ClearPath Servo Fault Detection

This is for trapping errors from ClearPath Servo Motors and halting the machine
I replaced my encoder backed stepper controller/motor with these motors, much better motors, but I/O was trickier to set up.
I ran without this code on the motors for a few months, but 3 days into 6 day profiling run one motor had a
timing error that caused x-axis to quit. My job finished with only Y and Z, not a good result.
There may be a smarter way to do this, but this works. Modify I/O to suit your machines wiring.
If the motor has a fault that shuts down the motor (there are many possibilities) this will disable motion of the machine
You could also possibly configure for in-position output of motor

Did you know there are already dedicated pins in Linuxcnc for a drive fault.
joint.N.amp-fault-in (axis.N.amp-fault-in for versions before 2.8)

Using those pins has the added advantage of issuing a warning in the gui when activated.

If your drive as a ready signal instead of a fault signal, simply invert it.

Thanks for the file! I have a couple of Clearpath servos and I would like to use them with LinuxCNC as well. Nice to have a starting off point.


John