question re. estop logic - (pncconf output)
30 Jul 2011 03:09 #12005
by 1:1
question re. estop logic - (pncconf output) was created by 1:1
Hello,
Lots of questions today -
I set up both an EStop input and output in pncconf today and got the following hal set up (its been formatted to my way of reading)
The way I read it (in the manual) initially was that you'd have an output signal on say the 5i22 gpio pin 49. 5v which you'd link to your machines physical estop system so if you E-stopped it in Axis (or EMC decided it was appropriate) then whatever protection you had outboard would also kick in (active brakes, relays on power whatever...). The flip side was that if you hit a physical estop button that the same machine protection would kick in but also advise EMC2 it had done so. Basically whichever 'side' caused the stop the other would be aware, by a Normally On loop closing and breaking the 'not estopped' voltage.
First Question: Does this sound logical - is it how its done ? I want to get into machinery that operates around humans, so I want to get very particular about the safety logic.
The way I actually see it is different however - I'm getting 5v on the input and 0v on the output - EMC/Axis is live from word go and attempts to hit the Estop in axis do nothing - but connecting the two pins I get estop - pretty much the opposite of what I expected. I dont want to simply hack around with inverting things until it works as I might end up with a "two wrongs = a right" situation of which one of those wrongs will cause a problem elsewhere...
Another aspect to this is that I see no charge-pump in any state either - there is a connection (literally and figuratively) - I just dont get it yet (I understand charge pump, just not why it isn't on)
Enable and coolant are working - so you can be sure I'm checking the right pins this time
any help appreciated,
Nick
complete hal file attached for context if required
Lots of questions today -
I set up both an EStop input and output in pncconf today and got the following hal set up (its been formatted to my way of reading)
#Estop_______________________________________
setp hm2_5i22.0.gpio.049.is_output true
net estop-out hm2_5i22.0.gpio.049.out <= iocontrol.0.user-enable-out
net estop-ext iocontrol.0.emc-enable-in <= hm2_5i22.0.gpio.048.in
#Enable__________________________________
setp hm2_5i22.0.gpio.050.is_output true
setp hm2_5i22.0.gpio.050.is_opendrain true
net enable => hm2_5i22.0.gpio.050.out
net enable => motion.motion-enabled
#Chargepump_________________________________
loadrt charge_pump
addf charge-pump servo-thread
net estop-out => charge-pump.enable
setp hm2_5i22.0.gpio.051.is_output true
net charge-pump hm2_5i22.0.gpio.051.out <= charge-pump.out
#Coolant___________________________________
setp hm2_5i22.0.gpio.052.is_output true
net coolant-mist hm2_5i22.0.gpio.052.out <= iocontrol.0.coolant-mistThe way I read it (in the manual) initially was that you'd have an output signal on say the 5i22 gpio pin 49. 5v which you'd link to your machines physical estop system so if you E-stopped it in Axis (or EMC decided it was appropriate) then whatever protection you had outboard would also kick in (active brakes, relays on power whatever...). The flip side was that if you hit a physical estop button that the same machine protection would kick in but also advise EMC2 it had done so. Basically whichever 'side' caused the stop the other would be aware, by a Normally On loop closing and breaking the 'not estopped' voltage.
First Question: Does this sound logical - is it how its done ? I want to get into machinery that operates around humans, so I want to get very particular about the safety logic.
The way I actually see it is different however - I'm getting 5v on the input and 0v on the output - EMC/Axis is live from word go and attempts to hit the Estop in axis do nothing - but connecting the two pins I get estop - pretty much the opposite of what I expected. I dont want to simply hack around with inverting things until it works as I might end up with a "two wrongs = a right" situation of which one of those wrongs will cause a problem elsewhere...
Another aspect to this is that I see no charge-pump in any state either - there is a connection (literally and figuratively) - I just dont get it yet (I understand charge pump, just not why it isn't on)
Enable and coolant are working - so you can be sure I'm checking the right pins this time
any help appreciated,
Nick
complete hal file attached for context if required
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30 Jul 2011 07:56 #12015
by 1:1
Replied by 1:1 on topic Re:question re. estop logic - (pncconf output)
hmmm,
are you answering my other thread ??
and in either case - which 'enable' are you referring to ?
and why xenable ? why not - yenable or ??
are you answering my other thread ??
and in either case - which 'enable' are you referring to ?
and why xenable ? why not - yenable or ??
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30 Jul 2011 08:01 - 30 Jul 2011 08:02 #12016
by 1:1
Replied by 1:1 on topic Re:question re. estop logic - (pncconf output)
cmorley wrote:
I think thats it - I've done a lot of switching about and copy and paste today so I cant be sure ...
>>UPDATE - FORUM WILL NOT LET ME UPLOAD IT - WONT ACCEPT FILE TYPE NOR FILE SIZE
Still though - what problem are we solving here ? It sounds like the other thread ?
>>>> www.linuxcnc.org/component/option,com_ku.../lang,english/#12012
or maybe not - let me study this. can you post you pncconf file?
I think thats it - I've done a lot of switching about and copy and paste today so I cant be sure ...
>>UPDATE - FORUM WILL NOT LET ME UPLOAD IT - WONT ACCEPT FILE TYPE NOR FILE SIZE
Still though - what problem are we solving here ? It sounds like the other thread ?
>>>> www.linuxcnc.org/component/option,com_ku.../lang,english/#12012
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