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  • deedee
  • deedee
18 Jun 2025 06:41
Replied by deedee on topic LinuxCNC and Beckhoff AX5000 servo drives

LinuxCNC and Beckhoff AX5000 servo drives

Category: EtherCAT

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:
#*******************
# NOT AUS
#*******************
 
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-estp estop-latch.0.fault-in <= lcec.0.1_EL1018.din-2-not
#*******************
# AXIS Z
#*******************
 
# Skalierung 10mm Weg entspricht 1 Motorumdrehung; Minus da Z-!
setp lcec.0.16_AX5106.srv-scale -0.1
net Zaxis_enable joint.2.amp-enable-out => lcec.0.16_AX5106.srv-enable
net Zaxis_fb lcec.0.16_AX5106.enc-pos-abs => joint.2.motor-pos-fb
net Zaxis_cmd joint.2.motor-pos-cmd => lcec.0.16_AX5106.srv-pos-cmd
net Zaxis_torque <= lcec.0.16_AX5106.srv-torque-fb-pct
net Zaxis_home_sw lcec.0.16_AX5106.srv-dig-in-2-not => joint.2.home-sw-in
net Zaxis_index_enable lcec.0.16_AX5106.enc-index-ena => joint.2.index-enable



 
  • deedee
  • deedee
18 Jun 2025 06:05 - 18 Jun 2025 06:15
Replied by deedee on topic Einbindung AX5000 und EL3104

Einbindung AX5000 und EL3104

Category: Deutsch

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
#*******************
# NOT AUS
#*******************
 
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-estp estop-latch.0.fault-in <= lcec.0.1_EL1018.din-2-not
#*******************
# AXIS Z
#*******************
 
# Skalierung 10mm Weg entspricht 1 Motorumdrehung; Minus da Z-!
setp lcec.0.16_AX5106.srv-scale -0.1
net Zaxis_enable joint.2.amp-enable-out => lcec.0.16_AX5106.srv-enable
net Zaxis_fb lcec.0.16_AX5106.enc-pos-abs => joint.2.motor-pos-fb
net Zaxis_cmd joint.2.motor-pos-cmd => lcec.0.16_AX5106.srv-pos-cmd
net Zaxis_torque <= lcec.0.16_AX5106.srv-torque-fb-pct
net Zaxis_home_sw lcec.0.16_AX5106.srv-dig-in-2-not => joint.2.home-sw-in
net Zaxis_index_enable lcec.0.16_AX5106.enc-index-ena => joint.2.index-enable
  • cakeslob
  • cakeslob
07 May 2025 03:01
Replied by cakeslob on topic Remora - ethernet NVEM / EC300 / EC500 cnc board

Remora - ethernet NVEM / EC300 / EC500 cnc board

Category: Computers and Hardware

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
  • DarkPhoinix
  • DarkPhoinix
06 May 2025 18:58 - 06 May 2025 20:54
Replied by DarkPhoinix on topic Remora - ethernet NVEM / EC300 / EC500 cnc board

Remora - ethernet NVEM / EC300 / EC500 cnc board

Category: Computers and Hardware

Ok great, so

DarkPheonix - good for now and stepping?
Warning: Spoiler!

 
 

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.
  • cakeslob
  • cakeslob
06 May 2025 17:57
Replied by cakeslob on topic Remora - ethernet NVEM / EC300 / EC500 cnc board

Remora - ethernet NVEM / EC300 / EC500 cnc board

Category: Computers and Hardware

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
  • aDm1N
  • aDm1N's Avatar
06 May 2025 09:51 - 06 May 2025 12:14
Replied by aDm1N on topic Remora - ethernet NVEM / EC300 / EC500 cnc board

Remora - ethernet NVEM / EC300 / EC500 cnc board

Category: Computers and Hardware

Where can I find an example of how to connect and integrate a handwheel (MPG)? Is it possible with Remora to use both a handwheel and an encoder for the spindle, or is only one of the two possible?

The background is that I drive the spindle with an AC servo, and this should be controlled via step/dir as a C axis. In the Gcode, the spindle should then work as a C axis, depending on the call, or rotate as a spindle. For the C axis to function correctly, not only the index must be evaluated, but also the angle via A/B.

EStop tested on NVEM board, works with mushroom button. In the GUI, EStop can be released and the machine started if the switch is not pressed. If it is pressed afterwards, the machine goes back into EStop.
#External e-stop (fault) on NVEM v5 input.
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.04

Edit*
Thanks to the "stupid" AI, I now seem to have managed to get a command to be issued on Joint2 with G0 C10 or with an M3 S300.
 

File Attachment:

File Name: custom_2025-05-06.hal
File Size:3 KB
 
  • Spyderbreath
  • Spyderbreath's Avatar
06 May 2025 06:52 - 06 May 2025 07:17
Replied by Spyderbreath on topic Remora - ethernet NVEM / EC300 / EC500 cnc board

Remora - ethernet NVEM / EC300 / EC500 cnc board

Category: Computers and Hardware

I tried to enter the estop from tuxcnc above and got this error.
Note: Using POSIX realtime
./remora-ec500.hal:60: Pin 'iocontrol.0.emc-enable-in' was already linked to signal 'remora-status'
3295
Stopping realtime threads
Unloading hal components
Note: Using POSIX realtime

I attached my hal and ini files. Does this mean I can only have the watchdog or the estop latch but not both?

*Edit*
I have just tried the estop latch with the tuxcnc code with the watchdog commented out and after fixing the typo in the last line where it starts out - net remote-estp ... - it is missing the o in estop. That error is in the attached hal, didn't catch it befor attaching. It works, exactly one time, by opening the circuit and thats all she wrote. reconnecting the circuit and can not reset the estop and power back on the machine without closing down and restarting the gui.
  • Spyderbreath
  • Spyderbreath's Avatar
06 May 2025 06:12
Replied by Spyderbreath on topic Remora - ethernet NVEM / EC300 / EC500 cnc board

Remora - ethernet NVEM / EC300 / EC500 cnc board

Category: Computers and Hardware

Thank you cakeslob for these posts. I went back and read the Remona manual again from the start and I did discover something I didn't know before and that is the included estop stuff at the beginning of the sample .hal is a coms watchdog and testing it by unplugging the ethernet cable triggers the estop. Shiny, I can understand the function of that part. How or why, cluless, but what it does is clear.

But you asked if there were any questions, and yes there are.

I'll start with a single line from the tuxcnc example above.
net estop-loopout       iocontrol.0.emc-enable-in       <= estop-latch.0.ok-out

1. estop-loopout - where did that come from? Did a search "estop-loopout" site:https://linuxcnc.org/docs and got 0 returns, same with a search of the Remora doc site, 0 results.

2. estop-latch - this did return some results - linuxcnc.org/docs/html/man/man9/estop_latch.9.html but I do not see any connection there that would lead me to come up with those words being placed where they are in the example. How would one know to put that there?

3. <= and => - What do these mean? Do they denote the direction flow of data or signals, do they stand for less than and equal to and equal to and greater than or is it something else and why are they needed and what determines where they go? Is this explained somewhere?

To be truthful, maybe I should be looking for someone to hire that can do all this complex coding and programing for me as it seems far and beyond my ability with my learning handicap.

For the moment, I'll keep trying and hack away at it bit by bit. To much time invested to round file it all now, but please feel free to tell me to go pound sand when I become to much of a burden. I won't feel bad, happens all the time when I am confronted with this kind of complex programing.
  • cakeslob
  • cakeslob
06 May 2025 01:27
Replied by cakeslob on topic Remora - ethernet NVEM / EC300 / EC500 cnc board

Remora - ethernet NVEM / EC300 / EC500 cnc board

Category: Computers and Hardware

alright now, any questions?

I started from scratch with the standard examples. I made some adjustments, and now Remora Input 4 is responding. However, this only happens when the emergency shutdown is disabled in the GUI. So, Remora probably only starts working after that.


that makes sense.
refer to tuxcnc example
#tuxcnc
#External e-stop (fault) on EC500 input.
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.02.not

I havent tested it, but this looks like what you need to do. you need to modify the portion of your halfile that already references it

I have recreated the problem with the function generator. Now I am sure the problem lies in the configuration, or so I believe. For now, I would like to know which parameters I need to set to have the same parameters for frequency and pulse times in the hal and ini files (like pulse 1,000,000ns frequency 988Hz). Thank you again for your patience!


refer to the previous posts. replace the stepgen in your config.txt with the DMA stepgen. Make sure the step and direction pins are the NVEM one. The step time and space parts are what you need to configure. I dont know the units. start at 1 and 1 and go up from there.
  • cakeslob
  • cakeslob
06 May 2025 00:24
Replied by cakeslob on topic Remora - ethernet NVEM / EC300 / EC500 cnc board

Remora - ethernet NVEM / EC300 / EC500 cnc board

Category: Computers and Hardware

Estop is the same way. With Estop, we are connecting a remora.input to LinuxCNC estop. Estop is a very subjective thing, and varies between setups. They can be complicated and require more hardware. Murphy has posted a simple example, and tux from a few pages back has posted a more detailed one.
# Murphy
#This is my E-stop in my .hal file.
#It's just a switch. Once the input is triggered it should work. 

net nvem-estop <= estop-latch.0.fault-in <= remora.input.14
#tuxcnc
#External e-stop (fault) on EC500 input.
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.02.not

Notice how the inputs are different on each of their different estops, which makes no difference because we are connecting remora.input.whatever to linuxcnc estop.

Tuxcnc is more complicated, He is using LinuxCNC components (not remora) to configure the estop logic. it includes a latching component, I assume he has one of those red buttons. Im not as knowledgeable with all the estop logic, as I live dangerously. The estop loop is a function of LinuxCNC and you need to connect it to remora in a way that suits your setup.
  • DarkPhoinix
  • DarkPhoinix
05 May 2025 20:27
Replied by DarkPhoinix on topic Remora - ethernet NVEM / EC300 / EC500 cnc board

Remora - ethernet NVEM / EC300 / EC500 cnc board

Category: Computers and Hardware

This is my E-stop in my .hal file.

net nvem-estop <= estop-latch.0.fault-in <= remora.input.14

It's just a switch. Once the input is triggered it should work. 




 

Hi, what board do you have? with what microcontroller?
  • Murphy
  • Murphy
05 May 2025 17:55 - 05 May 2025 17:57
Replied by Murphy on topic Remora - ethernet NVEM / EC300 / EC500 cnc board

Remora - ethernet NVEM / EC300 / EC500 cnc board

Category: Computers and Hardware

This is my E-stop in my .hal file.

net nvem-estop <= estop-latch.0.fault-in <= remora.input.14

It's just a switch. Once the input is triggered it should work. 



 
  • H-S-W
  • H-S-W
23 Apr 2025 08:13 - 23 Apr 2025 11:42
Mesa CT 2.1.7 and Mesa 7I97T setup running Gmoccapy was created by H-S-W

Mesa CT 2.1.7 and Mesa 7I97T setup running Gmoccapy

Category: Configuration Tools

Hi! Beginner here doing a linuxcnc conversion on an Maho MH500 using a 7I97T and a Rpi5. Running Linuxcnc 2.10, Gmoccapy 3.4.9 and Mesa CT 2.1.7.

Connecting 7I97T "Output 0" to "E-stop Out" in the Mesa CT seems to connect "hm2_7i97.0.ssr.00.out-00 <== estop-loopback". I also have a external E-stop connected which seems to behave as predicted, when pressed Gmoccapy E-stop responds and is unable to release until the external has been. 

looking at the estop-loopback in halshow i can never get it to change state..? shouldn't it as soon as i've released the E-Stop in Gmoccapy?

INI
[MESA]
VERSION = 2.1.7
BOARD = 7i97
BOARD_NAME = 7i97t
FIRMWARE = 7i97t_d.bin
CARD_0 = None
CARD_1 = None

[EMC]
VERSION = 1.1
MACHINE = FIRST_SETUP
DEBUG = 0x00000000

[HM2]
DRIVER = hm2_eth
ADDRESS = 10.10.10.10

[DISPLAY]
DISPLAY = gmoccapy
EDITOR = geany
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
POSITION_OFFSET = MACHINE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
MIN_LINEAR_VELOCITY = 0.0
DEFAULT_LINEAR_VELOCITY = 2.0
MAX_LINEAR_VELOCITY = 5.0
CYCLE_TIME = 0.1
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 0
OPEN_FILE = ""

[KINS]
KINEMATICS = trivkins coordinates=XYZ
JOINTS = 3

[EMCIO]
EMCIO = iov2
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[RS274NGC]
PARAMETER_FILE = parameters.var
SUBROUTINE_PATH = /home/cnc/linuxcnc/subroutines

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[TRAJ]
COORDINATES = XYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 33.0
NO_FORCE_HOMING = 1

[HAL]
HALFILE = main.hal
HALFILE = io.hal
HALUI = halui

[HALUI]

[AXIS_X]
MIN_LIMIT = 0
MAX_LIMIT = 490
MAX_VELOCITY = 66
MAX_ACCELERATION = 75

[JOINT_0]
CARD = 0
TAB = 0
AXIS = X
MIN_LIMIT = 0
MAX_LIMIT = 490
MAX_VELOCITY = 66
MAX_ACCELERATION = 75
TYPE = LINEAR
SCALE = -1
ANALOG_SCALE_MAX = 10
ANALOG_MIN_LIMIT = -10
ANALOG_MAX_LIMIT = 10
ENCODER_SCALE = -2000
FERROR = 3
MIN_FERROR = 1
DEADBAND = 0.00025
P = 0.45
I = 0
D = 0
FF0 = 0
FF1 = 0.0134
FF2 = 0.0001
BIAS = 0
MAX_OUTPUT = 10
MAX_ERROR = 25
HOME_SEARCH_VEL = -8
HOME_LATCH_VEL = -1
HOME_FINAL_VEL = 3
HOME_SEQUENCE = 0
HOME_USE_INDEX = True

[AXIS_Y]
MIN_LIMIT = 0
MAX_LIMIT = 335
MAX_VELOCITY = 66
MAX_ACCELERATION = 75

[JOINT_1]
CARD = 0
TAB = 1
AXIS = Y
MIN_LIMIT = 0
MAX_LIMIT = 335
MAX_VELOCITY = 66
MAX_ACCELERATION = 75
TYPE = LINEAR
SCALE = 1
ANALOG_SCALE_MAX = 10
ANALOG_MIN_LIMIT = -10
ANALOG_MAX_LIMIT = 10
ENCODER_SCALE = 2000
FERROR = 3
MIN_FERROR = 1
DEADBAND = 0.00025
P = 0.45
I = 0
D = 0
FF0 = 0
FF1 = 0.0134
FF2 = 0.0001
BIAS = 0
MAX_OUTPUT = 10
MAX_ERROR = 25
HOME_SEARCH_VEL = -8
HOME_LATCH_VEL = -1
HOME_FINAL_VEL = 3
HOME_SEQUENCE = 1
HOME_USE_INDEX = True

[AXIS_Z]
MIN_LIMIT = -320
MAX_LIMIT = 0
MAX_VELOCITY = 33
MAX_ACCELERATION = 75

[JOINT_2]
CARD = 0
TAB = 2
AXIS = Z
MIN_LIMIT = -320
MAX_LIMIT = 0
MAX_VELOCITY = 33
MAX_ACCELERATION = 75
TYPE = LINEAR
SCALE = 0.5
ANALOG_SCALE_MAX = 10
ANALOG_MIN_LIMIT = -10
ANALOG_MAX_LIMIT = 10
ENCODER_SCALE = 2000
FERROR = 3
MIN_FERROR = 1
DEADBAND = 0.00025
P = 0.45
I = 0
D = 0
FF0 = 0
FF1 = 0.0134
FF2 = 0.0001
BIAS = 0
MAX_OUTPUT = 10
MAX_ERROR = 25
HOME_SEARCH_VEL = 6
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 3
HOME_SEQUENCE = 2
HOME_USE_INDEX = True

[INPUTS]
# DO NOT change the inputs they are used by the configuration tool
INPUT_0_0 = E Stop 0
INPUT_INVERT_0_0 = False
INPUT_SLOW_0_0 = False

[OUTPUTS]
# DO NOT change the outputs they are used by the configuration tool
OUTPUT_0_1 = Spindle CW
OUTPUT_INVERT_0_1 = False
OUTPUT_0_2 = Spindle CCW
OUTPUT_INVERT_0_2 = False
OUTPUT_0_3 = Coolant Flood
OUTPUT_INVERT_0_3 = False
OUTPUT_0_4 = Tool Change
OUTPUT_INVERT_0_4 = False
OUTPUT_0_0 = E-Stop Out
OUTPUT_INVERT_0_0 = False

[OPTIONS]
# DO NOT change the options they are used by the configuration tool
LOAD_CONFIG = True
INTRO_GRAPHIC = emc2.gif
INTRO_GRAPHIC_TIME = 0
MANUAL_TOOL_CHANGE = True
CUSTOM_HAL = False
POST_GUI_HAL = False
SHUTDOWN_HAL = False



io.hal
# Inputs

# E-Stop Chain
loadrt estop_latch count=1
addf estop-latch.0 servo-thread

# E-Stop Loop
net estop-loopin iocontrol.0.user-enable-out => estop-latch.0.ok-in
net estop-loopout estop-latch.0.ok-out => iocontrol.0.emc-enable-in

# E-Stop Reset
net estop-reset iocontrol.0.user-request-enable
net estop-reset => estop-latch.0.reset
net remote-estop0 estop-latch.0.fault-in <= hm2_7i97.0.inmux.00.input-00

# Outputs
net estop-loopback => hm2_7i97.0.ssr.00.out-00
net spindle-cw spindle.0.forward => hm2_7i97.0.ssr.00.out-01
net spindle-ccw spindle.0.reverse => hm2_7i97.0.ssr.00.out-02
net flood-output iocontrol.0.coolant-flood => hm2_7i97.0.ssr.00.out-03




/Hampus
  • pgf
  • pgf
12 Apr 2025 14:23
Replied by pgf on topic Running an external program from a HAL pin

Running an external program from a HAL pin

Category: HAL

I spent my career trying to write reasonably efficient and fast code in firmware, device drivers and system level utilities. I'm afraid I just couldn't stomach adding a polling loop on top of the polling loop (every .2 seconds) that I discovered at the core of halui.

So I've done an end-run around the problem, which works nicely.

My mill runs from a Raspberry Pi, connected via a Mesa ethernet card. It occurred to me that if HAL could twiddle an actual gpio pin, then I could easily read that, and hook it up to action.  And of course if there's one thing the RPi has, it's plenty of gpio.

So I loaded hal_gpio, and hooked up a couple of output pins:
loadrt hal_gpio outputs=GPIO16,GPIO20
addf hal_gpio.write servo-thread
 
net external-estop-off \
        estop-latch.0.fault-out => hal_gpio.GPIO16-out
 
net coolant-mist => hal_gpio.GPIO20-out

Those pins were chosen because they were eacy immediately adjacent to another unused pin.  Gpio 16 is next to 19, and 20 is next to 26.  I jumpered those two pairs.

Then I wrote a short script using gpiomon to watch pins 19 and 26 for transitions.
#!/bin/bash

estop=19
vacuum=26

switch()
{
    echo Turning $1 $2   # e.g. "Turning vacuum on"
    wget -q -O /dev/null http://service:9901/event:cnc-mill-$1-$2 &
}

while read pinevent
do
    echo got $pinevent   # this will be "19-1", "19-0", "26-1", or "26-0"
    case $pinevent in
    $estop-1)
        switch spindle off
        ;;
    $vacuum-0)
        switch vacuum off
        ;;
    $vacuum-1)
        switch vacuum on
        ;;
    esac
done < <( gpiomon  --line-buffered --format="%o-%e" gpiochip0 19 26)

This works perfectly.

While I'm pleased to have found this solution, it sure seems silly to have had to consume 4 gpio pins in order to do it.

Thanks for all your suggestions!
paul
  • pgf
  • pgf
11 Apr 2025 18:01 - 11 Apr 2025 19:36
Running an external program from a HAL pin was created by pgf

Running an external program from a HAL pin

Category: HAL

[ Damn.  I edited the post to clarify some wording, and now the code blocks are broken.  I'm not going to try to fix them.  :-/  ]

I'd like to run an external program after an e-stop event.  I thought it was going to be easy.

I have the program (which goes into the background, so there's no delay) in M101.  M101 works when I invoke it via MDI.

I have a g-code snippet which invokes M101:
(subroutine which just runs my spindle off script)
o<my_spindle_off> sub
(MSG, my_spindle_off)
M101
o<my_spindle_off> endsub


That, in turn, is run via MDI_COMMAND, just like my homing and touch-off routines:

[code][HALUI]
MDI_COMMAND = o<reset_g54> call
MDI_COMMAND = o<auto_x_minus> call
MDI_COMMAND = o<auto_x_plus> call
MDI_COMMAND = o<auto_y_minus> call
MDI_COMMAND = o<auto_y_plus> call
MDI_COMMAND = o<auto_z_minus> call
MDI_COMMAND = o<home_x> call
MDI_COMMAND = o<home_y> call
MDI_COMMAND = o<home_z> call
MDI_COMMAND = o<reset_g54_rot> call
MDI_COMMAND = o<my_spindle_off> call


In custom.hal:

[code]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_7i96.0.gpio.003.in_not


And in custom_postgui.hal:

[code]net external-estop-off \
    estop-latch.0.fault-out => halui.mdi-command-10


With halshow, I can see net external-estop-off and pin estop-latch.0.fault-out change state when I go in and out of e-stop state, but my command never runs.  Ideas?

paul
[/code][/code][/code]
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