.\"*******************************************************************
.\"
.\" This file was extracted from hal/components/plasmac.comp using halcompile.g.
.\" Modify the source file.
.\"
.\"*******************************************************************

.TH PLASMAC "9" "2024-03-13" "LinuxCNC Documentation" "HAL Component"
.SH NAME

plasmac \- A plasma cutter controller
.SH SYNOPSIS
.HP
.B loadrt plasmac
.SH DESCRIPTION



A plasma cutting table control component for use with the LinuxCNC V2.8 or later.

.I VERSION:
.br
1.236

.I SUMMARY:
.br
Usage of this component is demonstrated in the QtPlasmaC example configurations included with LinuxCNC.

.I DISCLAIMER:
.br
THE AUTHOR OF THIS SOFTWARE ACCEPTS ABSOLUTELY NO LIABILITY FOR ANY HARM OR LOSS RESULTING FROM ITS USE.

IT IS EXTREMELY UNWISE TO RELY ON SOFTWARE ALONE FOR SAFETY.

Any machinery capable of harming persons must have provisions for completely stopping all motors and moving parts etc. before persons enter any danger area.

All machinery must be designed to comply with local and national safety codes, and the author of this software can not, and does not, take any responsibility for such compliance.

.SH FUNCTIONS
.TP
\fBplasmac\fR (requires a floating-point thread)

.SH PINS
.TP
.B plasmac.arc-fail-delay\fR float in \fR
arc start failure timeout (seconds)
.TP
.B plasmac.arc-lost-delay\fR float in \fR
arc lost delay during a cut (seconds)
.TP
.B plasmac.arc-ok-high\fR float in \fR
maximum voltage level for Arc OK signal [mode 0] (volts)
.TP
.B plasmac.arc-ok-in\fR bit in \fR
external arc ok input signal [mode 1 & mode 2]
.TP
.B plasmac.arc-ok-low\fR float in \fR
minimum voltage level for Arc OK signal [mode 0] (volts)
.TP
.B plasmac.arc-max-starts\fR s32 in \fR
maximum attempts at starting the arc
.TP
.B plasmac.arc-voltage-in\fR float in \fR
arc voltage input [mode 0 & mode 1] see Notes above
.TP
.B plasmac.arc-voltage-offset\fR float in \fR
offset to set arc voltage to 0 at 0 volts
.TP
.B plasmac.arc-voltage-scale\fR float in \fR
scale to convert arc_voltage input to actual volts
.TP
.B plasmac.thc-auto\fR bit in \fR
enable automatic thc activation
.TP
.B plasmac.axis-x-max-limit\fR float in \fR
axis x maximum limit, connect to ini.x.max-limit
.TP
.B plasmac.axis-x-min-limit\fR float in \fR
axis x minimum limit, connect to ini.x.min-limit
.TP
.B plasmac.axis-x-position\fR float in \fR
current x axis position, connect to axis.x.pos-cmd
.TP
.B plasmac.axis-y-max-limit\fR float in \fR
axis y maximum limit, connect to ini.y.max-limit
.TP
.B plasmac.axis-y-min-limit\fR float in \fR
axis y minimum limit, connect to ini.y.min-limit
.TP
.B plasmac.axis-y-position\fR float in \fR
current y axis position, connect to axis.y.pos-cmd
.TP
.B plasmac.axis-z-max-limit\fR float in \fR
axis z maximum limit, connect to ini.z.max-limit
.TP
.B plasmac.axis-z-min-limit\fR float in \fR
axis z minimum limit, connect to ini.z.min-limit
.TP
.B plasmac.axis-z-position\fR float in \fR
current z axis position, connect to joint.N.pos-fb
.TP
.B plasmac.breakaway\fR bit in \fR
torch breakaway switch (optional, see float_switch)
.TP
.B plasmac.consumable-change\fR bit in \fR
change consumables in torch
.TP
.B plasmac.cornerlock-enable\fR bit in \fR
enable corner lock
.TP
.B plasmac.cornerlock-threshold\fR float in \fR
corner lock threshold (% of requested feed rate), speeds below this disable THC
.TP
.B plasmac.current-velocity\fR float in \fR
current machine velocity, connect to motion.current-vel
.TP
.B plasmac.cut-feed-rate\fR float in \fR
cut feed rate from current material (machine units per minute)
.TP
.B plasmac.cut-height\fR float in \fR
cut height (machine units)
.TP
.B plasmac.cut-recovery\fR bit in \fR
recover from cut error
.TP
.B plasmac.cut-volts\fR float in \fR
cut voltage (volts)
.TP
.B plasmac.cutting-start\fR bit in \fR
start a new cut, connect to spindle.0.on
.TP
.B plasmac.debug-print\fR bit in \fR
if true will print state changes as a debug aid
.TP
.B plasmac.external-estop\fR bit in \fR
external E-stop input
.TP
.B plasmac.feed-override\fR float in \fR
feed override value from GUI (connect to halui.feed-override.value)
.TP
.B plasmac.feed-reduction\fR float in \fR
reduce adaptive feed to this percentage (connect to motion.analog-out-03)
.TP
.B plasmac.float-switch\fR bit in \fR
float switch input (can also act as breakaway if it actuates when torch breaks away)
.TP
.B plasmac.float-switch-travel\fR float in \fR
float switch travel (machine units)
.TP
.B plasmac.gcode-scale\fR float in \fR(default: \fI1\fR)
current G-code scale
.TP
.B plasmac.height-override\fR float in \fR
height override adjustment (volts)
.TP
.B plasmac.height-per-volt\fR float in \fR
torch height change per volt (machine units)
.TP
.B plasmac.homed\fR bit in \fR
machine is homed
.TP
.B plasmac.ignore-arc-ok-0\fR bit in \fR
don't require arc ok for start or cutting
.TP
.B plasmac.ignore-arc-ok-1\fR bit in \fR
don't require arc ok for start or cutting
.TP
.B plasmac.kerf-width\fR float in \fR
placeholder for better G-code portability between GUIs
.TP
.B plasmac.override-jog\fR bit in \fR
override jog inhibit
.TP
.B plasmac.offset-set-probe\fR bit in \fR
deploy probe for setting offsets
.TP
.B plasmac.offset-set-scribe\fR bit in \fR
deploy scribe for setting offsets
.TP
.B plasmac.laser-recovery-start\fR s32 in \fR
start laser offset for cut recovery
.TP
.B plasmac.laser-x-offset\fR s32 in \fR
alignment laser x axis offset (scaled units)
.TP
.B plasmac.laser-y-offset\fR s32 in \fR
alignment laser y axis offset (scaled units)
.TP
.B plasmac.lowpass-frequency\fR float in \fR
lowpass cutoff frequency for arc voltage output
.TP
.B plasmac.machine-is-on\fR bit in \fR
machine is on signal
.TP
.B plasmac.max-offset\fR s32 in \fR(default: \fI5\fR)
maximum height offset
.TP
.B plasmac.mesh-arc-ok\fR bit in \fR(default: \fIFALSE\fR)
don't require arc ok for mesh mode
.TP
.B plasmac.mesh-enable\fR bit in \fR
enable mesh cutting mode
.TP
.B plasmac.mode\fR s32 in \fR
operating mode
.TP
.B plasmac.motion-type\fR s32 in \fR
motion type, connect to motion.motion-type
.TP
.B plasmac.move-down\fR bit in \fR
external thc down switch [mode 2]
.TP
.B plasmac.move-up\fR bit in \fR
external thc up switch [mode 2]
.TP
.B plasmac.multi-tool\fR bit in \fR(default: \fI1\fR)
allows the use of multiple tools
.TP
.B plasmac.offset-probe-delay\fR float in \fR
wait for probe to deploy (seconds)
.TP
.B plasmac.offset-probe-x\fR float in \fR
X axis offset for offset probe (machine units)
.TP
.B plasmac.offset-probe-y\fR float in \fR
Y axis offset for offset probe (machine units)
.TP
.B plasmac.offsets-active\fR bit in \fR
offsets are active, connect to motion.eoffsets-active
.TP
.B plasmac.ohmic-sense-on-delay\fR s32 in \fR(default: \fI3\fR)
debounce cycles for ohmic sense on
.TP
.B plasmac.ohmic-sense-off-delay\fR s32 in \fR(default: \fI3\fR)
debounce cycles for ohmic sense off
.TP
.B plasmac.ohmic-sense-in\fR bit in \fR
ohmic sense relay input
.TP
.B plasmac.ohmic-max-attempts\fR s32 in \fR
maximum ohmic probe attempts before fallback to float switch
.TP
.B plasmac.ohmic-probe\fR bit in \fR
ohmic probe input, from ohmic-sense-out or external component/pin
.TP
.B plasmac.ohmic-probe-enable\fR bit in \fR
enable ohmic probe
.TP
.B plasmac.ohmic-probe-offset\fR float in \fR
Z axis offset for ohmic probe (machine units)
.TP
.B plasmac.ohmic-test\fR bit in \fR
test for shorted torch
.TP
.B plasmac.ok-sample-counts\fR s32 in \fR(default: \fI10\fR)
arc_ok number of valid samples required [mode 0]
.TP
.B plasmac.ok-sample-threshold\fR float in \fR(default: \fI10\fR)
arc_ok maximum arc voltage deviation allowed [mode 0]
.TP
.B plasmac.pause-at-end\fR float in \fR
time to pause at end of cut
.TP
.B plasmac.paused-motion-speed\fR float in \fR
multiplier for speed of motion when paused, from -1 to 1
.TP
.B plasmac.pid-d-gain\fR float in \fR
derivative gain input [mode 0 & mode 1]
.TP
.B plasmac.pid-i-gain\fR float in \fR
integral gain input [mode 0 & mode 1]
.TP
.B plasmac.pid-p-gain\fR float in \fR
proportional gain input [mode 0 & mode 1]
.TP
.B plasmac.pierce-delay\fR float in \fR
time required to pierce stock (seconds)
.TP
.B plasmac.probe-feed-rate\fR float in \fR
probe down velocity (machine units per minute)
.TP
.B plasmac.probe-final-speed\fR s32 in \fR(default: \fI1\fR)
final probe speed (steps per servo period)
.TP
.B plasmac.pierce-height\fR float in \fR
pierce height (machine units)
.TP
.B plasmac.probe-start-height\fR float in \fR
probe starting height
.TP
.B plasmac.probe-test\fR bit in \fR
probe test only
.TP
.B plasmac.program-is-idle\fR bit in \fR
program is idle, connect to halui.program.is-idle
.TP
.B plasmac.program-is-paused\fR bit in \fR
program is paused, connect to halui.program.is-paused
.TP
.B plasmac.program-is-running\fR bit in \fR
program is running, connect to halui.program.is-running
.TP
.B plasmac.puddle-jump-delay\fR float in \fR
Delay move from pierce height to cut height (seconds), leave disconnected if not required.
.TP
.B plasmac.puddle-jump-height\fR float in \fR
Puddle jump height (percentage of pierce height), leave disconnected if not required.
.TP
.B plasmac.requested-velocity\fR float in \fR
deprecated
.TP
.B plasmac.feed-upm\fR float in \fR
requested feed_rate, connect to motion.feed-upm to use as the default (G-code units per minute)
.TP
.B plasmac.resolution\fR s32 in \fR(default: \fI100\fR)
multiplier for resolution of the offset counts
.TP
.B plasmac.restart-delay\fR float in \fR
time from arc failure till next restart attempt
.TP
.B plasmac.safe-height\fR float in \fR
requested safe traverse height (machine units)
.TP
.B plasmac.scribe-arm-delay\fR float in \fR
delay from scribe arm to scribe on
.TP
.B plasmac.scribe-on-delay\fR float in \fR
delay from scribe on to motion beginning
.TP
.B plasmac.scribe-start\fR bit in \fR
start a new scribe, connect to spindle.1.on
.TP
.B plasmac.setup-feed-rate\fR float in \fR
feed rate for moves to pierce and cut heights (machine units per minute)
.TP
.B plasmac.skip-ihs-distance\fR float in \fR
skip IHS if less than this distance from last cut
.TP
.B plasmac.spotting-start\fR bit in \fR
start a new spot, connect to spindle.2.on
.TP
.B plasmac.spotting-threshold\fR float in \fR
threshold voltage to start spotting delay
.TP
.B plasmac.spotting-time\fR float in \fR
torch off delay after spotting threshold reached
.TP
.B plasmac.thc-delay\fR float in \fR
delay from cut feed rate reached to THC activate (seconds) [non auto THC]
.TP
.B plasmac.thc-disable\fR bit in \fR
thc disable
.TP
.B plasmac.thc-enable\fR bit in \fR
enable/disable thc and set the IHS skip type
.TP
.B plasmac.thc-feed-rate\fR float in \fR
maximum feed rate for thc (machine units per minute)
.TP
.B plasmac.thc-sample-counts\fR s32 in \fR(default: \fI50\fR)
thc number of valid samples required [auto THC]
.TP
.B plasmac.thc-sample-threshold\fR float in \fR(default: \fI1\fR)
thc maximum arc voltage deviation allowed [auto THC]
.TP
.B plasmac.thc-threshold\fR float in \fR
thc threshold (volts), changes below this have no effect
.TP
.B plasmac.torch-enable\fR bit in \fR
enable torch
.TP
.B plasmac.torch-off\fR bit in \fR
turn torch off
.TP
.B plasmac.torch-pulse-start\fR bit in \fR
torch pulse start
.TP
.B plasmac.torch-pulse-time\fR float in \fR
torch pulse time (seconds)
.TP
.B plasmac.units-per-mm\fR float in \fR
for scale calcs, connect to halui.machine.units-per-mm
.TP
.B plasmac.use-auto-volts\fR bit in \fR
use calculated voltage for thc baseline
.TP
.B plasmac.voidlock-enable\fR bit in \fR
enable voidlock [mode 0 & mode 1]
.TP
.B plasmac.voidlock-on-cycles\fR s32 in \fR(default: \fI2\fR)
number of sampling cycles to activate voidlock 
.TP
.B plasmac.voidlock-off-cycles\fR s32 in \fR(default: \fI10\fR)
number of sampling cycles to deactivate voidlock
.TP
.B plasmac.voidlock-slope\fR s32 in \fR(default: \fI500\fR)
voidlock slope in volts per second
.TP
.B plasmac.x-offset\fR s32 in \fR
offset to apply to axis x for consumable change and cut recovery (scaled units)
.TP
.B plasmac.x-offset-current\fR float in \fR
current x axis offset, connect to axis.x.eoffset
.TP
.B plasmac.xy-feed-rate\fR float in \fR
feed-rate for consumable change
.TP
.B plasmac.y-offset\fR s32 in \fR
offset to apply to axis y for consumable change and cut recovery (scaled units)
.TP
.B plasmac.y-offset-current\fR float in \fR
current z axis offset, connect to axis.y.eoffset
.TP
.B plasmac.z-offset-current\fR float in \fR
current z axis offset, connect to axis.z.eoffset
.TP
.B plasmac.zero-window\fR float in \fR(default: \fI0.1\fR)
sets window that voltage fluctuations show as zero (-0.1 to 0.1 at default value)
.TP
.B plasmac.adaptive-feed\fR float out \fR
for reverse-run, connect to motion.adaptive-feed
.TP
.B plasmac.arc-ok-out\fR bit out \fR
arc ok output
.TP
.B plasmac.arc-voltage-out\fR float out \fR
arc voltage output [mode 0 & mode 1]
.TP
.B plasmac.consumable-changing\fR bit out \fR
consumables are being changed
.TP
.B plasmac.cornerlock-is-locked\fR bit out \fR
corner locked indicator
.TP
.B plasmac.cut-length\fR float out \fR
length of current cut job
.TP
.B plasmac.cut-recovering\fR bit out \fR
recovering from cut error
.TP
.B plasmac.cut-time\fR float out \fR
cut time of current job
.TP
.B plasmac.cutting-stop\fR bit out \fR
stop manual cut, connect to halui.spindle.0.stop
.TP
.B plasmac.feed-hold\fR bit out \fR
feed hold, connect to motion.feed-hold
.TP
.B plasmac.jog-inhibit\fR bit out \fR
jog inhibit, connect to motion.jog-inhibit
.TP
.B plasmac.laser-recovery-state\fR s32 out \fR
laser recovery status
.TP
.B plasmac.led-down\fR bit out \fR
thc move down indicator
.TP
.B plasmac.led-up\fR bit out \fR
thc move up indicator
.TP
.B plasmac.offset-scale\fR float out \fR
offset scale, connect to axis.<x y z>.eoffset-scale
.TP
.B plasmac.ohmic-enable\fR bit out \fR
on only while probing
.TP
.B plasmac.ohmic-sense-out\fR bit out \fR
ohmic sense output state
.TP
.B plasmac.paused-motion\fR bit out \fR
paused motion flag, true when paused motion is active
.TP
.B plasmac.paused-time\fR float out \fR
paused time during current job
.TP
.B plasmac.pierce-count\fR s32 out \fR
number of pierce attempts (torch starts)
.TP
.B plasmac.probe-test-error\fR bit out \fR
minimum limit reached while probe testing
.TP
.B plasmac.probe-time\fR float out \fR
probe time of current job
.TP
.B plasmac.program-pause\fR bit out \fR
pause the current program, connect to halui.program.pause
.TP
.B plasmac.program-resume\fR bit out \fR
resume the currently paused program, connect to halui.program.resume
.TP
.B plasmac.program-run\fR bit out \fR
run the currently loaded program, connect to halui.program.run
.TP
.B plasmac.program-stop\fR bit out \fR
stop current program, connect to halui.program.stop
.TP
.B plasmac.rapid-time\fR float out \fR
rapid motion time of current job
.TP
.B plasmac.run-time\fR float out \fR
run time of current job
.TP
.B plasmac.safe-height-is-limited\fR bit out \fR
safe height is limited indicator
.TP
.B plasmac.sensor-active\fR bit out \fR
one of float, ohmic, or breakaway is detected
.TP
.B plasmac.scribe-arm\fR bit out \fR
arm the scribe
.TP
.B plasmac.scribe-on\fR bit out \fR
turn scribe on
.TP
.B plasmac.state-out\fR s32 out \fR
current state
.TP
.B plasmac.stop-type-out\fR s32 out \fR
current stop type
.TP
.B plasmac.thc-active\fR bit out \fR
thc status output
.TP
.B plasmac.thc-enabled\fR bit out \fR
thc is enabled
.TP
.B plasmac.torch-on\fR bit out \fR
turn torch on, connect to your torch on input
.TP
.B plasmac.torch-time\fR float out \fR
torch on time of current job
.TP
.B plasmac.voidlock-is-locked\fR bit out \fR
voidlock is locked indicator [mode 0 & mode 1]
.TP
.B plasmac.x-offset-counts\fR s32 out \fR
x offset for consumable change, connect to axis.x.eoffset-counts
.TP
.B plasmac.xy-offset-enable\fR bit out \fR
enable x and y offsets, connect to axis.<x & y>.eoffset-enable
.TP
.B plasmac.y-offset-counts\fR s32 out \fR
y offset for consumable change, connect to axis.y.eoffset-counts
.TP
.B plasmac.z-height\fR float out \fR
current z axis height relative to the probed zero height
.TP
.B plasmac.z-offset-counts\fR s32 out \fR
z offset for height control, connect to axis.z.eoffset-counts
.TP
.B plasmac.z-offset-enable\fR bit out \fR
enable z offsets, connect to axis.z.eoffset-enable
.TP
.B plasmac.z-relative\fR float out \fR
distance of Z from last probed height
.TP
.B plasmac.current-feed-rate\fR float out \fR
current feed rate per minute
.TP
.B plasmac.requested-feed-rate\fR float out \fR
requested feed rate
.TP
.B plasmac.low-cut-volts\fR s32 in \fR
low cut voltage threshold while thc active
.TP
.B plasmac.target-samples\fR s32 in \fR(default: \fI6\fR)
number of samples for setting target_volts
.TP
.B plasmac.target-volts\fR float out \fR
target voltage for thc, set by arc voltage at cut height
.SH AUTHOR

Phillip A Carter & Gregory D Carl
.SH LICENSE

GPLv2 or greater