2
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loadrt and2 count=2
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# Make a sensor for the ARC OK signal with an active low
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net senseArcOKInverted <= parport.1.pin-15-in
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# Invert ArcOK Signal to so TRUE = Arc ON (active high)
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net senseArcOKInverted not.0.in
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net senseArcOK not.0.out
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# Make a sensor for the Move Down bit from the THC, active low
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net senseZDownInverted <= parport.1.pin-11-in
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# Invert SenseDown Signal to so TRUE = Sense Down (active high)
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net senseZDownInverted not.1.in
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net senseZDown not.1.out
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# Make a sensor for the Move Up bit from the THC, this signal is active low
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net senseZUpInverted <= parport.1.pin-12-in
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# Invert senseZUp Signal to so TRUE = Sense Up (active high)
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net senseZUpInverted not.2.in
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net senseZUp not.2.out
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# Make a sensor for the Z Float Switch
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# Invert because THC has active low
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# The Z float switch is a proxmity sensor from torch to work piece
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# PNP or NPN Capacative or Inductive switches are recommended, Capacative for non metals but Inductive for metals
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net senseZFloatSwitchInverted <= parport.1.pin-13-in
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# invert the senseZFloatSwitch so TRUE = At distance (active high)
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net senseZFloatSwitchInverted not.3.in
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net senseZFloatSwitch not.3.out
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# Create signals to move Axis Y up or down with destinations, Y should never reach destination because as soon
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# as the axis moves the input signal will change and disconnect the signal at the mux
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# In the future it would be good to pull estop if Z axis is ever >= ZMaxCord
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sets ZMinCord 0
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sets ZMaxCord 300
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# Create signals to join the moveUP from parport and the one from init
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net senseZDown or2.0.in0
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net moveZtoFloat or2.0.in1
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net moveZDown or2.0.out
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net senseZUp or2.1.in0
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net moveZtoSafe or2.1.in1
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net moveZUp or2.1.out
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net moveZtoFloat or2.2.in0
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net moveZtoSafe or2.2.in1
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net moveZtoOK or2.2.out
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net LockPierceHeight or2.3.in0
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net moveZtoOK or2.3.in1
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net moveZEnabled or2.3.out
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addf or2.0 servo-thread
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addf or2.1 servo-thread
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addf or2.2 servo-thread
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addf or2.3 servo-thread
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addf not.0 servo-thread
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addf not.1 servo-thread
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addf not.2 servo-thread
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addf not.3 servo-thread
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# Mux the zpos-cmd and UpDest based on the state of the senseZUp signal
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net Zpos-cmd mux2.0.in0
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net ZMinCord mux2.0.in1
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net moveZUp mux2.0.sel
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net ZMinCord-Zpos-cmd-muxed mux2.0.out
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addf mux2.0 servo-thread
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# Mux the zpos-cmd and ZMaxCord based on the state of the senseZDown signal
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net Zpos-cmd mux2.1.in0
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net ZMaxCord mux2.1.in1
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net moveZDown mux2.1.sel
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net ZMaxCord-Zpos-cmd-muxed mux2.1.out
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addf mux2.1 servo-thread
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# Mux ZMaxCord-Zpos-cmd-muxed and UpDest-Zpos-cmd-muxed
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net ZMinCord-Zpos-cmd-muxed mux2.2.in0
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net ZMaxCord-Zpos-cmd-muxed mux2.2.in1
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net moveZDown mux2.2.sel
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net Zpos-cmd-muxed mux2.2.out
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addf mux2.2 servo-thread
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#Disconnect Machine/Manual Axis Z Control while ArcOK for safety and to eliminate jitter
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net Zpos-instructed-cmd <= joint.2.motor-pos-cmd
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net Zpos-instructed-cmd => mux2.3.in0
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net Zpos-fb => mux2.3.in1
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net moveZEnabled => mux2.3.sel
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net Zpos-cmd <= mux2.3.out
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addf mux2.3 servo-thread
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# Feedhold is used to halt gcode execution while torch is placed at correct initial height
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# feedhold, uses G50 adaptive feed input
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sets zero 0.0
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sets one 1.0
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net adaptive-feed mux2.4.out
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net adaptive-feed motion.adaptive-feed
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net one mux2.4.in0
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net zero mux2.4.in1
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# Not only do we want to set temp. to 0 we also want to pause state within GUI App, this way the user has to confirm before cutting starts
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# Pause state will be maintained even after feedrate has been reset to 1
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# This is can now be shut off/turned on from the VCP UI
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net feed-hold mux2.4.sel
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# To remove the manual pause comment out the following line
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#linksp feed-hold halui.program.pause
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net feed-hold and2.0.in0
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net ManualVerifyBeforePierce and2.0.in1
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net program.pause halui.program.pause and2.0.out
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addf mux2.4 servo-thread
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# Create the signals for classicladder to control parts of THC
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net senseZFloatSwitch => classicladder.0.in-03
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net moveZtoFloat classicladder.0.out-03
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net moveZtoSafe classicladder.0.out-04
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net senseArcOK classicladder.0.in-04
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net spindle-forward classicladder.0.in-05 <= spindle.0.forward
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net feed-hold classicladder.0.out-06
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net turn_torch_on classicladder.0.out-05
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net ui_mode_is_auto halui.mode.is-auto
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net ui_mode_is_auto classicladder.0.in-06
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############## PierceGap & SwitchTravel ############
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# These parameters control the SwitchTravel and PierceGap, later we hope to have piercegap automatically set
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# from the tools table as there will be a tool for each amp setting with cutting/gauging consumables
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sets SwitchTravel 10
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sets PierceHeight 50
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sets ArcStartTimeout 5
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sets PierceDelay 0.2
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sets EnablePierceDelay 1
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# Add PierceGap to SwitchTravel, add this to the height at the moment LockPierceHeight is received
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# Make a new height signal which is PierceGap+SwitchTravel+LockPierceHeight
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# Tell the stepgen to move to the newly calculated position
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net SwitchTravel sum2.0.in0
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net PierceGap sum2.0.in1
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net WorkStandOff sum2.0.out
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net Zpos-fb => sum2.1.in0
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net WorkStandOff => sum2.1.in1
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#FIXME add a proper name
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net mux2-sum2 mux2.6.in0 <= sum2.1.out
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net PierceHeight mux2.6.in1
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net PierceHeight mux2.6.out
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net LockPierceHeight mux2.6.sel
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net Zpos-cmd-muxed mux2.5.in0
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net PierceHeight mux2.5.in1
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net MoveZtoPierceHeight mux2.5.sel
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net Z-pos-cmd mux2.5.out stepgen.2.position-cmd
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addf mux2.5 servo-thread
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addf mux2.6 servo-thread
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addf sum2.0 servo-thread
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addf sum2.1 servo-thread
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addf comp.0 servo-thread
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addf comp.1 servo-thread
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addf and2.0 servo-thread
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addf and2.1 servo-thread
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# Also make sure we tell classicladder when we are at pierce height so it can turn on the torch
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net PierceHeight comp.0.in0
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net Zpos-fb comp.0.in1
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net TorchIsAtPierceHeight comp.0.out
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# make a signal so we do not turn Arc ON while the program is paused
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# put it through OR to make sure pause only affects operations while
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# mode is not manual
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net PauseIsOn halui.program.is-paused
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net PauseIsOn and2.0.in0
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net ui_mode_is_auto and2.0.in1
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net ProgramIsPaused and2.0.out
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# If for some reason the Z location is further down or equal than the maximum Z coord we estop!
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# if this happens it means that a. there is no work piece, b the torch is stuck, c the Floatswitch is broken
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net ZMaxCord comp.1.in0
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net Zpos-fb comp.1.in1
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net limit-estop comp.1.out
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# This is an estop signal used when THC has detected a limit error
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net limit-estop classicladder.0.in-11
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net TorchIsAtPierceHeight classicladder.0.in-07
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net LockPierceHeight classicladder.0.out-07
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net MoveZtoPierceHeight classicladder.0.out-08
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#linksp PierceDelay classicladder.0.in-08
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#linksp ArcStartTimeout classicladder.0.in-09
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net ProgramIsPaused classicladder.0.in-10
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net EnablePierceDelay classicladder.0.in-12
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sets EnablePierceDelay 1
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############ Corner Height Lock ##################
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