Pressbrake CNC Control Setup Questions

sudo halcompile --install press.comp

man press

component press "A component to control a press-brake";

pin in float brake-pos-fb "Position feedback of the press";
pin in float top_position = 0 "Position to return to";
pin in float return_speed = 1 "Speed to return to top at";
pin in float bend_start = 0 "Point of contact with work";
pin in float start_speed = 1 "Speed to move down to initial contact";
pin in float bend_finish = 0 "Position to complete bend";
pin in float bend_speed = 1 "Speed to move at during bend";
pin in float tweak-down = 0 "Extra bend increment";
pin in float pos-tolerance = 0.05 "How close to target to be to stop";

pin out float brake-pos-cmd "Brake position command to motion";
pin out float brake-vel-cmd "Speed command to motion";

pin in float backstop-pos = 100 "Required backstop position";
pin in float backstop-fb = 100 "Backstop position feedback";
pin out float backstop-pos-cmd "Position command out to backstop";

pin in bit up "Command to move up from pedal";
pin in bit down "Command to move down from pedal";
pin in bit abort "Abort current operation and stop all motion";

pin in bit interlock = 1 "Input signal from interlocks to allow cycle";

function _;

license "GPL";
author "andypugh"

;;

#include "rtapi_math.h"

FUNCTION(_){

	static int state = 0;
	static double target;
	switch (state) {
	case 0: // at the top, awaiting commands
		if (interlock != 1){ // interlock
			return; // do nothing. Needs further consideration
		}
		if (fabs(backstop_pos_cmd - backstop_fb) > 4 * pos_tolerance){ // new backstop position
			state = 10;
			break;
		}
		if (down){
			target = bend_start;
			state = 5;
			return;
		}
		break;
	case 5: // moving down to work
		brake_pos_cmd = target;
		brake_vel_cmd = start_speed;
		if (up){ // aborted motion
			target = top_position;
			state = 8;
			return;
		}
		if (! down){ // pause the downfeed
			brake_vel_cmd = 0;
		}
		if (fabs(brake_pos_fb - target) < pos_tolerance){ // in position
			target = bend_finish;
			state = 6;
		}
		break;
	case 6: // bending
		brake_pos_cmd = target;
		brake_vel_cmd = bend_speed;
		if (up){ // aborted motion
			target = top_position;
			state = 8;
			return;
		}
		if (! down){ // pedal released
			if (fabs(brake_pos_fb - target) < pos_tolerance){ // in position, consider tweaking
				state = 7;
			} else { // not in position, just stop
				brake_vel_cmd = 0;
			}
		}
		break;
	case 7: // at bottom of stroke, waiting for a tweak
		if (up){ // return to top
			target = top_position;
			state = 8;
			return;
		}
		if (down) { // give it a tweak
			target += tweak_down;
			state = 6;
		}
		break;
	case 8: // return to top
		brake_pos_cmd = target;
		brake_vel_cmd = return_speed;
		// What to do if the down switch is pressed on the retract?
		if (! up) { // pedal un-released
			brake_vel_cmd = 0;
		}
		if (fabs(brake_pos_fb - target) < pos_tolerance){ // retracted
			state = 0;
		}
		break;
	case 10: // Backstop positioning
		backstop_pos_cmd = backstop_pos;
		if (fabs(backstop_fb - backstop_pos_cmd) < pos_tolerance){ // retracted
			state = 0;
		}
		break;
	default:
		rtapi_print_msg(RTAPI_MSG_ERR, "Unsupported state reached in state machine");
	}
}

cd ~/linuxcnc/configs/Bender
sudo halcompile --install press.comp

chmod  x pressguichmod  x bender

./bender

setp pid.0.Pgain 100

setp pid.0.Pgain [JOINT_0]PGAIN