Multiple E-Stops

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27 Oct 2020 21:53 #187479 by Steelman
Multiple E-Stops was created by Steelman
I am trying to implement multiple e-stops. One directly to a 7I77 and a second on a pendant via a 7i73 so i can't just daisy chain them together. I am trying to use a version Rodw's estop chain modified, or at least attempted, for only 2. The problem is i am unable to bring it out or e-stop initially and the state of either button makes no difference. Any help would be appreciated.


loadrt estop_latch count=2
addf estop-latch.0            servo-thread
addf estop-latch.1            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 latch-reset => estop-latch.0.reset
net latch-reset => estop-latch.1.reset
net latch-out iocontrol.0.emc-enable-in <= estop-latch.1.ok-out
net estop-out estop-latch.1.fault-out

# --- EXTERNAL ESTOP SWITCH ---
net external-estop <= [HMOT](CARD0).7i77.0.0.input-06
net external-estop => estop-latch.0.fault-in

net pendant-estop <= [HMOT](CARD0).7i73.0.2.input-06-not
net pendant-estop => estop-latch.1.fault-in

# --- ESTOP CHAIN ENDS ---
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28 Oct 2020 10:08 #187540 by rodw
Replied by rodw on topic Multiple E-Stops
Yeh it did my head in and I did it a long time ago.This thread was where I started.
forum.linuxcnc.org/47-hal-examples/25861-external-e-stop

I don't know if it helps but I copied my setup, deleted latch 1 & 2 and renamed 3 to be 1 to match your config. I don't think its any different to yours...
# --- 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 latch-reset => estop-latch.0.reset
net latch-reset => estop-latch.1.reset
net latch-out iocontrol.0.emc-enable-in <= estop-latch.1.ok-out
net estop-out estop-latch.1.fault-out

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

# --- EXTERNAL ESTOP SWITCH - CONSOLE ---
net console-estop <= hm2_7i76e.0.7i76.0.0.input-31-not
net console-estop  => estop-latch.1.fault-in

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28 Oct 2020 13:14 #187560 by Steelman
Replied by Steelman on topic Multiple E-Stops
Other than the hardware specific stuff it looks like mine is the same line for line unfortunately. How do you set iocontrol.0.user-enable-out true initially? I think that is the root of my problem.

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28 Oct 2020 19:52 #187613 by rodw
Replied by rodw on topic Multiple E-Stops
What happens, if you trigger the pendant estop on and off before you start?
I have one estop button on my wireless pendant that is always enabled when initially powered on so I need to toggle it on and off before I can run my machine.

I might add, I need to sort out how to do this on a 7i73 soon but to be 100% compliant I intend to use a safety relay so the estops will be wired up outside of HAL.

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