integrating a go/pause switch into LinuxCNC (not an estop)

I'm 95% there! It's pausing when I want it to, and resuming, but it is getting an error when loading another pallet and starting the program again:

can't do that (EMC_TASK_PLAN_RUN:507 in manual mode

Is there an auto mode that I should be switching into?

Thanks so much for your help! I'm definitely going to be posting the final hal file when it gets resolved!

I'm thinking I need this in there somewhere, but I'm not sure how to use it:

halui.mode.auto

-Edited due to bad info on my part-

I added halui.mode.auto but now it automatically goes into the next cycle without me removing pallet. I'm aslo getting errors. I'm guessing I need some logic about when to go into auto mode?

Here's my HAL file:

loadrt and2 count=2
addf and2.0 servo-thread
addf and2.1 servo-thread

net button_closed parport.0.pin-15-in => and2.0.in0
net button_open parport.0.pin-15-in-not => and2.1.in0

net machine-idle halui.program.is-idle => and2.0.in1
net machine-running halui.program.is-running => and2.1.in1

net start-cycle halui.mode.auto and2.0.out => halui.program.run
net pause-motion and2.1.out => motion.feed-inhibit

mode.mdi might be what you need.

just replaced auto with mdi, with no success. I think it didn't like calling for mdi mode when it was already in mdi mode.

SenorAguas wrote: I'm 95% there! It's pausing when I want it to, and resuming, but it is getting an error when loading another pallet and starting the program again:

can't do that (EMC_TASK_PLAN_RUN:507 in manual mode

When you say "starting the program again" do you mean using the pallet-intertion switch or pressing a "run" button somewhere else?

Does the program actually refuse to run?