External E-Stop

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15 Jan 2019 20:59 #124266 by rodw
Replied by rodw on topic External E-Stop
I might as well post his here too. The docs and examples never show how you can create an estop chain that included multiple switches chained together in software. Its not always convenient to wire all functions that should trigger an estop to a single input. This example has a hardwired estop, an estop button on a pendant. Additionally, if the plasma torch breaks away, this triggers an estop too.

On estop, we turn on a red warning light and disable the stepper drives. (All stepper controller (dis)enable lines are tied to the one output.)
loadrt estop_latch count=3
addf estop-latch.0            servo-thread
addf estop-latch.1            servo-thread
addf estop-latch.2            servo-thread


# --- ESTOP CHAIN STARTS ---
net latch-reset iocontrol.0.user-request-enable 
net latch-ok-in iocontrol.0.user-enable-out 

net latch-ok-in => estop-latch.0.ok-in
net latch0-out <= estop-latch.0.ok-out 
net latch0-out => estop-latch.1.ok-in
net latch1-out <= estop-latch.1.ok-out 
net latch1-out => estop-latch.2.ok-in

net latch-reset => estop-latch.0.reset
net latch-reset => estop-latch.1.reset
net latch-reset => estop-latch.2.reset
net latch-out iocontrol.0.emc-enable-in <= estop-latch.2.ok-out
net estop-out estop-latch.2.fault-out

# --- EXTERNAL ESTOP SWITCH ---
net external-estop <= hm2_7i76e.0.7i76.0.0.input-00
net external-estop => estop-latch.0.fault-in

# --- PENDANT ESTOP SWITCH ---
net pendant-estop <=  hm2_7i76e.0.7i76.0.0.input-26-not
net pendant-estop => estop-latch.1.fault-in 

# --- TORCH BREAKAWAY E-STOP ---
net torch-breakaway <= hm2_7i76e.0.7i76.0.0.input-06
net torch-breakaway => estop-latch.2.fault-in

# --- E-STOP STEPPER DRIVE DISABLE ---
net estop-out hm2_7i76e.0.7i76.0.0.output-05

# --- E-STOP RED WARNING LIGHT ---
net estop-out hm2_7i76e.0.7i76.0.0.output-00

# --- ESTOP CHAIN ENDS ---
The following user(s) said Thank You: BigJohnT, thefabricator03

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02 Mar 2019 14:00 #127503 by pl7i92
Replied by pl7i92 on topic External E-Stop
Software E-stop is always good but as it is realy a need shout down the motor power by press not in Software
you can Home against the switches and restart at the nearest Clearenc hight at all time

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28 Jun 2020 16:08 #173001 by Project_Hopeless
Replied by Project_Hopeless on topic External E-Stop

LinfieldGarage wrote: I know this is an old thread but it helped me get my estop working.

Here is a working config from my system running Master branch 2.8 and a Mesa 7i96 board. My estop button is N/C and is a 24 volt input to GPIO 010 on the Mesa board. Just change the last line for your particular board and GPIO pin.

# ---estop signals---
# create a signal for the estop loopback
#config from BigJohn#
loadrt estop_latch
addf estop-latch.0 servo-thread
net estop-loopout iocontrol.0.emc-enable-in <= estop-latch.0.ok-out
net estop-loopin iocontrol.0.user-enable-out => estop-latch.0.ok-in
net estop-reset iocontrol.0.user-request-enable => estop-latch.0.reset
net remote-estop estop-latch.0.fault-in <= hm2_[HOSTMOT2](BOARD).0.gpio.010.in_not


Is there a simple way to have an on screen popup indicating the external E-Stop was pressed. Something like you get with the axis limits?

If I accidentally bump an external button it would be nice to know it was an external button and perhaps which one.

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28 Jun 2020 16:17 #173002 by tommylight
The following user(s) said Thank You: Aciera

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28 Jun 2020 16:23 #173003 by Aciera
Replied by Aciera on topic External E-Stop
What GUI are you using. I do have a solution but only for gmoccapy.

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15 Aug 2020 14:01 #178278 by Project_Hopeless
Replied by Project_Hopeless on topic External E-Stop

tommylight wrote: linuxcnc.org/docs/html/man/man9/message.9.html

I did my best to to try and get a message to post, however I'm stuck. I'm nut understanding the syntax.

Here is my HAL for handling the external estop, this is working correctly.
loadrt estop_latch
addf estop-latch.0 servo-thread
net estop-loopout iocontrol.0.emc-enable-in <= estop-latch.0.ok-out
net estop-loopin iocontrol.0.user-enable-out => estop-latch.0.ok-in
net estop-reset iocontrol.0.user-request-enable => estop-latch.0.reset
net remote-estop estop-latch.0.fault-in <= hm2_[HOSTMOT2](BOARD).0.gpio.010.in_not
I'm trying to post the mesage like so.
# my message setup External E-Stop
loadrt message names=xestop messages="External E-Stop"
setp xestop estop-latch.0.fault-in <= hm2_[HOSTMOT2](BOARD).0.gpio.010.in_not   	# active low, N/C=open


I'm getting this error. With a Mesa 7i76e card how do I make the HAL connection?
Debug file information:
Note: Using POSIX realtime
./borg.hal:190: setp requires 2 arguments, 4 given
2988

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15 Aug 2020 14:50 #178289 by tommylight
Replied by tommylight on topic External E-Stop

Project_Hopeless wrote: I'm trying to post the mesage like so.

# my message setup External E-Stop
loadrt message names=xestop messages="External E-Stop"
setp xestop estop-latch.0.fault-in <= hm2_[HOSTMOT2](BOARD).0.gpio.010.in_not   	# active low, N/C=open

should be
# my message setup External E-Stop
loadrt message names=xestop messages="External E-Stop"
net xestop estop-latch.0.fault-in <= hm2_[HOSTMOT2](BOARD).0.gpio.010.in_not   	# active low, N/C=open

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15 Aug 2020 15:20 #178296 by MaHa
Replied by MaHa on topic External E-Stop
Once i had a similar problem, modified and tested this in the sim. Even you got a reply already. This worked for me, and as i have spent time for this, i post it anyway.
Replace this line

net remote-estop estop-latch.0.fault-in <= hm2_[HOSTMOT2](BOARD).0.gpio.010.in_not
by

setp xestop.edge 0
net remote-estop estop-latch.0.fault-in <= hm2_[HOSTMOT2](BOARD).0.gpio.010.in_not xestop.trigger

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13 Sep 2020 23:57 #182044 by dennis.lewis5
Replied by dennis.lewis5 on topic External E-Stop
I cannot speak to the messaging you asked about but I am working on a system to tell me if the e-stop is the pc (as in startup) a local e-stop (one mounted on the machine) or a remote e-stop. The system simply operates a beacon and the flashing rate of the beacon indicates the trouble spot. It will force the pc into e-stop if local or remote.

If you have any interest please let me know.

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