1. Forum
  3. Search

Advanced Search

Search Results (Searched for: estop_latch)

  • MacKaye
  • MacKaye
29 Sep 2025 19:58
Replied by MacKaye on topic External E-Stop

External E-Stop

Category: HAL Examples

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.
# base.hal – Minimalstart für Weiler XZ (V10)

# --- components ---
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT
loadrt hostmot2
loadrt hm2_pci config="num_encoders=6 num_pwmgens=0 num_stepgens=0 sserial_port_0=000XXXXX"
loadrt estop_latch count=1

# --- Motion in den Servo-Thread einhängen ---
addf motion-command-handler servo-thread
addf motion-controller      servo-thread
addf hm2_5i25.0.read        servo-thread
addf estop-latch.0          servo-thread

# --- Loopback pro Joint, damit Motion ohne Feedback auskommt ---
net joint-0-pos-loop joint.0.motor-pos-cmd => joint.0.motor-pos-fb
net joint-1-pos-loop joint.1.motor-pos-cmd => joint.1.motor-pos-fb

# Enable-Leitungen/Faults – aktuell ohne Verdrahtung (werden später ergänzt)

addf hm2_5i25.0.write servo-thread

# --- ESTOP CHAIN (single latch) ---
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 latch-reset   => estop-latch.0.reset
net latch-out iocontrol.0.emc-enable-in <= estop-latch.0.ok-out
net estop-out     estop-latch.0.fault-out

# External E-Stop input (single source)
# For testing: fix the external signal to TRUE (fault active)
net external-estop => estop-latch.0.fault-in
sets external-estop TRUE

# --- ESTOP CHAIN ENDS ---


# doormagnet and relay for 24V supply
setp hm2_5i25.0.7i84.0.2.output-02 TRUE
setp hm2_5i25.0.7i84.0.2.output-03 TRUE

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.

 
  • tommylight
  • tommylight's Avatar
14 Aug 2025 13:11
Replied by tommylight on topic multiple estops on separate pins

multiple estops on separate pins

Category: General LinuxCNC Questions

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.
  • rodw
  • rodw's Avatar
14 Aug 2025 11:50
Replied by rodw on topic multiple estops on separate pins

multiple estops on separate pins

Category: General LinuxCNC Questions

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.
  • JT
  • JT's Avatar
14 Aug 2025 11:40
Replied by JT on topic multiple estops on separate pins

multiple estops on separate pins

Category: General LinuxCNC Questions

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

JT
  • 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?
Displaying 16 - 30 out of 35 results.
  1. Forum
  3. Search
Time to create page: 1.388 seconds
Powered by Kunena Forum