If I start a program and pause it with spacebar, or the GUI, cut recovery seems to be working as intended. I just repeated this test 5 times and it worked every time.
When I touch the nozzle with my finger (laser is not on), it causes the ohmic-probe signal to go HIGH, which will pause the program throwing the error "Ohmic probe activated, program is paused" I am using this function of plasmac to detect nozzle crashes when ohmic probing should not be enabled (anytime state != 2, the probe down state). Sometimes, cut recovery works just fine, but when I just tested it now it is not.
Perhaps this is running into timing issues between the components and the GUI as you said and I should investigate explicitly calling program pause. I will have to think on this a bit as I want it to catch even when the program is not running (jogging around) and also set jog-inhibit if I happen to jog into a crash situation. The laser is not mounted on a floating Z like plasma torches typically are, so I need to be extra sensitive with nozzle crashes.
Here's my fiber laser component, and the dynamic probing section is what takes care of nozzle crashes:
Code:
component fibercap "Convert BCL-AMP frequency to an appropriate level";
description """This component takes the BCL-Amplifier frequency input
and converts it to a 'voltage' value that plays nicely with Plasmac.
It also includes power level adjusting based on velocity and dynamic probing which
probes to a set capacitance value instead of touching the material.""";
/* INPUT PINS */
pin in float bcl_amp_freq "BCL-AMP frequency IN";
pin in float bcl_amp_freq_max "Max frequency observed from BCL-AMP";
pin in float bcl_amp_freq_min "Minimum frequency observed from BCL-AMP";
pin in float capacitance_max "Desired maximum capacitance value";
pin in float capacitance_min "Desired minimum capacitance value, usually 0";
pin in float current_velocity "Current machine velocity";
pin in float cut_capacitance "Cut capacitance setting, from plasmac.cut-volts";
pin in float cut_feed_rate "Cut velocity, from plasmac.cut-feed-rate";
pin in float cut_height "Cut height, from plasmac.cut-height";
pin in bit enable_dynamic_probing ;
pin in float full_power_percent ;
pin in float lower_power ;
pin in float laser_max_power ;
pin in float nozzle_short_capacitance "Desired capacitance to detect nozzle crashes";
pin in bit ohmic_pierce_delay "Delay for ohmic sense after torch-on to deal with slag hitting nozzle";
pin in s32 plasmac_state "Plasmac state";
pin in float probe_factor "Adjustment factor for use with dynamic probing";
pin in bit torch_on "Plasmac Torch On signal";
/* OUTPUT PINS */
pin out float current_capacitance ;
pin out float raw_freq ;
pin out float laser_power ;
pin out bit ohmic_probe ;
/* LOCAL VARIABLES */
variable float bcl_amp_range ;
variable float capacitance_range ;
function _;
author "Bryan LaRochelle";
license "GPL";
;;
#include <rtapi_math.h>
FUNCTION(_) {
/* Scaling the frequency input to a preferred range */
raw_freq = bcl_amp_freq;
bcl_amp_range = (bcl_amp_freq_max - bcl_amp_freq_min);
capacitance_range = (capacitance_max - capacitance_min);
current_capacitance = (((bcl_amp_freq - bcl_amp_freq_min) * capacitance_range) / bcl_amp_range) + capacitance_min;
/* Set the floor at 0 */
if(current_capacitance < capacitance_min){
current_capacitance = capacitance_min;
}
/* Dynamic Power */
//if torch.on and motion.current-vel > some number, set power
if(torch_on){
if(current_velocity*60 > cut_feed_rate * (full_power_percent/100)){
laser_power = laser_max_power;
}
else{
laser_power = lower_power;
}
}
if(enable_dynamic_probing){
/* Dynamic Probing */
/* If probing, trigger at cut_capacitance instead of material */
if(plasmac_state == 2){ //probe down state
if(current_capacitance <= cut_capacitance + probe_factor){
ohmic_probe = true;
}
}
}
if(!enable_dynamic_probing || plasmac_state != 2){
/* Catch nozzle tips any other time */
if(((current_capacitance <= nozzle_short_capacitance + probe_factor) || (current_capacitance <= capacitance_min)) && (!torch_on || ohmic_pierce_delay)){
ohmic_probe = true;
}
else{
ohmic_probe = false;
}
}
}
