Donnie Timmons wrote: > Peter wrote > >> OK one problem I found in Donnies 5I23 HAL file (derived from Ted Hydes 7I43 >> hal file) is that the "Pet_Watchdog" function is commented out, causing the >> watchdog to bite shortly after startup > > I never minded a big barking dog but it's thous small quite ones that really > bite:-) > > For us newbie could a error message of some type be displayed when the > watchdog does time out so we would know that what got us? I guess I'm to use > to industrial control system in when a watchdog bites it kill all power and > give a very clear errror message.
There is an error message, it's in the kernel log. Watchdog bites look like this: Jan 19 19:59:38 skynet kernel: [ 3676.859579] hm2/hm2_7i43.0: Watchdog has bit! (set the .has-bit pin to False to resume) There is also a pin in in HAL (.has-bit) that can be rolled into the estop chain to effect machine power-down. Though you'd need a separate i/o path to emit any signals: if you were still talking to the FPGA, the watchdog would not have bit. The most likely cause of watchdog bite is a total system crash, in which case there's probably no more io of any kind. However, that's ok, because the HostMot2 firmware on the AnyIO boards respond to watchdog bite by (as you noticed!) switching all IO Pins to pulled-high inputs; the Mesa amps all have active-low enables so they react to this by powering down the motors. That's the good news. Unfortunately, currently, only the pet_watchdog function detects and reports watchdog bites. So you wont get notified of a bite unless you're running the function that prevents it... I should fix that... Oh yeah, you can see the kernel log mentioned above by running "dmesg" (newer message appear at the bottom), or you can look in the system log files /var/log/syslog or /var/log/kern.log. > Thanks to Peter and Sebastian and the rest of the group. I know y'all have to > be getting tired of newbies and the problem we come up with. Did Peter's watchdog fix in the config file and the num_stepgens thing fix all the problems you were seeing? > Now to figure out how to "and" all the axis enable line into one and invert > it to drive opto relay to power up the amps. Are you using the 7i33 amp, and that's what you want to power up and down? If so, i dont think you need to do anything extra. Each PWM on the 7i33 has an /ENA pin (active-low enable), this is exported as hm2_5i23.0.pwmgen.XX.enable in HAL, and there is a net in the config files you sent me that connects this to axis.X.amp-enable-out. So when EMC2 decides to power up each axis for effecting some motion, it'll enable the relevant pwmgen, which will power up the motor amp on the 7i33. If you *do* want to And together all the enables, check out the "and2" realtime module (man 9 and2). Unfortunately there is not currently a realtime module for and-gates with more than 2 inputs, so you'll have to chain a couple of them together. -- Sebastian Kuzminsky the garage is my happy place ------------------------------------------------------------------------------ This SF.net email is sponsored by: SourcForge Community SourceForge wants to tell your story. http://p.sf.net/sfu/sf-spreadtheword _______________________________________________ Emc-users mailing list Emc-users@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/emc-users
