Best practice for multiple sources of Hal signals (estop, jog, etc.)

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dokwine
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15 Jan 2019 01:48 #124213 by dokwine

Best practice for multiple sources of Hal signals (estop, jog, etc.) was created by dokwine

I am reworking my machine to incorporate a Glade panel. The machine also has a Vista USB pendant on it. My question is how to let either the pendant, or Glade drive common signals like estop or jog since those input pins can only be attached to one output pin? Is the correct approach an "or" function in an rt thread or is there a better preferred approach?

My current setup seems to allow axis and the pendant estop or jog the machine, but I was never able to sort how to add my own jog buttons with pyvcp without conflicting with the pendant.

Thanks

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cmorley
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15 Jan 2019 03:11 #124220 by cmorley

Replied by cmorley on topic Best practice for multiple sources of Hal signals (estop, jog, etc.)

It depends on what type of buttons/switches you use.
The preferred way is to use momentary switches to toggle events.
In this way any panel can change the state.
You can see the idea in HALUI - there are pins with 'is-on' for status and separate pins for on and off.

Unfortunately things like jog rate and jog increment don't work that way.
Each ui has it's own concept of jograte/increment.

How does your pendant connect to linuxcnc?
If it was me I would try to use GLADEvcp for the 'hub' of all ways to jog.
It would mean you would need to connect your USB pendant with python code to gladevcp.

And that would still leave AXIS independant for jog rate etc - AXIS is not friendly in that way. It can be hacked in using the .axisrc file python and HAL.

Depends on how much time/work you wish to put into it.

Chris M

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dokwine
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15 Jan 2019 18:23 - 15 Jan 2019 18:40 #124253 by dokwine

Replied by dokwine on topic Best practice for multiple sources of Hal signals (estop, jog, etc.)

Thanks for the reply Chris. A few additional thoughts/?s then..

Hah! Never put that together :\ "is-on vs "on" --was always puzzled by the similar names

The pendant is a bit of a black box; it has a driver and comes with a bunch of preconfigured Hal statements providing access to the signals which, in turn, drive standard HALUI input pins and conflicting with the panel's HAL pin definitions

I expect I won't go there right now, but when you refer to connecting the pendant to gladevcp via python, are you referring to bashing the pins directly within python as a way to avoid creating signals for the HAL pins?

For the time being I think I'll just work through the estop issue, as I rarely jog from the panel and I rarely run things from the pendant. Once I'm back up with gladevcp I may revisit. I just needed to see if I was missing something obvious.

Thanks again,
Ron

p.s. One more thing... when you refer to momentary switches toggling events you are suggesting multiple momentary switches through an "or" function?

Last edit: 15 Jan 2019 18:40 by dokwine. Reason: added p.s.

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rodw
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15 Jan 2019 20:40 #124264 by rodw

Replied by rodw on topic Best practice for multiple sources of Hal signals (estop, jog, etc.)

It is possible to create an estop chain in hal where you have seperate switches that trigger an estop. Its not documented very well anywhere I can find but it looks something like this for 3 estop switches (in my config anyway.). Note at the end, I turn on a warning light and disable my stepper drives.

# --- ESTOP CHAIN STARTS ---
net latch-reset iocontrol.0.user-request-enable 
net latch-ok-in iocontrol.0.user-enable-out 

net latch-ok-in => estop-latch.0.ok-in
net latch0-out <= estop-latch.0.ok-out 
net latch0-out => estop-latch.1.ok-in
net latch1-out <= estop-latch.1.ok-out 
net latch1-out => estop-latch.2.ok-in

net latch-reset => estop-latch.0.reset
net latch-reset => estop-latch.1.reset
net latch-reset => estop-latch.2.reset
net latch-out iocontrol.0.emc-enable-in <= estop-latch.2.ok-out
net estop-out estop-latch.2.fault-out

# --- EXTERNAL ESTOP SWITCH ---
net external-estop <= hm2_7i76e.0.7i76.0.0.input-00
net external-estop => estop-latch.0.fault-in

# --- PENDANT ESTOP SWITCH ---
net pendant-estop <=  hm2_7i76e.0.7i76.0.0.input-26-not
net pendant-estop => estop-latch.1.fault-in 

# --- TORCH BREAKAWAY E-STOP ---
net torch-breakaway <= hm2_7i76e.0.7i76.0.0.input-06
net torch-breakaway => estop-latch.2.fault-in

# --- E-STOP STEPPER DRIVE DISABLE ---
net estop-out hm2_7i76e.0.7i76.0.0.output-05

# --- E-STOP RED WARNING LIGHT ---
net estop-out hm2_7i76e.0.7i76.0.0.output-00

# --- ESTOP CHAIN ENDS ---

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cmorley
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15 Jan 2019 23:03 #124272 by cmorley

Replied by cmorley on topic Best practice for multiple sources of Hal signals (estop, jog, etc.)

dokwine wrote:
Thanks for the reply Chris. A few additional thoughts/?s then..

Hah! Never put that together :\ "is-on vs "on" --was always puzzled by the similar names

The pendant is a bit of a black box; it has a driver and comes with a bunch of preconfigured Hal statements providing access to the signals which, in turn, drive standard HALUI input pins and conflicting with the panel's HAL pin definitions

I expect I won't go there right now, but when you refer to connecting the pendant to gladevcp via python, are you referring to bashing the pins directly within python as a way to avoid creating signals for the HAL pins?

For the time being I think I'll just work through the estop issue, as I rarely jog from the panel and I rarely run things from the pendant. Once I'm back up with gladevcp I may revisit. I just needed to see if I was missing something obvious.

Thanks again,
Ron

p.s. One more thing... when you refer to momentary switches toggling events you are suggesting multiple momentary switches through an "or" function?

So your pendant using only HAL pins actually can work fine.
You could feed those HAL pins into gladevcp python code and dispatch all commands from there.

The 'or' component should not be necessary.
Most states, say flood coolant, is held in linuxcnc's motion controller.
You change the state by sending messages to the controller and the controller sends you status of the state with messages.

so if you have two pendants that have flood buttons that are momentary, with an LED for status of that state, then if one button is pressed it passes a message to the controller to toggle it's state.
After it toggles it's state the controller sends a status message to both pendants to update their LEDs.
If this way the state of both pendants are always the same and no 'or' component is needed

If you use a physical toggle switch on one pendant then of course that process can't work the same.
The physical switch represents the 'status' of that pendant and it can't be changed automatically.
It also doesn't work if the state (such as jograte) is not held by the motion controller.

In these cases you can connect the pendants together with HAL pins or code and dispatch commands from one place.

Chris M

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dokwine
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16 Jan 2019 02:48 #124279 by dokwine

Replied by dokwine on topic Best practice for multiple sources of Hal signals (estop, jog, etc.)

Thanks Chris and Rod. I think I have what I need to get this sorted.

I really appreciate the input,
Ron

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ikkuh
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01 Jan 2021 10:11 #193711 by ikkuh

Replied by ikkuh on topic Best practice for multiple sources of Hal signals (estop, jog, etc.)

dokwine wrote:
Thanks Chris and Rod. I think I have what I need to get this sorted.

Hi Ron,

Care to share what you came up with? Might be helpful for others.

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ikkuh
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29 Mar 2021 14:04 #204029 by ikkuh

Replied by ikkuh on topic Best practice for multiple sources of Hal signals (estop, jog, etc.)

rodw wrote:
It is possible to create an estop chain in hal where you have seperate switches that trigger an estop. Its not documented very well anywhere I can find but it looks something like this for 3 estop switches (in my config anyway.).

I used your code to setup a latch and it all seems to work, but I can never get the machine out of the external e-stop state. Can somebody tell me what I am doing wrong? I can see in Halshow that signals are generated and respond to the physical switches.

I have an 7i96, Chinese paralel port bob (both for input/output) connected to the machine.I also have a JoyStick USB card connected that supplies input signals for LinuxCNC. The BOB shows the leds and the usb JoyStick card supplies the inputs for the external stop signals (except for the main e-stop, that is coming from the 7i96).

(more info about using the JoyStick USB solution can be found at: git.cnckloon.nl/PeterT/CNCMachine/wiki/Joystick-USB with many thanks to Jerry www.youtube.com/channel/UCLOP1A92jZxEmfZf_CJWW7A , he has lots more stuff explained).

# external estop
loadrt estop_latch count=3

############### joystick, usb, bob
loadusr -W hal_input -KRAL DragonRise

# --- ESTOP CHAIN STARTS ---
net latch-reset iocontrol.0.user-request-enable
net latch-ok-in iocontrol.0.user-enable-out

net latch-ok-in => estop-latch.0.ok-in
net latch0-out <= estop-latch.0.ok-out
net latch0-out => estop-latch.1.ok-in
net latch1-out <= estop-latch.1.ok-out
net latch1-out => estop-latch.2.ok-in

net latch-reset => estop-latch.0.reset
net latch-reset => estop-latch.1.reset
net latch-reset => estop-latch.2.reset
net latch-out iocontrol.0.emc-enable-in <= estop-latch.2.ok-out
net estop-out estop-latch.2.fault-out

# --- EXTERNAL ESTOP SWITCH ---
net external-estop <=  hm2_7i96.0.gpio.010.in_not
net external-estop => estop-latch.0.fault-in

# --- PENDANT ESTOP SWITCH ---
net pendant-estop <= input.0.btn-base4
net pendant-estop => estop-latch.1.fault-in

# --- TORCH BREAKAWAY E-STOP ---
#net torch-breakaway <= hm2_7i76e.0.7i76.0.0.input-06
#net torch-breakaway => estop-latch.2.fault-in

# --- E-STOP STEPPER DRIVE DISABLE ---
net estop-out parport.0.pin-03-out

# --- E-STOP RED WARNING LIGHT ---
net estop-out parport.0.pin-04-out

# --- ESTOP CHAIN ENDS ---
##


# The next lines are only needed if the pins had been connected before
 unlinkp iocontrol.0.tool-change
 unlinkp iocontrol.0.tool-changed
 unlinkp iocontrol.0.tool-prep-number
 unlinkp iocontrol.0.tool-prepared

 net tool-change gmoccapy.toolchange-change <= iocontrol.0.tool-change
 net tool-changed gmoccapy.toolchange-changed <= iocontrol.0.tool-changed
 net tool-prep-number gmoccapy.toolchange-number <= iocontrol.0.tool-prep-number



# create signals for tool loading loopback
net tooloffset-x gmoccapy.tooloffset-x <= motion.tooloffset.x
net tooloffset-z gmoccapy.tooloffset-z <= motion.tooloffset.z

#net Pgm-run          <= halui.program.run   <= parport.0.pin-12-in-not
#net Pgm-pause        <= halui.program.pause           <= parport.0.pin-11-in-not
#net Pgm-run          <= halui.program.run       <= input.0.btn-joystick
  net Pgm-stop         <= halui.program.stop      <= input.0.btn-thumb
#  net Pgm-pause        <= halui.program.pause     <= input.0.btn-thumb2
  net Pgm-resume       <= halui.program.resume    <= input.0.btn-top
  net Pgm-step         <= halui.program.step      <= input.0.btn-top2
#############  net Mist-on          <= halui.mist.on           <= input.0.btn-pinkie
#  net Mist-off         <= halui.mist.off          <= input.0.btn-base
#  net Homing           <= gmoccapy.h-button.button-0     <= input.0.btn-base
#  net HomingStart       <= gmoccapy.h-button.button-1     <= input.0.btn-base2
# net Spindle-start    <= halui.spindle.0.start     <= input.0.btn-base2
# net Spindle-stop     <= halui.spindle.0.stop      <= input.0.btn-base3
########################  net Estop-activate   <= halui.estop.activate    <= input.0.btn-base4
  net Jog-Z-Plus       <= gmoccapy.jog.axis.jog-z-plus        <= input.0.btn-base5
  net Jog-Z-Minus      <= gmoccapy.jog.axis.jog-z-minus       <= input.0.btn-base6
## Unused ------------------------------------------- MODE                   [ End Button ]
## Unused ------------------------------------------- TURBO                  [ End Button ]
## Unused ------------------------------------------- CLEAR                  [ End Button ]
## Unused ------------------------------------------- AUTO                   [ End Button ]
  net Jog-X-Plus       <= gmoccapy.jog.axis.jog-x-plus        <= input.0.abs-x-is-pos
  net Jog-X-Minus      <= gmoccapy.jog.axis.jog-x-minus       <= input.0.abs-x-is-neg
  net Jog-Y-Plus       <= gmoccapy.jog.axis.jog-y-plus        <= input.0.abs-y-is-neg
  net Jog-Y-Minus      <= gmoccapy.jog.axis.jog-y-minus       <= input.0.abs-y-is-pos

#**** Debounce
### https://www.forum.linuxcnc.org/24-hal-components/32319-debounce#87672
  loadrt debounce cfg=2
  addf debounce.0 servo-thread
  setp debounce.0.delay 10
#**** /Debounce

#***** Toggle
  loadrt toggle2nist names=toggle.0,toggle.1
  addf toggle.0 servo-thread
  addf toggle.1 servo-thread
#***** /Toggle

setp hm2_7i96.0.gpio.036.is_output true ## mist

# Mist Button ########
 net mist_toggle_debounced debounce.0.0.in <= input.0.btn-pinkie
 net mist-toggle toggle.0.in <= debounce.0.0.out
 net mist-on toggle.0.on => halui.mist.on
 net mist-off toggle.0.off => halui.mist.off
 net mist-control halui.mist.is-on => toggle.0.is-on => parport.0.pin-02-out

#$ net Spindle-start_debounced debounce.1.0.in <= input.0.btn-base2
# net Spindle-start_toggle    <= debounce.1.0.out
##  net halui.spindle.0.start     <= input.0.btn-base2

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ikkuh
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29 Mar 2021 14:21 - 29 Mar 2021 16:50 #204039 by ikkuh

Replied by ikkuh on topic Best practice for multiple sources of Hal signals (estop, jog, etc.)

Somehow I managed to forget to add the latches to a thread, it works now:

### external estop

loadrt estop_latch count=3

addf estop-latch.0 servo-thread
addf estop-latch.1 servo-thread
addf estop-latch.2 servo-thread

Last edit: 29 Mar 2021 16:50 by ikkuh.

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