Basic Mesa 7i76e Wiring Question

hoffb77 wrote: I use a 5v 4-channel low level relay module. They trip when the drives fault or are disabled. My PLC sends 24v to the common side of the fault relays once motion is enabled with a memory bit and a timed output. The bit resets when motion is disabled. You can use Classic Ladder for this. The logic is simple and I'd be happy to share it.

The relay outputs are tied to the "joint.n.amp-fault-in" pin for each axis.

I use the rising and falling edge of "motion-is-enabled" to trigger the 5v enable pulse or the 0v disable pulse.

When motion is enabled it fires a momentary 5v signal to the drives and it sets a memory bit.

The memory bit starts a timer that enables 24v to the common terminal on your fault relays at completion of the enable pulse. That allows the drives to enable before EMC2 senses voltage on the fault pins.

When "motion-is-enabled" changes to false, the falling edge triggers the momentary 0v disable signal and resets the memory bit.

In the event of a drive fault or encoder failure(G320X) all drives are disabled and the notification is on screen.

All three timers only need to be a second long.

You can use one output and relay for the enable pulse if you use diodes. The disable pulse needs one output to three relays to keep them isolated.

andypugh wrote: From a LinuxCNC configuration point of view setting up a step-dir servo looks exactly like setting up a stepper system.
So, just use pncconf as you would with a stepper.