Skip to content

Commit 37af771

Browse files
jethorntonjethornton
committed
Configs: add Mesa THCAD plasma config
Signed-off-by: John Thornton <[email protected]>
1 parent 1e86cf5 commit 37af771

11 files changed

+935
-0
lines changed

‎configs/plasma-5i20/README

+13
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,13 @@
1+
This configuration is to show how to connect the Mesa THCAD card with EMC on a Plasma Cutter.
2+
There are two configurations, the plasma-5i20 that requires you to have a Mesa 5i20 installed
3+
and the plasma-demo using parallel port. The plasma-demo version is just to show how
4+
this config looks and is not a good candidate for the THCAD card due to the slow update speed
5+
when using a software encoder with the parallel port.
6+
7+
The subroutine touchoff.ngc is used with a floating head and the probe input to set the torch
8+
to the inital height of the cut. The example files x-trim.ngc and touchtest.ngc demonstrate
9+
the use of touchoff.ngc. The usage of touchoff.ngc requires you to have the probe input and
10+
and Arc Ok input. It uses M66 to wait for the Arc Ok input after lighting off the torch. Three
11+
parameters are passed to touchoff pierce height, pierce delay, and cut height. In actual use
12+
you will need to adjust the height to raise the torch after touch off to Z0 to match your
13+
actual setup.

‎configs/plasma-5i20/plasma-5i20.hal

+204
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,204 @@
1+
# Firmware files are in /lib/firmware/hm2/7i43/
2+
# Must symlink the hostmot2 firmware directory of sanbox to
3+
# /lib/firmware before running EMC2...
4+
# sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2
5+
#
6+
# See also:
7+
# <http://www.linuxcnc.org/docs/devel/html/man/man9/hostmot2.9.html#config%20modparam>
8+
# and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2
9+
#
10+
# #####################################################################
11+
12+
13+
# ******************
14+
# Core EMC/HAL Loads
15+
16+
# kinematics
17+
loadrt trivkins
18+
19+
# motion controller, get name and thread periods from ini file
20+
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
21+
22+
# only the 7i43 needs this, but it doesnt hurt the others
23+
# loadrt probe_parport
24+
25+
loadrt hal_parport cfg=0x378
26+
27+
# hostmot2 driver
28+
loadrt hostmot2
29+
30+
# load low-level driver
31+
loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)
32+
setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 10000000
33+
34+
35+
# Torch Height Control
36+
loadrt thc
37+
addf thc servo-thread
38+
39+
# THREADS
40+
addf hm2_[HOSTMOT2](BOARD).0.read servo-thread
41+
addf motion-command-handler servo-thread
42+
addf motion-controller servo-thread
43+
addf hm2_[HOSTMOT2](BOARD).0.write servo-thread
44+
addf hm2_[HOSTMOT2](BOARD).0.pet_watchdog servo-thread
45+
addf parport.0.read servo-thread
46+
addf parport.0.write servo-thread
47+
48+
# #############################################
49+
# Axis-of-motion Specific Configs (not the GUI)
50+
51+
# **********
52+
# X [0] Axis
53+
54+
# axis enable chain
55+
newsig emcmot.00.enable bit
56+
sets emcmot.00.enable FALSE
57+
58+
net emcmot.00.enable <= axis.0.amp-enable-out
59+
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable
60+
61+
62+
# position command and feedback
63+
net emcmot.00.pos-cmd <= axis.0.motor-pos-cmd
64+
net emcmot.00.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd
65+
66+
net motor.00.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb
67+
net motor.00.pos-fb => axis.0.motor-pos-fb
68+
69+
70+
# timing parameters
71+
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [AXIS_0]DIRSETUP
72+
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [AXIS_0]DIRHOLD
73+
74+
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [AXIS_0]STEPLEN
75+
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [AXIS_0]STEPSPACE
76+
77+
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [AXIS_0]SCALE
78+
79+
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel 0
80+
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL
81+
82+
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0
83+
84+
net both-home-x <= parport.0.pin-10-in-not
85+
net both-home-x => axis.0.home-sw-in
86+
net both-home-x => axis.0.neg-lim-sw-in
87+
net both-home-x => axis.0.pos-lim-sw-in
88+
89+
# ################
90+
# Y [1] Axis
91+
# ################
92+
93+
# axis enable chain
94+
newsig emcmot.01.enable bit
95+
sets emcmot.01.enable FALSE
96+
97+
net emcmot.01.enable <= axis.1.amp-enable-out
98+
net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable
99+
100+
101+
# position command and feedback
102+
net emcmot.01.pos-cmd <= axis.1.motor-pos-cmd
103+
net emcmot.01.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-cmd
104+
105+
net motor.01.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb
106+
net motor.01.pos-fb => axis.1.motor-pos-fb
107+
108+
109+
# timing parameters
110+
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup [AXIS_1]DIRSETUP
111+
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold [AXIS_1]DIRHOLD
112+
113+
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen [AXIS_1]STEPLEN
114+
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace [AXIS_1]STEPSPACE
115+
116+
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale [AXIS_1]SCALE
117+
118+
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel 0
119+
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL
120+
121+
setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0
122+
123+
net both-home-y <= parport.0.pin-11-in-not
124+
net both-home-y => axis.1.home-sw-in
125+
net both-home-y => axis.1.neg-lim-sw-in
126+
net both-home-y => axis.1.pos-lim-sw-in
127+
128+
# ################
129+
# Z [2] Axis
130+
# ################
131+
132+
# axis enable chain
133+
newsig emcmot.02.enable bit
134+
sets emcmot.02.enable FALSE
135+
136+
net emcmot.02.enable <= axis.2.amp-enable-out
137+
net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.02.enable
138+
139+
140+
# position command and feedback
141+
# hijack position command and feed through thc
142+
net emcmot.02.pos-cmd thc.z-pos-in <= axis.2.motor-pos-cmd
143+
net thc-pos-cmd thc.z-pos-out => hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-cmd
144+
net motor.02.pos-fb axis.2.motor-pos-fb <= thc.z-fb-out
145+
146+
net both-home-z => axis.2.home-sw-in
147+
net both-home-z => axis.2.neg-lim-sw-in
148+
net both-home-z => axis.2.pos-lim-sw-in
149+
150+
# timing parameters
151+
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirsetup [AXIS_2]DIRSETUP
152+
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirhold [AXIS_2]DIRHOLD
153+
154+
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.steplen [AXIS_2]STEPLEN
155+
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.stepspace [AXIS_2]STEPSPACE
156+
157+
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-scale [AXIS_2]SCALE
158+
159+
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel 0
160+
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL
161+
162+
setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.step_type 0
163+
164+
net both-home-z <= parport.0.pin-12-in-not
165+
net both-home-z => axis.2.home-sw-in
166+
net both-home-z => axis.2.neg-lim-sw-in
167+
net both-home-z => axis.2.pos-lim-sw-in
168+
169+
#######################
170+
# Standard I/O Block - EStop, Etc
171+
# ###############################
172+
173+
# create a signal for the estop loopback
174+
net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
175+
176+
# create signals for tool loading loopback
177+
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
178+
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
179+
180+
# Touch Off
181+
net torch-probe motion.probe-input <= parport.0.pin-13-in-not
182+
183+
# Set up the Encoder for the THC
184+
setp hm2_5i20.0.encoder.00.counter-mode 1
185+
net thc-vel-in hm2_5i20.0.encoder.00.velocity => thc.encoder-vel
186+
setp thc.scale-offset 119000
187+
setp thc.vel-scale 0.00037866834
188+
189+
# this might need to be increased
190+
setp thc.correction-vel 0.0001
191+
192+
# spindle on starts the arc
193+
net spindle-on motion.spindle-on => parport.0.pin-16-out
194+
195+
net spindle-on thc.torch-on
196+
197+
# starts the motion when the plasma arc has transfered to the work
198+
net start-motion-input thc.arc-ok <= motion.digital-in-00 <= parport.0.pin-15-in
199+
200+
# ******
201+
# For Joypad, the rest are in postgui.hal
202+
loadusr hal_input -W -KRAL Dual
203+
204+

0 commit comments

Comments
 (0)