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If I use the following code which has the one missing dash error that I corrected:

# estop
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 <= parport.0.pin-in-10-not

The bug-a-boo for me is how do I tie the GPIO25 to the remote-estop. Do I change the last line to:
net remote-estop estop-latch.0.fault-in <= hal_gpio.GPIO25-in-10-not

?

Come here first.

Too many times users have received info from chatgpt that make absolutely no sense.

Google searching for "linuxcnc estop latch" gives the link above as the 4th result.
Or you could use the search function of the forum.

My SetupRaspberry Pi 5 8GBByte2Bot Parallel Port Raspberry Pi HatByte2Bot 5 Axis CNC Interface Adapter Parallel Breakout Board For Stepper Motor DriversPicture 1My wiring is as follows:Picture2

The motors move, the home switches register as functioning, the probe is not hooked up and the eStop appears to do nothing.From LinuxCNC V2.9.7 Documentation PDF Page 1854.9.3.7 External ESTOP button The standard_pinout.hal file assumes no external ESTOP button. For more information on an external E-Stop see the estop_latch man page.Yet from 2 pages earlier in LinuxCNC V2.9.7 Documentation PDF Page 183 I see this line in the HAL file:# create a signal for the estop loopbacknet estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in I assume “man page” is a typo and this is unnecessary if I am trying to connect it to  GPIO25. A search of the document looking for “estop_latch” only reveals this on page 254Picture 3So my estop is on pin10, but that is GPIO25 on the Pi 5. I must refer to it as such.In my .Hal file I have the following lines:loadrt hal_gpio inputs=GPIO7,GPIO8,GPIO25,GPIO12,GPIO13 outputs=GPIO5,GPIO6,GPIO11,GPIO9,GPIO10,GPIO23,GPIO16,GPIO17,GPIO19,GPIO20,GPIO21,GPIO22,GPIO24,GPIO26net estop-out   <= hal_gpio.GPIO25-in  ornet estop-ext <= hal_gpio.GPIO25-in Using tools I can identify that all my limit switches are being read, but I have nothing to suggest the estop is being read.I have added“Addf gpio-input servo-thread” as recommended by ChatGPT, and that is not read by the programThe advice I am looking for is:
I would like to know how to connect GPIO25 to LinuxCNC’s E-Stop chain.I have tried:

net estop-out hal_GPIO.GPIO25.out => iocontrol.0.emc-enable-inand any variation thereof I could think of, failed.Eventually, I lost control of my servos and only when I removed all lines I gained control of F1, which controls the estop and F2, which powers the servos. 

No, it does not show an error at the beginning when the machine stops. The movement error occurs when you try to move the motors afterwards.

My INI

[EMC] # The version string for this INI file. VERSION = 1.1 # Name of machine, for use with display, etc. MACHINE = HM2-Stepper # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others #DEBUG = 0x00000003 #DEBUG = 0x00000007 DEBUG = 0 [DISPLAY] # Name of display program, e.g., tklinuxcnc #DISPLAY = tklinuxcnc DISPLAY = axis update_period = 0.05 show_trail = True # Cycle time, in seconds, that display will sleep between polls CYCLE_TIME = 0.0500 # Path to help file HELP_FILE = tklinuxcnc.txt # Initial display setting for position, RELATIVE or MACHINE POSITION_OFFSET = RELATIVE # Initial display setting for position, COMMANDED or ACTUAL POSITION_FEEDBACK = ACTUAL # Highest value that will be allowed for feed override, 1.0 = 100% MAX_FEED_OVERRIDE = 1.5 # Prefix to be used PROGRAM_PREFIX = ../../nc_files/ # Introductory graphic INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 [FILTER] PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image PROGRAM_EXTENSION = .py Python Script png = image-to-gcode gif = image-to-gcode jpg = image-to-gcode py = python3 [RS274NGC] # File containing interpreter variables PARAMETER_FILE = hm2-stepper.var [EMCMOT] EMCMOT = motmod # Timeout for comm to emcmot, in seconds COMM_TIMEOUT = 1.0 # Servo task period, in nanoseconds SERVO_PERIOD = 4000000 [TASK] # Name of task controller program, e.g., milltask TASK = milltask # Cycle time, in seconds, that task controller will sleep between polls CYCLE_TIME = 0.010 [HAL] # The run script first uses halcmd to execute any HALFILE # files, and then to execute any individual HALCMD commands. # list of hal config files to run through halcmd # files are executed in the order in which they appear HALFILE = hm2-stepper-eth.hal # list of halcmd commands to execute # commands are executed in the order in which they appear #HALCMD = save neta [HALUI] #No Content [TRAJ] COORDINATES = X Y Z LINEAR_UNITS = mm ANGULAR_UNITS = degree # Ajuste seguro de velocidad inicial MAX_LINEAR_VELOCITY = 20 [EMCIO] # Name of IO controller program, e.g., io EMCIO = io # cycle time, in seconds CYCLE_TIME = 0.100 # tool table file TOOL_TABLE = tool.tbl [KINS] KINEMATICS = trivkins JOINTS = 3 [AXIS_X] MIN_LIMIT = -10000.0 MAX_LIMIT = 10000.0 MAX_VELOCITY = 20 MAX_ACCELERATION = 100 [JOINT_0] # # Step timing is 40 us steplen + 40 us stepspace # That gives 80 us step period = 12.5 KHz step freq # # Bah, even software stepping can handle that, hm2 doesn't buy you much with # such slow steppers. # # Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch # # This gives a maxvel of 12.5/1 = 12.5 ips # TYPE = LINEAR MAX_VELOCITY = 20 MAX_ACCELERATION = 100 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 24 STEPGEN_MAX_ACC = 120 BACKLASH = 0.01 # scale is 200 steps/rev * 5 revs/inch SCALE = -400 MIN_LIMIT = -10000.0 MAX_LIMIT = 10000.0 FERROR = 0.050 MIN_FERROR = 0.005 #HOME = 0.000 #HOME_OFFSET = 0.10 #HOME_SEARCH_VEL = 0.10 #HOME_LATCH_VEL = -0.01 #HOME_USE_INDEX = YES #HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD = 200 STEPLEN = 8000 STEPSPACE = 8000 [AXIS_Y] MIN_LIMIT = -10000.0 MAX_LIMIT = 10000.0 MAX_VELOCITY = 20 MAX_ACCELERATION = 100 [JOINT_1] TYPE = LINEAR MAX_VELOCITY = 20 MAX_ACCELERATION = 100 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 24 STEPGEN_MAX_ACC = 120 BACKLASH = 0.005 SCALE = -400 MIN_LIMIT = -10000.0 MAX_LIMIT = 10000.0 FERROR = 0.050 MIN_FERROR = 0.005 #HOME = 0.000 #HOME_OFFSET = 0.10 #HOME_SEARCH_VEL = 0.10 #HOME_LATCH_VEL = -0.01 #HOME_USE_INDEX = YES #HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD = 200 STEPLEN = 8000 STEPSPACE = 8000 [AXIS_Z] MIN_LIMIT = -10000.0 MAX_LIMIT = 10000.0 MAX_VELOCITY = 20 MAX_ACCELERATION = 100 [JOINT_2] TYPE = LINEAR MAX_VELOCITY = 20 MAX_ACCELERATION = 100 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 24 STEPGEN_MAX_ACC = 120 BACKLASH = 0.004 SCALE = 400 MIN_LIMIT = -10000.0 MAX_LIMIT = 10000.0 FERROR = 0.050 MIN_FERROR = 0.005 #HOME = 0.000 #HOME_OFFSET = 0.10 #HOME_SEARCH_VEL = 0.10 #HOME_LATCH_VEL = -0.01 #HOME_USE_INDEX = YES #HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD = 200 STEPLEN = 8000 STEPSPACE = 8000 [HOSTMOT2] DRIVER=hm2_eth BOARD_IP=192.168.1.121 BOARD=7i96s CONFIG="num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=0000"

My HAL:

# HAL file for HostMot2 with 3 steppers # # Derived from Ted Hyde's original hm2-servo config # # Based up work and discussion with Seb & Peter & Jeff # GNU license references - insert here. www.linuxcnc.org # # # ######################################## # Firmware files are in /lib/firmware/hm2/7i43/ # Must symlink the hostmot2 firmware directory of sanbox to # /lib/firmware before running EMC2... # sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2 # # See also: # <www.linuxcnc.org/docs/devel/html/man/man...ml#config%20modparam> # and wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2 # # ##################################################################### # ################################### # Core EMC/HAL Loads # ################################### # kinematics loadrt [KINS]KINEMATICS # motion controller, get name and thread periods from ini file loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS # hostmot2 driver loadrt hostmot2 # load low-level driver loadrt [HOSTMOT2](DRIVER) board_ip=[HOSTMOT2](BOARD_IP) config=[HOSTMOT2](CONFIG) # load estop latch component loadrt estop_latch # ################################################ # THREADS # ################################################ addf hm2_[HOSTMOT2](BOARD).0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread # revel in the free time here from not having que run PID addf hm2_[HOSTMOT2](BOARD).0.write servo-thread addf estop-latch.0 servo-thread # ###################################################### # Axis-of-motion Specific Configs (not the GUI) # ###################################################### # ################ # X [0] Axis # ################ # axis enable chain newsig emcmot.00.enable bit sets emcmot.00.enable FALSE net emcmot.00.enable <= joint.0.amp-enable-out net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable # position command and feedback net emcmot.00.pos-cmd <= joint.0.motor-pos-cmd net emcmot.00.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-cmd net motor.00.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb net motor.00.pos-fb => joint.0.motor-pos-fb # timing parameters setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [JOINT_0]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [JOINT_0]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [JOINT_0]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [JOINT_0]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [JOINT_0]SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAX_VEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAX_ACC setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0 # ################ # Y [1] Axis # ################ # axis enable chain newsig emcmot.01.enable bit sets emcmot.01.enable FALSE net emcmot.01.enable <= joint.1.amp-enable-out net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable # position command and feedback net emcmot.01.pos-cmd <= joint.1.motor-pos-cmd net emcmot.01.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-cmd net motor.01.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb net motor.01.pos-fb => joint.1.motor-pos-fb # timing parameters setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup [JOINT_1]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold [JOINT_1]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen [JOINT_1]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace [JOINT_1]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale [JOINT_1]SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAX_VEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAX_ACC setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0 # ################ # Z [2] Axis # ################ # axis enable chain newsig emcmot.02.enable bit sets emcmot.02.enable FALSE net emcmot.02.enable <= joint.2.amp-enable-out net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.02.enable # position command and feedback net emcmot.02.pos-cmd <= joint.2.motor-pos-cmd net emcmot.02.pos-cmd => hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-cmd net motor.02.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-fb net motor.02.pos-fb => joint.2.motor-pos-fb # timing parameters setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirsetup [JOINT_2]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirhold [JOINT_2]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.steplen [JOINT_2]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.stepspace [JOINT_2]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-scale [JOINT_2]SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAX_VEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAX_ACC setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.step_type 0 # # The Mesa AnyIO output pins can be in open-drain mode (drive low, float # high) or push/pull mode (drive low, drive high). # # When a logical output is 1 in open-drain mode, the FPGA lets the pin # float and it gets pulled high to +5V via a 10K resistor. # # When a logical output is 1 in push/pull mode, the FPGA pushes the pin # high but only to +3.3V. This is problematic on some kinds of inputs. # #setp hm2_[HOSTMOT2](BOARD).0.gpio.048.is_opendrain 1 #setp hm2_[HOSTMOT2](BOARD).0.gpio.049.is_opendrain 1 #setp hm2_[HOSTMOT2](BOARD).0.gpio.054.is_opendrain 1 #setp hm2_[HOSTMOT2](BOARD).0.gpio.055.is_opendrain 1 #setp hm2_[HOSTMOT2](BOARD).0.gpio.060.is_opendrain 1 #setp hm2_[HOSTMOT2](BOARD).0.gpio.061.is_opendrain 1 # ################################################## # Standard I/O Block - EStop, Etc # ################################################## # A basic estop loop that only includes the hostmot watchdog. net user-enable iocontrol.0.user-request-enable => estop-latch.0.reset net enable-latch estop-latch.0.ok-out => iocontrol.0.emc-enable-in net watchdog hm2_[HOSTMOT2](BOARD).0.watchdog.has_bit => estop-latch.0.fault-in # create signals for tool loading loopback net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed

(Use CL57T stepper drivers)

Thanks

Ok, i see this:

halcmd show all *.tmax
Loaded HAL Components:
ID Type Name PID State

Component Pins:
Owner Type Dir Value Name

Pin Aliases:
Alias Original Name

Signals:
Type Value Name (linked to)

Parameters:
Owner Type Dir Value Name
33 s32 RW 1642 estop-latch.0.tmax
30 s32 RW 0 hm2_7i96s.0.read-request.tmax
30 s32 RW 2042995 hm2_7i96s.0.read.tmax
30 s32 RW 27254 hm2_7i96s.0.write.tmax
23 s32 RW 4820 motion-command-handler.tmax
23 s32 RW 18868 motion-controller.tmax
24 s32 RW 2081134 servo-thread.tmax

Parameter Aliases:
Alias Original Name

Exported Functions:
Owner CodeAddr Arg FP Users Name

Realtime Threads:
Period FP Name ( Time, Max-Time )

As for the controller, how do I install it?

my recommendation is to get it working in axis and then convert to gmocappy cos it does some funny things. If your config breaks on conversion, raise it with  gmocappy.

This is how I did it with a safety relay and an external latch button attached to the relay that
sends a signal to pin lcec.0.3.in-01 when the relay is enabled
this is inverted and sent to  the drives estop input on all drives.
The estop button is attached to the safety relay

github.com/rodw-au/vmnmillqt/blob/main/VMNmillQT.hal#L146

In this case no estop-latch is used,

Thank you but i have seemingly stumbled upon an issue with estop i cannot resolve in any way. Even without any further hal functionality, just ini, configuring a basic gmoccapy and a base hal doing nothing but estop logic i can´t reset estop.

Current version i am trying. I can set external estop via halcmd to either states and try to reset estop with F1 GUI estop
I have built pretty elaborate estop logics with debouncing of external estop time delays and everything, but can´t get emc-task 3 (OFF but no estop) to show.

 

Rod, i did not read your post past "estop-latch is the right way to go", and you know the reason why.
Sorry, this time i should have continued.
Thank you.

estop-latch is the right way to go  with these but a better way is to use joint.N.amp-fault-in IN BIT   Should be driven TRUE if an external fault is detected with the amplifier for this joint.
ref: linuxcnc.org/docs/stable/html/man/man9/motion.9.html
This will halt motion.
Your drives may also have a estop input which disables the drive on an estop.

There's a couple of ways, you could use the Mesa Configuration Tool or you can add the estop_latch component yourself.

JT

Hi,

i've got the AX5106 and A5203 up and running. db1981 helped al lot regarding the homing and pos_mode issues.
The project itself is still work in progress, but the main features are working. See attached files. These are the relevant snippets from *.hal:  


 

Hier die relevaten Teile aus dem *.hal file.  An der Z-Achse ist ein Homeswitch, über den die Achse referenziert wird. An der Achse ist keine direkte Wegmessung, das läuft dann über den Motorencoder  

DarkPheonix - that one got lost in translation. i kind of understand but if you can take a short video that would be great

Spyder - yes, the .not is used to invert the pin without having to use a linuxcnc not component. the probe looks good, the estop latch might not get reset for some reason leaving it in estop if i understand the logic of it from here.

adm1n - most of this one can be used but we gotta modify the nvmpg inputs to be normal ones
github.com/scottalford75/Remora-RT1052-c...ic/remora-nv-mpg.hal

cakeslob wrote:

Ok great, so

DarkPheonix - good for now and stepping?

Warning: Spoiler!

aDm1N - you have the Estop behavior working properly with that code then? If yes, Spyder, refer to his example.
re- MPG , here is the config for MPG, un-comment the line from your ini file, and make sure the component is installed. This is for the NVMPG that can come with the board with the screen. If you are talking about a separate MPG, we can copy the same with a few changes.
github.com/scottalford75/Remora-RT1052-c...ic/remora-nv-mpg.hal

re- C axis and encoder - this is more involved, lets circle back to this one

Spyder, yes there will be some conflicting line, the 3 lines at the top of the hal file needed modification, but I think you figured it out. "net remote-estp " check out the linuxcnc page on hal, but the nets are names that you create, so there wont be a remote-estp pin in the linuxcnc documents, and yes the => and <= denote signal direction,
so for example the new net "remote-estp" is connecting the linuxcnc pin "estop-latch.0.fault-in" to the remora pin "remora.input.04"
and the remora pin is going to the latch.0.fault-in pin

 
 

There is only one problem when you use the directional buttons to move the axes, the movement is strange, not responsive, slow to start, and sometimes that movement remains in memory, after an estop, the car exiting the estop starts turning again by itself or makes strange movements.!! but gcode work fine! i need study the problem! I was able to get it working using a function generator and an osciloscope.

Ok great, so

DarkPheonix - good for now and stepping?

aDm1N - you have the Estop behavior working properly with that code then? If yes, Spyder, refer to his example.
re- MPG , here is the config for MPG, un-comment the line from your ini file, and make sure the component is installed. This is for the NVMPG that can come with the board with the screen. If you are talking about a separate MPG, we can copy the same with a few changes.
github.com/scottalford75/Remora-RT1052-c...ic/remora-nv-mpg.hal

re- C axis and encoder - this is more involved, lets circle back to this one

Spyder, yes there will be some conflicting line, the 3 lines at the top of the hal file needed modification, but I think you figured it out. "net remote-estp " check out the linuxcnc page on hal, but the nets are names that you create, so there wont be a remote-estp pin in the linuxcnc documents, and yes the => and <= denote signal direction,
so for example the new net "remote-estp" is connecting the linuxcnc pin "estop-latch.0.fault-in" to the remora pin "remora.input.04"
and the remora pin is going to the latch.0.fault-in pin