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Thanks for the reply.

I added the code in the linked tutorial, does that bind it to a specific pin? It looks like the last line (below) assigns it to pin10? should I change this to the pin i have mine currently wired to? The video so far is very informative and ill use it as a reference when im out working on it tomorrow but no info on how to daisy chain them. I assume since they're NC i can just wire them in series to one input pin? or is that a no-no? 

The better way is to use estop_latch. There is a tutorial here
forum.linuxcnc.org/47-hal-examples/25861-external-e-stop
it is possible to daisy chain multiple estop_latch components together but its not documented anywhere
I found drawing a diagram of the connections helps to work it out.
Here is  video which may be useful

 

Hi Thomas,
For the block diagram conversion to Hal netlisting  I use Eagle2hal its documentated in lthe inuxcnc wiki (old but works for me). However if I had to start again I would learn Ed Nisley's Kicad to HAL the source code is in Python  also the Kicad people are planning to release a schematic API in their next release this would make it easy to make run time changes to the schematic capture and animate the schematic with realtime values.

gist.github.com/ednisley/cd69ad5a899226067d7a4a92c2114568
 

Benb wrote:

The hardwired diagram shows two normally open contacts in series  KM1 AND KM2 indicating that the Estop is active. The rest of the circuit is similar to what you had in mind. Please do not add a screen (UI) estop or reset buttons; make it a habit to only use the external hardwired estop and reset push buttons otherwise you defeat the use of a safety system. The hal block diagram I use it to generate the hal file but it might help you understand what the hal net file does.

 

  

I like your diagrams, what do you use to make them?

I'm not 100% sure the above diagram will work exactly like this with my setup, however your input sparked an idea to solve my "circular dependency" problem between the software and hardware latches: I need to use a "oneshot"-component to connect the two latches instead of connecting them directly(and thereby creating the problematic circular dependency). Sounds obvious now, not sure why i didn't see that option the other day. So thanks for the input, i think i have a viable way to solve this now!

rodw post=317388 userid=20660
iocontrol.0.user-request-enable can be used as an estop reset signal (eg in place of S6). A short pulse is sent on this output for this purpose. I chose to just stick with the external reset button and connect to iocontrol.0.emc-enable-in, I used a relay on your S6 circuit to do this

Thanks! I couldn't wrap my head around this at first, but i think i got the gist of it now. I'll try to implement this short pulse and post the solution here for future reference.

​​​​​​​Thanks!

The hardwired diagram shows two normally open contacts in series  KM1 AND KM2 indicating that the Estop is active. The rest of the circuit is similar to what you had in mind. Please do not add a screen (UI) estop or reset buttons; make it a habit to only use the external hardwired estop and reset push buttons otherwise you defeat the use of a safety system. The hal block diagram I use it to generate the hal file but it might help you understand what the hal net file does.

 

#

---

# Load realtime Components and their counts

loadrt and2         count= 1
loadrt edge         count= 1
loadrt or2            count= 1

#

---

# Add functions to threads

addf and2.0         servo-thread 
addf or2.0            servo-thread 
addf edge.0         servo-thread 

#

---

# Set parameters

setp edge.0.in-edge          0
setp edge.0.out-width-ns   20000   

#

---

# Connect Pins with Wires

net external-ereset        and2.0.in0  
net external-estop         or2.0.in0  
net n.1                           or2.0.out  edge.0.in  
net n.2                           edge.0.out  halui.estop.activate  
net n.5                           halui.estop.reset  and2.0.out  
net soft-estop-active      halui.estop.is-activated  and2.0.in1  
net software-estop         or2.0.in1   

iocontrol.0.user-request-enable can be used as an estop reset signal (eg in place of S6). A short pulse is sent on this output for this purpose. I chose to just stick with the external reset button and connect to iocontrol.0.emc-enable-in, I used a relay on your S6 circuit to do this

If you want an internal estop and an external estop, multiple instances of estop-latch component should let you do this.

Hi,

I've been spending the last couple of days trying to figure out how to make the "software estop" work together with my safety relay. But i'm going in circles and i need a kick from someone, maybe you?

First off, i have this physical circuit to handle the emergency stop logic in hardware:
 
...the idea is that estop should work without any software involvement. And everything should be as redundant as could be. I have dual (safety) contactors(KM1 + KM2) that cuts power to all drives and at the same time prevents resetting the estop-circuit in cause of failure. I have a proper estop-button(it's redundant contacts, but only shown as one here in S5). On top of that i have added an inline relay, K13, which can be triggered by software, aswell as the wire "1" which goes to an input in LinuxCNC in order to tell it the state of the safety relay. There is a short delay(~0,5sec) between the two sets of relays in the safety relay, so ideally the signal to LinuxCNC should be able to tell the servos to emergency stop just before the power is killed. 

So far, so good. Everything works just like i want it. The latching works excellent and the signals to and from LinuxCNC also works as expected....

However, i'm totally going in circles when i try to add an estop latch inside LinuxCNC to work in conjunction with the hardware safety relay. I took inspiration from a thread from the user Unlogic  who seem to have it working. But i end up having a latch #1 that depends on latch #2 that depends on latch #1 again....ehh... so currently i'm just having the inputs tied into LinuxCNC like this:
..this "sorta works" and prevents anything powering on before LinuxCNC has booted properly. However the UI experience is kinda bad as i have to press a button extra and there is not really any feedback to the user

SO, the question: Has anyone got a combination of a physical safetyrelay and an estop latch to work "like it should"? I'd be very interested in seeing how others have solved this issue...

/Thomas

Thanks for the code, im getting this error on startup ./main.hal:239: Pin 'xor.0.in0' does not exist

here is my hal file

# This file was created with the Mesa Configuration Tool on Nov 26 2024 15:50:59
# If you make changes to this file DO NOT run the configuration tool again!
# This file will be replaced with a new file if you do!

# kinematics
loadrt [KINS](KINEMATICS)

# motion controller
loadrt [EMCMOT](EMCMOT) servo_period_nsec=[EMCMOT](SERVO_PERIOD) num_joints=[KINS]JOINTS num_dio=30 num_aio=30

# hostmot2 driver
loadrt hostmot2
loadrt [HM2](DRIVER) board_ip=[HM2](ADDRESS) config="sserial_port_0=00000000"
loadrt oneshot count=1

setp hm2_[MESA](BOARD).0.watchdog.timeout_ns 10000000
loadrt timedelay count=1
loadrt xor2
loadrt pid names=pid.x,pid.y,pid.z,pid.s



# PID Information for Stepper Boards
# Mesa hardware step generators at every servo thread invocation, the step
# generator hardware is given a new velocity. Without feedback from the PID
# controller the hardware position would slowly drift because of clock speed and
# timing differences between LinuxCNC and the step generator hardware.
# The PID controller gets feedback from the actual (fractional) step position and
# corrects for these small differences.

# THREADS
addf hm2_[MESA](BOARD).0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf hm2_[MESA](BOARD).0.write servo-thread
addf timedelay.0 servo-thread
addf xor2.0 servo-thread



# DPLL TIMER
setp hm2_[MESA](BOARD).0.dpll.01.timer-us -50
setp hm2_[MESA](BOARD).0.stepgen.timer-number 1

# amp enable
#net motion-enable <= motion.motion-enabled => hm2_7i95.0.ssr.00.out-02

# Spindle Air Oil solenoid


# Board: 7i95

# Axis: X Joint: 0 Output: 0
# PID Setup
setp pid.x.Pgain [JOINT_0](P)
setp pid.x.Igain [JOINT_0](I)
setp pid.x.Dgain [JOINT_0](D)
setp pid.x.bias [JOINT_0](BIAS)
setp pid.x.FF0 [JOINT_0](FF0)
setp pid.x.FF1 [JOINT_0](FF1)
setp pid.x.FF2 [JOINT_0](FF2)
setp pid.x.deadband [JOINT_0](DEADBAND)
setp pid.x.maxoutput [JOINT_0](MAX_OUTPUT)
setp pid.x.error-previous-target True
# limit stepgen velocity corrections caused by position feedback jitter
setp pid.x.maxerror [JOINT_0](MAX_ERROR)

# joint-0 enable chain
net joint-0-index-enable <=> pid.x.index-enable
net joint-0-index-enable <=> joint.0.index-enable

net joint-0-enable <= joint.0.amp-enable-out
net joint-0-enable => pid.x.enable

net joint-0-enable => hm2_[MESA](BOARD).0.stepgen.00.enable

# Joint 0 Step Generator Settings
setp hm2_[MESA](BOARD).0.stepgen.00.dirsetup [JOINT_0](DIRSETUP)
setp hm2_[MESA](BOARD).0.stepgen.00.dirhold [JOINT_0](DIRHOLD)
setp hm2_[MESA](BOARD).0.stepgen.00.steplen [JOINT_0](STEPLEN)
setp hm2_[MESA](BOARD).0.stepgen.00.stepspace [JOINT_0](STEPSPACE)
setp hm2_[MESA](BOARD).0.stepgen.00.position-scale [JOINT_0](SCALE)
setp hm2_[MESA](BOARD).0.stepgen.00.maxvel [JOINT_0](STEPGEN_MAX_VEL)
setp hm2_[MESA](BOARD).0.stepgen.00.maxaccel [JOINT_0](STEPGEN_MAX_ACC)
setp hm2_[MESA](BOARD).0.stepgen.00.step_type 0
setp hm2_[MESA](BOARD).0.stepgen.00.control-type 1


# position command and feedback
net joint-0-pos-cmd <= joint.0.motor-pos-cmd
net joint-0-pos-cmd => pid.x.command

net joint-0-pos-fb <= hm2_[MESA](BOARD).0.stepgen.00.position-fb
net joint-0-pos-fb => joint.0.motor-pos-fb
net joint-0-pos-fb => pid.x.feedback

# PID Output
net joint.0.output <= pid.x.output
net joint.0.output => hm2_[MESA](BOARD).0.stepgen.00.velocity-cmd

# Axis: Y Joint: 1 Output: 1
# PID Setup
setp pid.y.Pgain [JOINT_1](P)
setp pid.y.Igain [JOINT_1](I)
setp pid.y.Dgain [JOINT_1](D)
setp pid.y.bias [JOINT_1](BIAS)
setp pid.y.FF0 [JOINT_1](FF0)
setp pid.y.FF1 [JOINT_1](FF1)
setp pid.y.FF2 [JOINT_1](FF2)
setp pid.y.deadband [JOINT_1](DEADBAND)
setp pid.y.maxoutput [JOINT_1](MAX_OUTPUT)
setp pid.y.error-previous-target True
# limit stepgen velocity corrections caused by position feedback jitter
setp pid.y.maxerror [JOINT_1](MAX_ERROR)

# joint-1 enable chain
net joint-1-index-enable <=> pid.y.index-enable
net joint-1-index-enable <=> joint.1.index-enable

net joint-1-enable <= joint.1.amp-enable-out
net joint-1-enable => pid.y.enable

net joint-1-enable => hm2_[MESA](BOARD).0.stepgen.01.enable

# Joint 1 Step Generator Settings
setp hm2_[MESA](BOARD).0.stepgen.01.dirsetup [JOINT_1](DIRSETUP)
setp hm2_[MESA](BOARD).0.stepgen.01.dirhold [JOINT_1](DIRHOLD)
setp hm2_[MESA](BOARD).0.stepgen.01.steplen [JOINT_1](STEPLEN)
setp hm2_[MESA](BOARD).0.stepgen.01.stepspace [JOINT_1](STEPSPACE)
setp hm2_[MESA](BOARD).0.stepgen.01.position-scale [JOINT_1](SCALE)
setp hm2_[MESA](BOARD).0.stepgen.01.maxvel [JOINT_1](STEPGEN_MAX_VEL)
setp hm2_[MESA](BOARD).0.stepgen.01.maxaccel [JOINT_1](STEPGEN_MAX_ACC)
setp hm2_[MESA](BOARD).0.stepgen.01.step_type 0
setp hm2_[MESA](BOARD).0.stepgen.01.control-type 1


# position command and feedback
net joint-1-pos-cmd <= joint.1.motor-pos-cmd
net joint-1-pos-cmd => pid.y.command

net joint-1-pos-fb <= hm2_[MESA](BOARD).0.stepgen.01.position-fb
net joint-1-pos-fb => joint.1.motor-pos-fb
net joint-1-pos-fb => pid.y.feedback

# PID Output
net joint.1.output <= pid.y.output
net joint.1.output => hm2_[MESA](BOARD).0.stepgen.01.velocity-cmd

# Axis: Z Joint: 2 Output: 2
# PID Setup
setp pid.z.Pgain [JOINT_2](P)
setp pid.z.Igain [JOINT_2](I)
setp pid.z.Dgain [JOINT_2](D)
setp pid.z.bias [JOINT_2](BIAS)
setp pid.z.FF0 [JOINT_2](FF0)
setp pid.z.FF1 [JOINT_2](FF1)
setp pid.z.FF2 [JOINT_2](FF2)
setp pid.z.deadband [JOINT_2](DEADBAND)
setp pid.z.maxoutput [JOINT_2](MAX_OUTPUT)
setp pid.z.error-previous-target True
# limit stepgen velocity corrections caused by position feedback jitter
setp pid.z.maxerror [JOINT_2](MAX_ERROR)

# joint-2 enable chain
net joint-2-index-enable <=> pid.z.index-enable
net joint-2-index-enable <=> joint.2.index-enable

net joint-2-enable <= joint.2.amp-enable-out
net joint-2-enable => pid.z.enable

net joint-2-enable => hm2_[MESA](BOARD).0.stepgen.02.enable

# Joint 2 Step Generator Settings
setp hm2_[MESA](BOARD).0.stepgen.02.dirsetup [JOINT_2](DIRSETUP)
setp hm2_[MESA](BOARD).0.stepgen.02.dirhold [JOINT_2](DIRHOLD)
setp hm2_[MESA](BOARD).0.stepgen.02.steplen [JOINT_2](STEPLEN)
setp hm2_[MESA](BOARD).0.stepgen.02.stepspace [JOINT_2](STEPSPACE)
setp hm2_[MESA](BOARD).0.stepgen.02.position-scale [JOINT_2](SCALE)
setp hm2_[MESA](BOARD).0.stepgen.02.maxvel [JOINT_2](STEPGEN_MAX_VEL)
setp hm2_[MESA](BOARD).0.stepgen.02.maxaccel [JOINT_2](STEPGEN_MAX_ACC)
setp hm2_[MESA](BOARD).0.stepgen.02.step_type 0
setp hm2_[MESA](BOARD).0.stepgen.02.control-type 1


# position command and feedback
net joint-2-pos-cmd <= joint.2.motor-pos-cmd
net joint-2-pos-cmd => pid.z.command

net joint-2-pos-fb <= hm2_[MESA](BOARD).0.stepgen.02.position-fb
net joint-2-pos-fb => joint.2.motor-pos-fb
net joint-2-pos-fb => pid.z.feedback

# PID Output
net joint.2.output <= pid.z.output
net joint.2.output => hm2_[MESA](BOARD).0.stepgen.02.velocity-cmd

# Manual Tool Change Dialog
loadusr -W hal_manualtoolchange
net tool-change-request => hal_manualtoolchange.change
net tool-change-confirmed <= hal_manualtoolchange.changed
net tool-number => hal_manualtoolchange.number

# 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

# # Load Classicladder without GUI
loadrt classicladder_rt
addf classicladder.0.refresh servo-thread 1

# 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_7i95.0.inmux.00.input-01-not

# Input and output configuration
net button-press <= hm2_7i95.0.inmux.00.input-05 # Connect input pin 5 to signal button-press
net relay-1-control => hm2_7i95.0.ssr.00.out-01 # Connect signal relay-1-control to relay output 1
net relay-2-control => hm2_7i95.0.ssr.00.out-03 # Connect signal relay-2-control to relay output 3

setp timedelay.0.on-delay 1.0 # 1-second delay
setp timedelay.0.off-delay 0.0 # No off delay

# Timedelay connections
net button-press => timedelay.0.in xor.0.in0 # Link button-press to timedelay and logic
net relay-1-control <= timedelay.0.out xor.0.in1 # Link timedelay output to relay-1-control and logic
net relay-2-control <= xor.0.out # Link xor out to relay-2-control


#*******************
# SPINDLE
#*******************

setp pid.s.Pgain [SPINDLE_0]P
setp pid.s.Igain [SPINDLE_0]I
setp pid.s.Dgain [SPINDLE_0]D
setp pid.s.bias [SPINDLE_0]BIAS
setp pid.s.FF0 [SPINDLE_0]FF0
setp pid.s.FF1 [SPINDLE_0]FF1
setp pid.s.FF2 [SPINDLE_0]FF2
setp pid.s.deadband [SPINDLE_0]DEADBAND
setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp pid.s.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.s.maxerror 0.012700

net spindle-index-enable => pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output

# Step Gen signals/setup

setp hm2_[MESA](BOARD).0.stepgen.03.dirsetup [SPINDLE_0]DIRSETUP
setp hm2_[MESA](BOARD).0.stepgen.03.dirhold [SPINDLE_0]DIRHOLD
setp hm2_[MESA](BOARD).0.stepgen.03.steplen [SPINDLE_0]STEPLEN
setp hm2_[MESA](BOARD).0.stepgen.03.stepspace [SPINDLE_0]STEPSPACE
setp hm2_[MESA](BOARD).0.stepgen.03.position-scale [SPINDLE_0]SCALE
setp hm2_[MESA](BOARD).0.stepgen.03.step_type 0
setp hm2_[MESA](BOARD).0.stepgen.03.control-type 1
setp hm2_[MESA](BOARD).0.stepgen.03.maxaccel [SPINDLE_0]STEPGEN_MAX_ACC
setp hm2_[MESA](BOARD).0.stepgen.03.maxvel [SPINDLE_0]STEPGEN_MAX_VEL

net machine-is-on => hm2_[MESA](BOARD).0.stepgen.03.enable
net spindle-vel-cmd-rps => hm2_[MESA](BOARD).0.stepgen.03.velocity-cmd
net spindle-vel-fb-rps <= hm2_[MESA](BOARD).0.stepgen.03.velocity-fb

# ---setup spindle control signals---

net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enable <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable

# ---Setup spindle at speed signals---

sets spindle-at-speed true
net spindle-manual-cw halui.spindle.0.forward
net spindle-manual-ccw halui.spindle.0.reverse
net spindle-manual-stop halui.spindle.0.stop

PCW wrote:

if estop-latch.N.ok-out goes false, one of these must have changed:

estop-latch.N.ok-in  goes false
estop-latch.N.fault-in goes true

So I would watch these in halshow or halscope to see whats happening.

I also don't understand why you have two estop latches. It seems that one
should be sufficient (adding some logic if you need to add fault inputs or OK inputs)

 

Hi, thank you for your quick reply. I have been looking at these halshow/scope bits but could not get it to click.

I have tried with two latches, with the idea that one will be for external estop (input 00) and the other for software internal estop (user enable out).
I also tried with one, linking the ok-in for user-enable out and fault-in to input00 external estop. No succes.

I will keep trying, thanks.

If you have any more sugestions i would be happy to hear them.

if estop-latch.N.ok-out goes false, one of these must have changed:

estop-latch.N.ok-in  goes false
estop-latch.N.fault-in goes true

So I would watch these in halshow or halscope to see whats happening.

I also don't understand why you have two estop latches. It seems that one
should be sufficient (adding some logic if you need to add fault inputs or OK inputs)



 

Hi guys,

I have been trying for a couple of days to get the e stop to work on my diy cnc router.
I have an safety circuit which connects 24v supply to a relay(which switches on motor powers).  Output 00 of mesa card 7i95t and 4 physical estop NC are wired in series to this safety circuit.
In parallel i have wired this circuit to mesa input 01.

Here is my hal io code.

I have many more attempts but this one came the closest. It triggers the relay for a second but does not 'stick'.
I want to reset with gui request enable en trip the circuit with either estop external button or software internal button on gui.
Can anybody please point me in the right direction, i have tried so many things and i get maybe more confused by the day