Maybe you can use halui.machine-is-off or similar (can't remember the exact name, but you can surely find it with halcmd show pin halui). Make sure you have [HAL]HALUI=halui in your ini to start halui.
Regards, Alex On 7/11/2010 6:49 AM, Jon Elson wrote: > Hello, all, > > In the servo systems I put together, there are 3 machine states. > E-stop, machine off, and machine on. > When a following error occurs, EMC goes to machine off, which allows > velocity servo amps to > drift with a zero velocity command but no positioning loop. (Getting to > this state is of some use > to trim the velocity offset to zero.) But, it would be a lot better to > make EMC2 go to E-stop on > a following error, to stop the drift. I guess I could connect the servo > amp enables up, but that > takes up extra digital outputs. Is there an available HAL pin that > reports the transition to machine off, > so I could wire that into my existing E-stop logic? > > Thanks, > > Jon > > ------------------------------------------------------------------------------ > This SF.net email is sponsored by Sprint > What will you do first with EVO, the first 4G phone? > Visit sprint.com/first -- http://p.sf.net/sfu/sprint-com-first > _______________________________________________ > Emc-developers mailing list > Emc-developers@lists.sourceforge.net > https://lists.sourceforge.net/lists/listinfo/emc-developers > > ------------------------------------------------------------------------------ This SF.net email is sponsored by Sprint What will you do first with EVO, the first 4G phone? Visit sprint.com/first -- http://p.sf.net/sfu/sprint-com-first _______________________________________________ Emc-developers mailing list Emc-developers@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-developers
