Servo Driven Toolchanger

[Need TECH Help!]

Tom,
I tried to add code to my init program. The result i get is after an axis disabled condition i can not get it to re-enable.And rest of init code seems to be hanging. That said, wouldn't this code also cause a fault when referencing the axis? As the referencing ccode disables the axis to zero then re-enables.
Attached is my 3 axis main init code.

Troy

[TomKerekes]

Hi Troy,

The result i get is after an axis disabled condition i can not get it to re-enable.And rest of init code seems to be hanging.

Oops. The purpose of WasEnabled is to only EStop once, not many times. So code this:

       // if any axis disables and was enabled do EStop
        if (WasEnabled && (!ch0->Enable || !ch1->Enable || !ch2->Enable || !ch5->Enable))

That said, wouldn't this code also cause a fault when referencing the axis? As the referencing ccode disables the axis to zero then re-enables.

Good point. In that case you might set a Virtual Bit to disable the check while homing is disabling. ie.

       // if any axis disables and was enabled do EStop
        if (ReadBit(48) && WasEnabled && (!ch0->Enable || !ch1->Enable || !ch2->Enable || !ch5->Enable))

[Need TECH Help!]

Tom,
So, i can use the same type of code to block my axis limit pop up message during referencing? Here is a snippet of the X axis limit switch from main init code.

// Handle axis X minus limit switch
	result = Debounce(ReadBit(XMINUSLIMITBIT), &xmcount, &xmlast, &xmlastsolid);
	if (result == 1)
	{
		ClearBit(152);

		MsgBox("X - Limit. Jog opposite direction.", MB_OK | MB_ICONEXCLAMATION);
	}

How would i change the 'if' statement to also look at the state of VirtualBit that i will set at beginning of my referencing Ccode program?

Thanks,
Troy

[TomKerekes]

Hi Troy,

In this case you would only want to display the message when the original condition AND (logical and operator '&&') a ReadBit(48) is equal to '==' 0

[Need TECH Help!]

Leaving the pop up window issue for now as i cant get an estop to occur when axis disables.Here is code i added to main init but there nothing happens when axis is disabled.

.......

{
		double Tau = 0.002;		//seconds for low pass filtertime constant
		KLP = exp(-TIMEBASE / Tau);
		printf("Tau=%f KLP=%f\n", Tau, KLP);
	}

	BOOL WasEnabled = TRUE;

	for (;;)					// loop forever
	{
		//if any axis disables and was enabled do Estop
		if (WasEnabled && ( !ch5->Enable))
		{
			WasEnabled = FALSE;
			DoPC(PC_COMM_HALT);
		}


		SetStateBit(1059, BLOCK_DELETE_CHECKED);

		//From SetFROwithpot.c and SetSSOwithpot.c
.......

Any coders for hire? This ccode stuff is getting the best of me.

[TomKerekes]

Hi Troy,

Why are you only checking Axis 5? See the example in post 42.

[Need TECH Help!]

Hi Troy,

Why are you only checking Axis 5? See the example in post 42.

I could not get code to work so i was trying to simplify code as much as i could.

[TomKerekes]

Ah. So I assume you were disabling Axis 5?

But I think you want PC_COMM_ESTOP not PC_COMM_HALT

HTH