On 10/28/2019 01:36 AM, John Dammeyer wrote:
Nice video and your ESTOP and Machine ENABLE work the way I'd like to have mine
work. Except you didn’t show, and perhaps it can't, what happens if LinuxCNC
sees a fault that causes it to assert the ESTOP in the same way as you pressing
the button.
On my Bridgeport, a servo fault breaks the E-stop chain, so
LinuxCNC goes directly to E-stop mode.
But, if there is a following error, it goes to Machine-Off.
So, I set up the pin axis.0.amp-enable-out
to enable the servo amps. This way, when dropping out of
Machine-On state, the servo amps are
disabled and the machine does not drift. The downside is
that when the system goes to Machine-On,
the servos are enabled AND the PID loop is activated at the
same time. There is a little transient
when my servo amps are enabled that makes the motors jiggle
a bit. The PID then responds to that
and the whole machine jerks. Sometimes the servo amps fault
or LinuxCNC gets a following error, and
you have to repeat the coming out of E-stop sequence.
Jon
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