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#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

# 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

[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

# 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

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

#!/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)

(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

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

# Generated by stepconf 1.1 at Tue Jan 28 10:21:07 2025
# Si vous modifiez ce fichier, il sera
# écrasé quand vous relancerez Stepconf
loadrt [KINS]KINEMATICS

loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_spindles=[TRAJ]SPINDLES

# next load the PID module, for four PID loops
loadrt pid num_chan=4

loadrt  plasmac

loadrt hal_ppmc epp_dir=1 

# make some signals for the scope for tuning.
loadrt ddt count=4
# add components for E-stop logic
loadrt estop_latch count=1
loadrt and2 count=1

# set up the realtime thread
# read inputs first
addf ppmc.0.read servo-thread
# then run the motion controller
addf motion-command-handler servo-thread
addf and2.0 servo-thread
addf estop-latch.0 servo-thread
addf motion-controller servo-thread
# then the PID loops
addf pid.0.do-pid-calcs servo-thread
addf pid.1.do-pid-calcs servo-thread
addf pid.2.do-pid-calcs servo-thread
addf pid.3.do-pid-calcs servo-thread
# write outputs last
addf ppmc.0.write servo-thread


# ---PLASMA INPUT DEBOUNCE---
loadrt dbounce names=db_breakaway,db_float,db_ohmic,db_arc-ok
addf db_float     servo-thread
addf db_ohmic     servo-thread
addf db_breakaway servo-thread
addf db_arc-ok    servo-thread

# ---JOINT ASSOCIATED WITH THE Z AXIS---
net plasmac:axis-position joint.2.pos-fb => plasmac.axis-z-position

# ---PLASMA INPUTS---
# ---all modes---
net plasmac:float-switch   => db_float.in
net plasmac:breakaway      => db_breakaway.in
net plasmac:ohmic-probe    => db_ohmic.in
net plasmac:ohmic-sense-in   => plasmac.ohmic-sense-in
# ---modes 0 & 1
net plasmac:arc-voltage-in => plasmac.arc-voltage-in
# ---modes 1 & 2
net plasmac:arc-ok-in      => db_arc-ok.in
# ---mode 2
net plasmac:move-up        => plasmac.move-up
net plasmac:move-down      => plasmac.move-down

# ---PLASMA OUTPUTS---
# ---all modes---
net plasmac:ohmic-enable   <= plasmac.ohmic-enable
net plasmac:scribe-arm     <= plasmac.scribe-arm
net plasmac:scribe-on      <= plasmac.scribe-on

# connect limit/home switch outputs to motion controller
net Xminlim <= ppmc.0.din.01.in
net Xminlim => joint.0.neg-lim-sw-in
net Xmaxlim <= ppmc.0.din.02.in
net Xmaxlim => joint.0.pos-lim-sw-in
net Xhome <= ppmc.0.din.00.in
net Xhome => joint.0.home-sw-in

net Yminlim <= ppmc.0.din.05.in
net Yminlim => joint.1.neg-lim-sw-in
net Ymaxlim <= ppmc.0.din.06.in
net Ymaxlim => joint.1.pos-lim-sw-in
net Yhome <= ppmc.0.din.04.in
net Yhome => joint.1.home-sw-in

net Zminlim <= ppmc.0.din.09.in
net Zminlim => joint.2.neg-lim-sw-in
net Zmaxlim <= ppmc.0.din.10.in
net Zmaxlim => joint.2.pos-lim-sw-in
net Zhome <= ppmc.0.din.08.in
net Zhome => joint.2.home-sw-in

net Aminlim <= ppmc.0.din.12.in
net Aminlim => joint.3.neg-lim-sw-in
net Amaxlim <= ppmc.0.din.13.in
net Amaxlim => joint.3.pos-lim-sw-in
net Ahome <= ppmc.0.din.11.in
net Ahome => joint.3.home-sw-in


# connect index pulses to motion controller
# uncomment these lines only if you have a Rev 2 USC board
# newsig Xindex bit
# newsig Yindex  bit
# newsig Zindex bit
# newsig Aindex bit
# linksp Xindex <= ppmc.0.encoder.00.index-enable
# linksp Xindex => joint.0.index-enable
# linksp Yindex <= ppmc.0.encoder.01.index-enable
# linksp Yindex => joint.1.index-enable
# linksp Zindex <= ppmc.0.encoder.02.index-enable
# linksp Zindex => joint.2.index-enable
# linksp Aindex <= ppmc.0.encoder.03.index-enable
# linksp Aindex => joint.3.index-enable

#
# Connect I/O controller I/Os
#

# connect e-stop write/sense to I/O controller
# and univstep's fault with estop's output, so  estop FF is reset, but
#      prevent continued estop signal from univstep from holding FF cleared
net ppmcEstop ppmc.0.din.15.in-not
net ppmcEstop and2.0.in0
net EstopOkIn estop-latch.0.fault-in
net EstopOkIn and2.0.out
net EstopOkOut <= ppmc.0.dout.07.out
net EstopOkOut iocontrol.0.emc-enable-in
net EstopOkOut estop-latch.0.ok-out
net EstopOkOut and2.0.in1
net emc-estop-out iocontrol.0.user-enable-out
net emc-estop-out estop-latch.0.ok-in
net emc-estop-reset iocontrol.0.user-request-enable
net emc-estop-reset estop-latch.0.reset

net emc-estop-out estop-latch.0.ok-in 

# connect spindle fwd/rev to I/O controller
net SpindleFwd <= ppmc.0.dout.00.out
net SpindleFwd => spindle.0.forward
net SpindleRev <= ppmc.0.dout.01.out
net SpindleRev => spindle.0.reverse

# connect spindle brake to I/O controller
net SpindleBrakeOn <= ppmc.0.dout.02.out
net SpindleBrakeOn => spindle.0.brake

# connect mist/flood coolant to I/O controller
net MistOn <= ppmc.0.dout.03.out
net MistOn => iocontrol.0.coolant-mist
net FloodOn <= ppmc.0.dout.04.out
net FloodOn => iocontrol.0.coolant-flood


# connect position feedback signals to encoders
net Xpos-fb <= ppmc.0.encoder.00.position
net Ypos-fb <= ppmc.0.encoder.01.position
net Zpos-fb <= ppmc.0.encoder.02.position
net Apos-fb <= ppmc.0.encoder.03.position

# get feedback scaling from ini file
setp ppmc.0.encoder.00.scale [JOINT_0]INPUT_SCALE
setp ppmc.0.encoder.01.scale [JOINT_1]INPUT_SCALE
setp ppmc.0.encoder.02.scale [JOINT_2]INPUT_SCALE
setp ppmc.0.encoder.03.scale [JOINT_3]INPUT_SCALE

# connect PID output signals to step generators
net Xoutput => ppmc.0.stepgen.00.velocity
net Youtput => ppmc.0.stepgen.01.velocity
net Zoutput => ppmc.0.stepgen.02.velocity
net Aoutput => ppmc.0.stepgen.03.velocity

# connect axis enables to step generators
net Xenable => ppmc.0.stepgen.00.enable
net Yenable => ppmc.0.stepgen.01.enable
net Zenable => ppmc.0.stepgen.02.enable
net Aenable => ppmc.0.stepgen.03.enable

# set output scaling from ini file
# input and output scales should (normally) be the same for a USC
setp ppmc.0.stepgen.00.scale [JOINT_0]OUTPUT_SCALE
setp ppmc.0.stepgen.01.scale [JOINT_1]OUTPUT_SCALE
setp ppmc.0.stepgen.02.scale [JOINT_2]OUTPUT_SCALE
setp ppmc.0.stepgen.03.scale [JOINT_3]OUTPUT_SCALE

# add a couple of tuning test links
# if these are useful will want to add them to the other axes as well
# or make these setup with the tuning script
# net Xoutput ddt.0.in
# net Xpos-fb ddt.1.in


# HAL config file for servos -- expanded from core_servo.hal
# for a full four axis setup

# create four position feedback signals

# connect position feedback to PID loop
net Xpos-fb => pid.0.feedback
net Ypos-fb => pid.1.feedback
net Zpos-fb => pid.2.feedback
net Apos-fb => pid.3.feedback

# connect position feedback to motion module
net Xpos-fb => joint.0.motor-pos-fb
net Ypos-fb => joint.1.motor-pos-fb
net Zpos-fb => joint.2.motor-pos-fb
net Apos-fb => joint.3.motor-pos-fb

# create PID to DAC output signals

# connect output signals to output of PID loops
net Xoutput <= pid.0.output
net Youtput <= pid.1.output
net Zoutput <= pid.2.output
net Aoutput <= pid.3.output

# set PID loop output limits to +/-1.00
setp pid.0.maxoutput [JOINT_0]PID_MAX_VEL
setp pid.1.maxoutput [JOINT_1]PID_MAX_VEL
setp pid.2.maxoutput [JOINT_2]PID_MAX_VEL
setp pid.3.maxoutput [JOINT_3]PID_MAX_VEL

# set PID loop gains
setp pid.0.Pgain [JOINT_0]P
setp pid.0.Igain [JOINT_0]I
setp pid.0.Dgain [JOINT_0]D
setp pid.0.bias [JOINT_0]BIAS
setp pid.0.FF0 [JOINT_0]FF0
setp pid.0.FF1 [JOINT_0]FF1
setp pid.0.FF2 [JOINT_0]FF2
setp pid.0.deadband [JOINT_0]DEADBAND

setp pid.1.Pgain [JOINT_1]P
setp pid.1.Igain [JOINT_1]I
setp pid.1.Dgain [JOINT_1]D
setp pid.1.bias [JOINT_1]BIAS
setp pid.1.FF0 [JOINT_1]FF0
setp pid.1.FF1 [JOINT_1]FF1
setp pid.1.FF2 [JOINT_1]FF2
setp pid.1.deadband [JOINT_1]DEADBAND

setp pid.2.Pgain [JOINT_2]P
setp pid.2.Igain [JOINT_2]I
setp pid.2.Dgain [JOINT_2]D
setp pid.2.bias [JOINT_2]BIAS
setp pid.2.FF0 [JOINT_2]FF0
setp pid.2.FF1 [JOINT_2]FF1
setp pid.2.FF2 [JOINT_2]FF2
setp pid.2.deadband [JOINT_2]DEADBAND

setp pid.3.Pgain [JOINT_3]P
setp pid.3.Igain [JOINT_3]I
setp pid.3.Dgain [JOINT_3]D
setp pid.3.bias [JOINT_3]BIAS
setp pid.3.FF0 [JOINT_3]FF0
setp pid.3.FF1 [JOINT_3]FF1
setp pid.3.FF2 [JOINT_3]FF2
setp pid.3.deadband [JOINT_3]DEADBAND

# create four position command signals

# connect position commands to motion controller
net Xpos-cmd <= joint.0.motor-pos-cmd
net Ypos-cmd <= joint.1.motor-pos-cmd
net Zpos-cmd <= joint.2.motor-pos-cmd
net Apos-cmd <= joint.3.motor-pos-cmd

# connect position commands to PID input
net Xpos-cmd => pid.0.command
net Ypos-cmd => pid.1.command
net Zpos-cmd => pid.2.command
net Apos-cmd => pid.3.command

# create bit signals to enable/disable the PID loops

# connect the signals to the motion controller
net Xenable <= joint.0.amp-enable-out
net Yenable <= joint.1.amp-enable-out
net Zenable <= joint.2.amp-enable-out
net Aenable <= joint.3.amp-enable-out

# connect the signals to the PID blocks
net Xenable => pid.0.enable
net Yenable => pid.1.enable
net Zenable => pid.2.enable
net Aenable => pid.3.enable

# --- ESTOP-EXT ---
net estop-ext     <=  hm2_7i96s.0.inm.00.input-03

net estop-ext  => estop-latch.0.fault-in

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_[HOSTMOT2](7i96s).0.gpio.040.in_not

.hal:258: Signal 'a-pos-fb' can not add OUT pin 'hm2_7i96s.0.encoder.00.position'. It already has OUT pin ' hm2_7i96s.0.stepgen.03.position-fb' 2034