watchdog behavior on Mesa 5i24

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09 Feb 2020 11:48 #156866 by dremeier
Does the watchdog should bit when the 50pol connecter get off, or I unplug a sserial cable?
In my case it does not, that´s why i need your expertise, please.

How to configure the watchdog on the 5i24, correctly
When does the watchdog should bit?

here my HAL:
loadrt 	[KINS]KINEMATICS
loadrt 	[EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_dio=20 num_aio=64
loadrt 	hostmot2
loadrt 	hm2_pci config=" num_encoders=4 num_pwmgens=1 num_stepgens=4 sserial_port_0=00000000" 
# smartserial ch0=7i90; ch1=7i87; ch3=TsHW (0=toggle 1=taster); ch5=stmbl

setp    hm2_5i24.0.watchdog.timeout_ns 5000000
loadrt 	pid names=pid.x,pid.y,pid.z,pid.s
loadrt 	abs names=abs.spindle
loadrt 	lowpass names=lowpass.spindle

addf hm2_5i24.0.read          	servo-thread
addf motion-command-handler   	servo-thread
addf motion-controller        	servo-thread
#addf pid.x.do-pid-calcs       	servo-thread
#addf pid.y.do-pid-calcs       	servo-thread
addf pid.z.do-pid-calcs       	servo-thread
addf pid.s.do-pid-calcs       	servo-thread
addf abs.spindle              	servo-thread
addf lowpass.spindle          	servo-thread
addf hm2_5i24.0.write         	servo-thread
.......

Kind Regards
Andre

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09 Feb 2020 14:28 - 09 Feb 2020 14:30 #156876 by PCW
Replied by PCW on topic watchdog behavior on Mesa 5i24
The hm2 watchdog is a time based watchdog and "bites" when LinuxCNC fails to write
the proper data to the card for a period exceeding its timeout value ( 5 ms in your HAL file example above )
This is used to force the I/O pins into a safe state if there is a fault in the Host processor
(a crash) or LinuxCNC software error.

Sserial devices have their own internal watchdogs and disable all outputs when they lose
communication with the controller.

If you wish to change LinuxCNCs operating state when a 50 pin connector is unconnected
you would need to use an input that is driven low by the daughtercard in normal operation
and sense this pin (when high it indicates a cable fault)

Similarly if you want to change LinuxCNCs operating state if you lose SSerial communications,
you would need to monitor the SSerial "run" state and take the appropriate action if it goes false.
Last edit: 09 Feb 2020 14:30 by PCW.

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