watchdog behavior on Mesa 5i24
- dremeier
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09 Feb 2020 11:48 #156866
by dremeier
watchdog behavior on Mesa 5i24 was created 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:
Kind Regards
Andre
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.
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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