Making M62/M63 codes failsafe

MaHa wrote:

I had the similar problem but a different application. Solved with a small component. net x-vel-cmd and net y-vel-cmd to this component, and check if there is any movement (non-zero).

There is motion.current-vel to save a step there. Still need the wcomp, and will go true during jogs and rapids.

have look at motion.motion-type 1: Traverse , 2: Linear feed, 3: Arc feed

This might be a good choice, as it remains zero during jogs.

You could also use motion.program-line which is zero when a program is not tunning (and during a toolchange / pause)

Using motion-type needs a bit of HAL logic or possibly a custom component depending on what you are comfortable with.

It's slightly inconvenient that the motion-type is a signed integer, as most of the bit-twiddling components want an unsigned int. So first I think you would need to use conv_s32_u32 to convert.
linuxcnc.org/docs/stable/html/man/man9/conv_s32_u32.9.html

Then I think what I would use might be slightly non obvious, mux_generic. mux_generic can take an unsigned int as an input and have a defined output for each value. If configured as a bit output then you can select the output separately for each motion-type, and can save the and2 by wiring the laser enable through it
linuxcnc.org/docs/stable/html/man/man9/mux_generic.9.html

This passes-through the signal laser-enable to laser-enable-interlocked to be used elsewhere if the motion-type is 2 or 3, and sends zero otherwise.

Yeah, I spent some time thinking about bit banging the motion-type route.  That may be the way to go, but It had occured to me there may be a simpler solution.

NOT the motion-teleop-mode to flip the bit

AND2 motion.teleop-mode with motion.motion-enable

This protects against both conditions I'm worried about

1. "joint X following error" shut down
In this case motion.motion-enable = False and motion.teleop-mode = False (bit flipped to True)
AND2 function = False

2. Manual stop mid lasing path
In this case motion.motion-enable = True and motion.teleop-mode = True (bit flipped to False)
AND2 function = False

Under normal operation both motion.motion-enabled = True and motion.teleop-mode = False (bit flipped to True)
AND2 function = True

Seems like that should catch both of those conditions above with only 2 bitwise operations

Of course there's an additional AND2 with the M62 output pin for actual firing.  All 3 conditions need to be true in order to fire

Am I'm missing something?  Some condition I'm not covered for?  Since it's a laser and glavos, I'm not really doing any jogging.  Nor will I ever need to fire the laser when it's not running a program.  That's how deep holes are made
 

This might be helpful:
linuxcnc.org/docs/devel/html/remap/remap...g_dealing_with_abort

Limedodge wrote:

Am I'm missing something?  
 

Possibly.  My solution is only two components and is relatively easy to modify if you decide you want laser on G0 too. 
(If you MDI a G0 you probably don't want the laser to enable.)

The setp mux-gen.00input.NN 0 lines are optional, I put them there so that there was a clear table to configure.