1. Configuring LinuxCNC
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  5. Remora - Cannot clear E-STOP, without error

Remora - Cannot clear E-STOP, without error

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23 Feb 2026 15:47 #343346 by AlessandroEmm
Remora - Cannot clear E-STOP, without error was created by AlessandroEmm
Setup:
  • LinuxCNC with Remora SPI controller
  • 4-axis gantry configuration (XYYZ - dual Y motors)
My System is stuck in E-STOP state and cannot be cleared with F1 or any other method in Axis. F2 (Machine On) is greyed out all the time. The HAL states look fine from Remora side, thus i'm pretty certain that my issue is with some state/config that is LinuxCNC core. I tried other Frontends like gmoccapy and they behave pretty much the same except that they seem to have some timeout on e-stop blockage and claims that something external is blocking it while axis is keeping at it and never times out, but nothing ever changes even after minutes.

I have endstops configured too, but still tried no_force_homing to ensure its not a problem with endstops.

Some Infos about my setup:HAL Pin States:
iocontrol.0.emc-enable-in = TRUE (from remora.SPI-status)
iocontrol.0.user-enable-out = TRUE
iocontrol.0.user-request-enable = FALSE (never changes)
remora.SPI-status = TRUE
remora.SPI-enable = TRUE
motion.enable = TRUE
motion.motion-enabled = FALSE
HAL Configuration is default remora:
net user-enable-out <= iocontrol.0.user-enable-out => remora.SPI-enable
net user-request-enable <= iocontrol.0.user-request-enable => remora.SPI-reset
net remora-status <= remora.SPI-status => iocontrol.0.emc-enable-in

INI Configuration:
[TRAJ]
JOINTS = 4
NO_FORCE_HOMING = 1
COORDINATES = XYYZ

[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XYYZ kinstype=BOTH

[EMCMOT]
SERVO_PERIOD = 5000000
TRAJ_PERIOD = 5000000
BASE_PERIOD = 0

[TASK]
TASK = milltask
CYCLE_TIME = 0.010
 What is interesting is that noticed on click of e-stop the previously greyed out box of override limits becomes clickable.

Thanks for any help,
Alessandro

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23 Feb 2026 17:57 #343351 by andrax
Replied by andrax on topic Remora - Cannot clear E-STOP, without error
Hi,

I think you have a syntax error.
setp iocontrol.0.emc-enable-in 1

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23 Feb 2026 19:03 - 23 Feb 2026 19:12 #343355 by tuxcnc
Replied by tuxcnc on topic Remora - Cannot clear E-STOP, without error 

  • [b]Configuration is default remora:[/b]
  • [b][code]net user-enable-out <= iocontrol.0.user-enable-out => remora.SPI-enable
    [/code][/b]
  • [b][code]net user-request-enable <= iocontrol.0.user-request-enable => remora.SPI-reset
    [/code][/b]
  • [b][code]net remora-status <= remora.SPI-status => iocontrol.0.emc-enable-in
    [/code][/b]

I did it a long time ago and unfortunately I don't remember...
But I think I had the same problem.
My configuration looks like this:
# estop and SPI comms enable and feedback

#  net user-enable-out     <= iocontrol.0.user-enable-out          => remora.enable
#  net user-request-enable <= iocontrol.0.user-request-enable      => remora.reset
#  net remora-status       <= remora.status            => iocontrol.0.emc-enable-in

loadrt estop_latch
addf estop-latch.0 servo-thread
net estop-loopout       iocontrol.0.emc-enable-in  <= estop-latch.0.ok-out
net user-enable-out     iocontrol.0.user-enable-out  => remora.enable
net estop-loopin        remora.status  => estop-latch.0.ok-in => estop-latch.0.reset
net estop-reset         iocontrol.0.user-request-enable => remora.reset
net remote-estp         estop-latch.0.fault-in  <= remora.input.12.not
This is Remora via Ethernet, but the differences are probably cosmetic.
Last edit: 23 Feb 2026 19:12 by tuxcnc. Reason: Bad formatting
The following user(s) said Thank You: AlessandroEmm

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23 Feb 2026 21:47 - 23 Feb 2026 22:03 #343368 by AlessandroEmm
Replied by AlessandroEmm on topic Remora - Cannot clear E-STOP, without error
Thanks Tuxcnc - I tried to replicate this with the SPI-fields of remora-spi. (minus the external pin) Unfortunately the behaviour stays the same. Besides looping in the external e-stop does it do something different in terms of iocontrol states?

File Attachment:
Last edit: 23 Feb 2026 22:03 by AlessandroEmm.

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23 Feb 2026 22:03 #343372 by AlessandroEmm
Replied by AlessandroEmm on topic Remora - Cannot clear E-STOP, without error
Sorry, I dont follow, what Syntax error are you referring to?

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24 Feb 2026 07:24 #343382 by andrax
Replied by andrax on topic Remora - Cannot clear E-STOP, without error
You write, 
iocontrol.0.emc-enable-in = TRUE (from remora.SPI-status)
The correct form is 
setp iocontrol.0.emc-enable-in = TRUE (from remora.SPI-status)
or 
iocontrol.0.emc-enable-in = 1

To pinpoint the error, you would need to provide your configuration.

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24 Feb 2026 18:49 - 24 Feb 2026 19:06 #343421 by AlessandroEmm
Replied by AlessandroEmm on topic Remora - Cannot clear E-STOP, without error
Those lines were purely just for illustration of the states output by halcmd.

My HALfile
loadrt remora SPI_clk_div=32 PRU_base_freq=40000

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS


addf remora.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf remora.update-freq servo-thread
addf remora.write servo-thread

loadrt estop_latch
addf estop-latch.0 servo-thread
net estop-loopout       iocontrol.0.emc-enable-in  <= estop-latch.0.ok-out
net user-enable-out     iocontrol.0.user-enable-out  => remora.SPI-enable
net estop-loopin        remora.SPI-status  => estop-latch.0.ok-in => estop-latch.0.reset
net estop-reset         iocontrol.0.user-request-enable => remora.SPI-reset





setp remora.joint.0.scale       [JOINT_0]STEPGEN_SCALE
setp remora.joint.0.maxaccel    [JOINT_0]MAX_ACCELERATION
net xpos-cmd            <= joint.0.motor-pos-cmd        => remora.joint.0.pos-cmd
net j0pos-fb            <= remora.joint.0.pos-fb        => joint.0.motor-pos-fb
net j0enable            <= joint.0.amp-enable-out       => remora.joint.0.enable





setp remora.joint.1.scale               [JOINT_1]STEPGEN_SCALE
net y1-pos-cmd   <= joint.1.motor-pos-cmd => remora.joint.1.pos-cmd
net y1-pos-fb    <= remora.joint.1.pos-fb  => joint.1.motor-pos-fb
net y1-enable    <= joint.1.amp-enable-out => remora.joint.1.enable

net y2-pos-cmd   <= joint.2.motor-pos-cmd => remora.joint.2.pos-cmd
net y2-pos-fb    <= remora.joint.2.pos-fb  => joint.2.motor-pos-fb
net y2-enable    <= joint.2.amp-enable-out => remora.joint.2.enable

net z-pos-cmd    <= joint.3.motor-pos-cmd => remora.joint.3.pos-cmd
net z-pos-fb     <= remora.joint.3.pos-fb  => joint.3.motor-pos-fb
net z-enable     <= joint.3.amp-enable-out => remora.joint.3.enable

net X-min       remora.input.1         => joint.0.home-sw-in joint.0.neg-lim-sw-in
net Y-min       remora.input.2         => joint.1.home-sw-in joint.1.neg-lim-sw-in
net Z-min       remora.input.4         => joint.2.home-sw-in joint.2.neg-lim-sw-in
Last edit: 24 Feb 2026 19:06 by AlessandroEmm.

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24 Feb 2026 21:55 #343434 by tommylight
Replied by tommylight on topic Remora - Cannot clear E-STOP, without error
Changed the subject tittle to reflect use of Remora, is that OK?

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  1. Configuring LinuxCNC
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