Help with QTplasmaC

phillc54 wrote: Can you post a compressed file of your config.

I already used timeshift to restore my pc to where it was before I installed 2.9 or qt. I will probably install plasmac next week, at least get that going... then when qt and 2.9 are officially out I will try again.

Clive S wrote: I cannot jog any motors or home the machine yet. But do see the in halshow the various sensor working ok.
I am not sure what I am missing from the hal file. The motors are enable as they are locked
I will have to have another go in the morning.

Clive, a couple of things I see is you have: but no corresponding switch for the tandem Y axis.

You have the X axis "HOME_FINAL_VEL" commented out.

This line: needs changing to:
Can you try individually homing the Z axis then the X axis. Do any of them home?

I also would have expected something like: in the "# Step Gen signals/setup" part of "# AXIS Y JOINT 3 Tandem" in the HAL file so that this motor runs in reverse to the main motor. Although you may already have the motor reversed in the wiring...

Edit:
I believe you use a THCAD for Arc Voltage. If so you haven't selected a Plasma Encoder in PncConf.

Can you confirm that the 7i96 Step0 is the X axis, 7i96 Step1 is the Z axis, 7i96 Step2 is the Y1axis, and 7i96 Step3 is the Y2 axis.

[strike]TBH I am not sure if the joint assignment is causing any issues, I see that when I run you parameters through PncConf if sets [TRAJ]COORDINATES as XYYZ, [KINS]KINEMATICS to trivkins coordinates=XYYZ and assigns AXIS_X to JOINT_0, AXIS_Y to JOINT_1 and JOINT_2, and AXIS_Z to JOINT_3 then just send the output to the correct stepgen in the HAL file.
[/strike]That works fine in a sim so should not be a problem. There was an issue with the jog keys/buttons and I have pushed a fix for that.

Edit2: Attached is a pncconf file I ran with your parameters, you could try running PncConf with it and change anything that doesn't look right. You will need to enter the correct THCAD parameters and I just guessed the pin# for the tandem Y min-limit/home switch.
Don't forget to backup the existing config or rename the machine name.

phillc54 wrote:

txtrone wrote: This image shows Z Axis stepgen inverted, or am I losing my mind?

Yep, you are correct. This catches me out a lot as well, the DIR pin is above the STEP pin.

[strike]Indeed it does. But at least it brings attention to the fact that it’s confusing :laugh:[/strike]

EDIT: I updated the picture in my post. Thank you for pointing out my blunder. :blush:

Glad I could help out in some way! Qtplasmac looks really nice, I will get there eventually.

phillc54 wrote: QtPlasmaC only show the axes, not the joints regardles of the " kinstype=both" setting in the ini file.

This is a no win situation where it confuses some folk to have 4 "axes" dispalyed when they only have three and confuses other folk who expect to see 4 "joints".

This was a problem for me in the PlasmaC running Axis shows 4 at startup and then when homed shows 3..

As this is the first time looking at QTplasmaC I needed to know what was correct.

Thanks Phil

Thanks Phil for such a detailed consultation

Before I go and start playing.

Re

Edit:
I believe you use a THCAD for Arc Voltage. If so you haven't selected a Plasma Encoder in PncConf.

Can you confirm that the 7i96 Step0 is the X axis, 7i96 Step1 is the Z axis, 7i96 Step2 is the Y1axis, and 7i96 Step3 is the Y2 axis.

I thought I had clicked on the plasma encoder but I will have to find out how to add it in hal (As i can''t use the pncconf again)

Yes I believe that the steps and axis match up as you have it. (but I will check when I have had my breakfast)

I will sort the other stuff like the missing Y switch etc.

Just one thing that I would like clearing up if possible

With PlasmaC and axis I think you had to clear e-stop . (I have a hard wired e-stop only) Do I have to clear anything in QTplasmaC to get it running - the motors are locked ie enabled.

I will report back later.

Edit: How do you extract the parameters to get a new pncconf