E-Stop

I want to make sure I understand the first step before I rewire it.....

DO NOT wire the external e-stop to Pin 10. Instead wire 5 vdc through the NC external e-stop switch to the Enable Pin. The C35S manual says it has an internal 4.7K pull-down resistor.

Copied from the manual:

7.2 Enable Pin.
The card must be provided with a 5VDC signal to enable operation. This feature has been added to externally control the status of the outputs. When the enable signal is not present, output signals sent high impedance state. If this function is not required, a jumper can be placed between +5vdc and the EN terminal. It has an internal 4.7kOhm pull-down resistor.

Please do not rewire anything before we understand what preventing the board from activating.
- What happens if you move the jumper back to disable the SCHP on the board?
- Is the software activating OK? Or is it seeing an e-stop condition?
Not that the EN terminal is not tied to an input pin for e-stop. It is just a hardware enable on the board. If you want to tie it to an input pin, you need to wire it manually. This is why I say that you would need to connect the EN in parallel to the input pin used for stop. Considering what you have said, I can think of two reasons why your system is not activating:
- You configured and enabled the SCHP and the software is seeing an e-stop condition that is not letting it activate.
- There could be a problem with the wiring of the e-stop and the EN is not seeing the +5vdc. As I said in the previous email, you can verify this with a multimeter.

Arturo Duncan
cnc4pc.com

Moved jumper to disable SCHP and set Pin 17 in StepConf to "unused". Green Enable light is on as soon as board is powered up whether EMC2 is started or not. EMC2 software works as it should, I can toggle internal e-stop to enable/disable axis movement; Green Enable LED remains on under all conditions.

Next step...I reconnected the external e-stop and set Pin 10 to E-Stop In in StepConfig. Powered everything back up and it all works as it should. Green light remains on throughout, but external e-stop toggles software e-stop and disables axis.

So something is messed up in the software when I try to use the software generated charge pump and external e-stop at the same time. The external e-stop will toggle the software e-stop button on and off, but the board is never enabled (no green light). The Pin 17 LED never comes on so it is like the software is not sending the SCHP signal.

If it is considered safe to run without using the SCHP function, I think I'll just leave it alone as it seems to be working as advertised.

OK, so now we know the problem is the software configuration. You need to configure LinuxCNC to use the SCHP, so it sends a 12.5khz pulse stream through pin 17 when the software is active.
I do not have instructions for his on hand now but can look it up tomorrow for you.

Arturo Duncan
cnc4pc.com

If all you want is the external E-stop switch to enable/disable the charge pump function (and also trigger the software E-stop button in Axis to halt things), you can simplify your 'E-stop Test' HAL config a bit.

Near the top of 'E-stop Test', delete the following two lines:

Change the parallel port pin 17 net definition from:

To:

Near the bottom of the HAL file change the following two lines:

To:

Modifying things so that both your physical E-stop and the software E-stop in Axis run in tandem is a bit more messy. I personally don't bother with a software E-stop and prefer the hardware one, as it takes longer for me to find the right key on the keyboard than it does for me to hit a big red button when things start going wrong.

Thank you for the reply.

I changed to HAL as you specified above and get the following debug error when EMC2 loads:

Debug file information:
.
./E-Stop_Test.hal:41: Signal name 'charge-pump.out' must not be the same as a pin. Did you omit the signal name?
4011
PID TTY STAT TIME COMMAND
Stopping realtime threads
Unloading hal components

Here is the HAL file.....:

# Generated by stepconf 1.1 at Sat Jan 18 14:17:44 2020
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hal_parport cfg="0Xc800 out"
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0
loadrt charge_pump

# net estop-out charge-pump.enable iocontrol.0.user-enable-out
# net charge-pump <= charge-pump.out

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf charge-pump base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
net spindle-cmd-rpm <= motion.spindle-speed-out
net spindle-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-cmd-rps <= motion.spindle-speed-out-rps
net spindle-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-at-speed => motion.spindle-at-speed

net estop-out => parport.0.pin-01-out
net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net xdir => parport.0.pin-03-out
net ystep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net ydir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net zdir => parport.0.pin-07-out
# net charge-pump => parport.0.pin-17-out
net charge-pump.out => parport.0.pin-17-out
net estop-ext <= parport.0.pin-10-in

setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 35000
setp stepgen.0.dirsetup 35000
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable axis.0.amp-enable-out => stepgen.0.enable

setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 35000
setp stepgen.1.dirsetup 35000
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable axis.1.amp-enable-out => stepgen.1.enable

setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 35000
setp stepgen.2.dirsetup 35000
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable axis.2.amp-enable-out => stepgen.2.enable

# net estop-out <= iocontrol.0.user-enable-out
# net estop-ext => iocontrol.0.emc-enable-in
net estop-ext => charge-pump.enable
net estop-ext => iocontrol.0.emc-enable-in


loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared