E-stop

[dewme5]

I'm having E-stop troubles.

I have the E-stop hooked up to pin 10 on my breakout board. In stepconf wizard, on parallel port setup, I have Pin 10 as ESTOP in. Pins 1, 8, 9, 11-16 = unused. Pins 2-7 = x,y,z Pin 17 Charge Pump.

In Hal Meter, If I select
parport.0.Pin-10-in, status changes from FALSE to TRUE when pressing the E-stop on the mill.

parport.0.Pin-10-in-not, status changes from TRUE to FALSE.

estop-ext, status changes from FALSE to TRUE

estop-out, status does not change. It does however change when pressing the estop icon on the EMC2 main window.

estop-out is false when in safe mode


I find towards the bottom of my .hal file,
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in

I'm just getting things setup currently. Before I go crazy I want some safety first. I know E-stop to software isn't the best method, but it's a start.

[tfmacz]

I don't have access to my machine right now, Will check when I get home and post the exact configuration, but you have to connect in the .hal file
parport.0.Pin-10-in to iocontrol.0.emc-enable-in

This will give the external E-Stop button control.

Originally Posted by dewme5 I'm having E-stop troubles. I have the E-stop hooked up to pin 10 on my breakout board. In stepconf wizard, on parallel port setup, I have Pin 10 as ESTOP in. Pins 1, 8, 9, 11-16 = unused. Pins 2-7 = x,y,z Pin 17 Charge Pump. In Hal Meter, If I select , status changes from FALSE to TRUE when pressing the E-stop on the mill. parport.0.Pin-10-in-not, status changes from TRUE to FALSE. estop-ext, status changes from FALSE to TRUE estop-out, status does not change. It does however change when pressing the estop icon on the EMC2 main window. estop-out is false when in safe mode I find towards the bottom of my .hal file, net estop-out <= iocontrol.0.user-enable-out net estop-out => iocontrol.0.emc-enable-in I'm just getting things setup currently. Before I go crazy I want some safety first. I know E-stop to software isn't the best method, but it's a start.

[dewme5]

there is a command in the .hal file stating

net estop-ext <= parport.0.pin-10-in

but that was already in there, and not doing what I need.

I tried putting something together like you suggested, but when I run the command thru HAL configuration in EMC2, it comes up as an invalid statement. Something is just a little different.

[jcorrea]

I had the same problem. This is how I fixed it.

On your .hal file delete this line;
net estop-ext <= parport.0.pin-10-in

Change line;
net estop-out <= iocontrol.0.user-enable-out

to read;
net estop-out <= parport.0.pin-10-in

You should have this now;
net estop-out <= parport.0.pin-10-in
net estop-out => iocontrol.0.emc-enable-in

You need to do this every time you modify the .hal file with the stepconf wizard.

Good luck,
Jorge

[dewme5]

Jorge.
With those changes, EMC wont' even start. I get the error screen, which I don't fully comprehend just yet. However, you have gotten my closer. There are several lines I've edited so far, and I'll just post all the code for you to look at.

# Generated by stepconf at Tue Nov 27 19:39:22 2007
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]SERVO_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hal_parport cfg=0x378
setp parport.0.reset-time 4000
loadrt stepgen step_type=0,0,0
loadrt charge_pump

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf charge-pump base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread

net xdir => parport.0.pin-02-out
net xstep => parport.0.pin-03-out
setp parport.0.pin-03-out-reset 1
net ydir => parport.0.pin-04-out
net ystep => parport.0.pin-05-out
setp parport.0.pin-05-out-reset 1
net zdir => parport.0.pin-06-out
net zstep => parport.0.pin-07-out
setp parport.0.pin-07-out-reset 1
net charge-pump => parport.0.pin-17-out

net estop-ext <= parport.0.pin-10-in

setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 35000
setp stepgen.0.dirsetup 16000
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable axis.0.amp-enable-out => stepgen.0.enable

setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 35000
setp stepgen.1.dirsetup 16000
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable axis.1.amp-enable-out => stepgen.1.enable

setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 35000
setp stepgen.2.dirsetup 16000
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable axis.2.amp-enable-out => stepgen.2.enable

net estop-out <= parport.0.pin-10-in-not
net estop-out => iocontrol.0.emc-enable-in

loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

for some reason I also have to delete the line

net estop-out charge-pump.enable <= iocontrol.0.user-enable-out

net estop-ext <=parport.0.pin-10-in (stays, but dropped "not" from the end)

net estop-out <=parport.0.pin-10-in-not (added "not" to stop conflict with above)

Right now, the E-stop is working. When first starting EMC, I do not have to clear the E-Stop on the screen before pressing power. Either the hard E-stop is in or out. However, if I press the software button, it still stops. Press the Hard button, and it stops. Suppose that is good for now.

I'm not sure why there is a difference between what works on your system, and mine, I would like to understand though.