Kasey Matejcek wrote: > Is there a way to have emc come out of estop and be in estop reset > > When I hit the reset button for the estop chain on my machine > > Witch pin do I need to link to to make this happen I've messed around and > haven't got anywere to speak of > > I tied ppmc.0din.14.in to estop-latch.0.reset this work some of the time but > no always and then it disables the F1 key from resting the estop because > I've unlinked that > > There is a potential timing race in the ESTOP logic. It is kept under control by setting the order of execution the HAL components in that mass of gobbledygook in the univpwm_io.hal file near the end. The HAL components need to write Estop off in one servo cycle, and then not look at the hardware until the next servo cycle, when the board has had a chance to get out of ESTOP.
As far as I can tell, there's no way to actually tell if the board is ABLE to come out of Estop except by trying to make it come out of estop and seeing if it does. There are 5 things that can put it in estop. Those are the watchdog, Estop-on command, power on reset, the Estop chain if the board is the master, and a pin on the parallel port that allows the master board to Estop all boards in the system. Hooking up the E-stop chain only advises EMC of one of those conditions. However, what you are trying to do is one of those "should work in theory" sorts of things. I am guessing there might be contact bounce on your switch. Bouncing on the Estop doesn't matter, the first break causes an E-stop, and when you reset the switch, it doesn't try to come OUT of Estop until you give the F1 command. Here, it is trying to complete the Estop chain and come out of Estop at the same moment, and the switches are checked by the servo thread at 1 KHz. If my theory is correct, adding a delay to your Din 14 might fix it. There are timer components available in HAL. Put a 50 ms delay on din 14 and see if that fixes the problem. Jon ------------------------------------------------------------------------------ Check out the new SourceForge.net Marketplace. It is the best place to buy or sell services for just about anything Open Source. http://p.sf.net/sfu/Xq1LFB _______________________________________________ Emc-users mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/emc-users
