BEAM_PULLMAX(9) HAL Component BEAM_PULLMAX(9) NAME beam_pullmax - Two axis beam height controller for the left and right rams on an Ursviken Pullmax press brake SYNOPSIS loadrt beam_pullmax [count=N|names=name1[,name2...]] DESCRIPTION THIS COMPONENT IS UNTESTED, USE AT YOUR OWN RISK Left ram is master, right ram follows TODO: figure out a way to effectively notify the gui user **what** faulted when there is a fault condition preventing things from moving. FUNCTIONS beam-pullmax.N (requires a floating-point thread) PINS beam-pullmax.N.safety-light-beam-ok bit in (default: 0) true when good beam-pullmax.N.left-ram-homed bit in (default: 0) true when left ram is homed beam-pullmax.N.right-ram-homed bit in (default: 0) true when right ram is homed beam-pullmax.N.backstop-ready bit in (default: 0) true when backgage is in position beam-pullmax.N.pedal-up bit in (default: 0) signal from foot pedal up position beam-pullmax.N.pedal-dn bit in (default: 0) signal from foot pedal down position beam-pullmax.N.auto-up bit in (default: 0) when false, prevents beam from going up automatically when operator releases pedal part way through bend cycle beam-pullmax.N.position-cmd-auto-tdc-ht float in (default: 0) commanded Top Dead Center in auto mode beam-pullmax.N.position-cmd-auto-slowdown-ht float in (default: 0) commanded position change over fast to slow speed in auto mode 3-6mm above the workpiece beam-pullmax.N.position-cmd-auto-mute-ht float in (default: 0) commanded position safety curtain mute point in auto mode 3-6mm above the workpiece beam-pullmax.N.position-cmd-auto-pre-pinch-ht float in (default: 0) commanded position stop over plate in auto mode beam-pullmax.N.position-cmd-auto-pinch-ht float in (default: 0) commanded position clamping point in auto mode beam-pullmax.N.position-cmd-auto-post-pinch-ht float in (default: 0) commanded position clamped point in auto mode about 0.5mm below clamping point beam-pullmax.N.position-cmd-auto-low-speed-ht float in (default: 0) commanded position change over to low press speed in auto mode beam-pullmax.N.position-cmd-auto-final-speed float in (default: 0) commanded position change over to final press speed in auto mode about 0.5mm before BDC beam-pullmax.N.position-cmd-auto-bdc-ht float in (default: 0) commanded Bottom Dead Center in auto mode beam-pullmax.N.position-cmd-auto-lo-hi-speed float in (default: 0) commanded position change over low to hi return speed in auto mode beam-pullmax.N.position-cmd-homing float in (default: 0) commanded position in homing mode beam-pullmax.N.backstop-backoff-dist float in (default: 0) safe backoff distance for backstop after pinch beam-pullmax.N.y0-pos-fb float in (default: 0) current position of Y0 (left ram) beam-pullmax.N.y1-pos-fb float in (default: 0) current position of Y1 (right ram) beam-pullmax.N.max-beam-tilt float in (default: 0) if left to right side position error is greater than this, it is a fault condition beam-pullmax.N.min-y-dist-to-go float in (default: 0) if y-dist-to-go is less than this value, then motion is considered complete beam-pullmax.N.y-cmd-pos float out (default: 0) current active position command for beam beam-pullmax.N.y-dist-to-go float out (default: 0) distance to go for current move beam-pullmax.N.y-tilt-error float out (default: 0) current following error of Y1 following Y0 beam-pullmax.N.bend-complete bit out (default: 0) goes true when beam has reached safe height beam-pullmax.N.post-pinch bit out (default: 0) goes true when plate is pinched; trigger backstop to backoff beam-pullmax.N.mute bit out (default: 0) true mutes the safety light curtain beam-pullmax.N.hyd-pump-contactor bit out (default: 0) activates hydraulic pump motor power contactor beam-pullmax.N.coil-4-0 float out (default: 0) output for solenoid coil 4.0 beam-pullmax.N.coil-5-0 float out (default: 0) output for solenoid coil 5.0 beam-pullmax.N.coil-6-1 bit out (default: 0) output for solenoid coil 6.1 beam-pullmax.N.coil-7-1 bit out (default: 0) output for solenoid coil 7.1 beam-pullmax.N.coil-8-1 bit out (default: 0) output for solenoid coil 8.1 beam-pullmax.N.coil-8-4 float out (default: 0) output for solenoid coil 8.4 beam-pullmax.N.coil-8-5 bit out (default: 0) output for solenoid coil 8.5 beam-pullmax.N.coil-9-1 bit out (default: 0) output for solenoid coil 9.1 beam-pullmax.N.coil-10-1 bit out (default: 0) output for solenoid coil 10.1 beam-pullmax.N.no-fault bit out (default: 1) goes low when fault condition detected beam-pullmax.N.status u32 io (default: 0) current status of upper beam operation 0 = unhomed 1 = homed 2 = first footpedal activation 4 = first footpedal release 10 = idling at max height 12 = moving down fast from max height to top dead center 14 = at top dead center 16 = moving down fast from top dead center to slowdown point 18 = at slowdown point 20 = moving down slow from slowdown point to safety mute point 22 = at safety mute point 24 = moving down slow from sefety mute point to stop over plate 26 = at stop over plate 28 = moving down slow from stop over plate to clamping point 30 = at clamping point 32 = moving down slow from clamping point to clamped point 34 = at clamped point 36 = moving down slow from clamped point to change over to slow-slow speed 38 = moving down slow-slow from slow-slow chang over point to final-slow change over point 40 = at slow-slow to final-slow change over point 42 = moving down final-slow speed from final-slow change-over point to Bottom Dead Center 44 = at Bottom Dead Center 46 = decompression 48 = moving up slow from Bottom Dead Center to slow-to-fast-up change-over point 50 = at slow-to-fast-up change-over point 52 = moving up fast from slow-to-fast-up change-over point to Top Dead Center 54 = at Top Dead Center 56 = moving up fast from Top Dead Center to max height; next position is status = 10 PARAMETERS beam-pullmax.N.bottom-dead-center-dwell float rw (default: 0) dwell time in seconds at bottom dead center beam-pullmax.N.hyd-pump-stop-delay float rw (default: 15) number of seconds to wait before stopping the hyd pump beam-pullmax.N.hyd-pump-elapsed-run-time float r (default: 0) beam-pullmax.N.hyd-pump-timed-out bit r (default: 0) beam-pullmax.N.pedal-is-up bit r (default: 0) beam-pullmax.N.pedal-is-dn bit r (default: 0) beam-pullmax.N.elapsed-dwell-time float r (default: 0) beam-pullmax.N.dwell-complete bit r (default: 0) beam-pullmax.N.footpedal-first-run-debounce float rw (default: 0.1) beam-pullmax.N.footpedal-elapsed-debounce-time float r (default: 0) beam-pullmax.N.footpedal-debounce-complete bit r (default: 0) beam-pullmax.N.hyd-pump-in-use bit r (default: 0) AUTHOR Titus Newswanger 2025 LICENSE GPL LinuxCNC Documentation 2025-12-29 BEAM_PULLMAX(9)