Chris (and John), Thanks for the replies, I have rather limited internet access at the moment, so I am a little slow in responding.
> I don't quite understand what you're saying. When in "machine off" > state, the commanded position tracks the actual position so > you can (for instance) use handwheels and not get a jump when > you go to "machine on" state. If this is not working > correctly for you please say how we can reproduce it (and in > what version of emc). The EMC version is EMC2 2.2 pre-release. Here is the sequence of events I am getting. I am using a banner estop module which requires two inputs within 100ms to arm, and then a one-shot to enable (clear estop condition). Once this is done, the only thing remaining to run the machine is a "machine on". Thus, once I am at machine on, I start a program, which initially does a plunge followed by XY motion doing the routing. If I hit the estop at this point, the machine of course stops. The program step is also set to the end of the program. I then repeat the arming sequence by releasing the estop push button, arming the banner module, and sending the one-shot. Again all that is remaining is the machine on. When I do a machine on, the head will jump to a new position, often significant away from where it stopped. I have not figured out yet what position it is going to. But if I actually had a tool and material, it would likely break the tool or damage the material. This should be the relevant parts of the hal file handling the estop: # This activates the banner estop module newsig EstopWrite bit linksp EstopWrite => m5i20.0.out-13 linksp EstopWrite => m5i20.0.out-14 linkps iocontrol.0.user-enable-out => EstopWrite # This is the estop sense logic newsig EstopSense bit linkpp debounce.0.3.in <= m5i20.0.in-04-not linksp EstopSense <= debounce.0.3.out linksp EstopSense => iocontrol.0.emc-enable-in Regards, Eric ------------------------------------------------------------------------- This SF.net email is sponsored by DB2 Express Download DB2 Express C - the FREE version of DB2 express and take control of your XML. No limits. Just data. Click to get it now. http://sourceforge.net/powerbar/db2/ _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
