physical start button + pause switch

SenorAguas
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9 years 11 months ago #82849 by SenorAguas

physical start button + pause switch was created by SenorAguas

Hi Guys, I've been messing with this a while and am stuck with some of this and2 logic (I think that's my issue).

I'm trying to set up a momentary switch to start the program. I can get this working by itself, although it wants to start the program automatically as soon as its opened. After running it once, the program restarts with the switch.

Also, I have a switch to pause the program if the operator removes the pallet that holds part (this is an automated glue machine). I can get this working by itself.

I can't get them both working at the same time. Here's the error I get: cant do that (EMC_TASK_PLAN_RUN) in auto mode with the interpreter reading. ALso, I get cant do that (EMC_TASK_PLAN_OPEN) in auto mode with the interpreter reading

Can someone help? I thought I halfway understood and2.

Here's my HAL:

Code:

loadrt and2 count=2
addf and2.0 servo-thread
addf and2.1 servo-thread

#pause button

net button_open parport.0.pin-15-in-not => and2.1.in0
net machine-running halui.program.is-running => and2.1.in1
net pause-motion and2.1.out => motion.feed-inhibit

#start button

net program-start-btn halui.mode.auto and2.0.in0 <= parport.0.pin-13-in
net program-run-ok and2.0.in1 <= halui.mode.is-auto
net remote-program-run and2.0.out => halui.program.run

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SenorAguas
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9 years 11 months ago #82862 by SenorAguas

Replied by SenorAguas on topic physical start button + pause switch

I scrapped my attempt at the HAL, and went with a piece of code from the thread below (Thanks BigJohnT), but it needs modified for what I'm looking for. I have no need for the step function.

Using this code, my pause switch works and my run switch starts the program, but it only runs 1 line of G code. I'd like it to run the whole program.

So far, I've tried commenting out the step portion, but that made it where I could only start the first line of code and wasn't able to step through after that.

forum.linuxcnc.org/47-hal-examples/13201...-hold-resume-buttons

Code:

loadrt and2 count=4
loadrt or2 count=1
loadrt toggle count=1
loadrt toggle2nist count=1

addf and2.0 servo-thread
addf and2.1 servo-thread
addf and2.2 servo-thread
addf and2.3 servo-thread
addf or2.0 servo-thread
addf toggle.0 servo-thread
addf toggle2nist.0 servo-thread

# External Program Pause/Resume and Run/Step Buttons
# Pause/Resume Section
net pause-resume-btn and2.0.in0 and2.1.in0 <= parport.0.pin-15-in
net pause-on toggle2nist.0.is-on and2.0.in1 and2.3.in1 <= halui.program.is-paused
net run-on and2.1.in1 <= halui.program.is-running
net pause-sig or2.0.in0 <= and2.0.out
net resume-sig or2.0.in1 <= and2.1.out
net toggle-ok toggle.0.in <= or2.0.out
net togglesig toggle2nist.0.in <= toggle.0.out
net toggleon halui.program.pause <= toggle2nist.0.on
net toggleoff halui.program.resume <= toggle2nist.0.off
# Run/Step Section
net run-step-btn and2.2.in0 and2.3.in0 <= parport.0.pin-13-in
net idle-on and2.2.in1 <= halui.program.is-idle
# net pause.on and 2.3.in1 <= halui.program.is-paused
# and2.3.in1 was added in the net pause-on statement in Pause/Resume Section
net run-sig halui.mode.auto halui.program.run <= and2.2.out
net step-sig halui.program.step <= and2.3.out

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rodw
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9 years 11 months ago #82890 by rodw

Replied by rodw on topic physical start button + pause switch

If the code is from this thread
forum.linuxcnc.org/forum/47-hal-examples...p-holdresume-buttons

It says:
Pressing Run/Step while a program is paused will single step the program.
Pressing Hold/Resume while a program is paused will return it to normal run mode.

Sounds like you need to tweak it just a little bit

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SenorAguas
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9 years 11 months ago #82904 by SenorAguas

Replied by SenorAguas on topic physical start button + pause switch

Yes, I mapped out the code last night and removed all the and2.3 references thinking that would keep it from stepping. It didn't work. Now it runs 1 step and quits.

here's my map of the code and the portion that I removed:

https://drive.google.com/open?id=0B9dawSNCLhG9ZWd1aGxaQ2hKM3c

Attachment not found

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SenorAguas
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9 years 11 months ago #82906 by SenorAguas

Replied by SenorAguas on topic physical start button + pause switch

When I follow the map, it seems like it should work. Maybe I screwed up the map?

It will start with the run switch, but only run 1 step. The pause switch will get it going again.

Here's the modified code:

Code:

loadrt and2 count=3
loadrt or2 count=1
loadrt toggle count=1
loadrt toggle2nist count=1

addf and2.0 servo-thread
addf and2.1 servo-thread
addf and2.2 servo-thread

addf or2.0 servo-thread
addf toggle.0 servo-thread
addf toggle2nist.0 servo-thread

# External Program Pause/Resume and Run/Step Buttons
# Pause/Resume Section
net pause-resume-btn and2.0.in0 and2.1.in0 <= parport.0.pin-15-in
net pause-on toggle2nist.0.is-on and2.0.in1 <= halui.program.is-paused
net run-on and2.1.in1 <= halui.program.is-running
net pause-sig or2.0.in0 <= and2.0.out
net resume-sig or2.0.in1 <= and2.1.out
net toggle-ok toggle.0.in <= or2.0.out
net togglesig toggle2nist.0.in <= toggle.0.out
net toggleon halui.program.pause <= toggle2nist.0.on
net toggleoff halui.program.resume <= toggle2nist.0.off
# Run/Step Section
net run-step-btn and2.2.in0 <= parport.0.pin-13-in
net idle-on and2.2.in1 <= halui.program.is-idle
net run-sig halui.mode.auto halui.program.run <= and2.2.out

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SenorAguas
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9 years 11 months ago #82926 by SenorAguas

Replied by SenorAguas on topic physical start button + pause switch

OK, I have it 95% working with the following code, which has gone through about 15 iterations now and is much much different than where I started. The machine is physically doing what I want with the two buttons, but I'm getting error messages whenever hitting the stop switch (which used to be a pause switch). I'm really not sure the difference between pause and stop, but changing it to stop allowed me to restart using the start button.

This is the error: can't do that (EMC_TRAJ_SET_TELEOP_ENABLE) in auto mode with the interpreter idle.

Can someone help me get rid of this error?

Here's the code:

Code:

loadrt and2 count=2
loadrt or2 count=1

addf and2.0 servo-thread
addf and2.1 servo-thread
addf or2.0 servo-thread


# External Program Pause and Run Buttons

# Run Section

net run-btn or2.0.in0 and2.1.in0 <= parport.0.pin-13-in
net pause-on and2.1.in1 <= halui.program.is-paused
net my-or1 or2.0.in1 <= and2.1.out
net run-sig halui.mode.auto halui.program.run <= or2.0.out

# Stop Section

net stop-btn and2.0.in0 <= parport.0.pin-15-in-not
net run-on and2.0.in1 <= halui.program.is-running
net stop-sig halui.program.stop <= and2.0.out

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Todd Zuercher
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9 years 11 months ago #82929 by Todd Zuercher

Replied by Todd Zuercher on topic physical start button + pause switch

I haven't been following this really closely, but perhaps you are making this more complicated than it needs to be. What happens if you follow the kiss method and do this?

Code:

net run-btn <= parport.0.pin-13-in => halui.mode.auto => halui.program.run

net stop-btn <= parport.0.pin-15-in => halui.program.stop

You may also want to try it with and with out the halui.mode.auto connection.

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SenorAguas
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9 years 11 months ago #82935 by SenorAguas

Replied by SenorAguas on topic physical start button + pause switch

Just tried it with and without the auto part of it. It basically worked the same as what I've already got, i.e. it basically did what I wanted it to do, but with an error on the screen:

can't do that (EMC_TRAJ_SET_TELEOP_ENABLE) in auto mode with the interpreter idle

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Todd Zuercher
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9 years 11 months ago #82945 by Todd Zuercher

Replied by Todd Zuercher on topic physical start button + pause switch

This is a longshot, but you could try this

Code:

net run-btn <= parport.0.pin-13-in => halui.mode.teleop => halui.mode.auto => halui.program.run 

net stop-btn <= parport.0.pin-15-in => halui.program.stop

But I'm not sure this is the real source of the problem. I'll try a few things in a simulation tomorrow.

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Todd Zuercher
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9 years 11 months ago #82964 by Todd Zuercher

Replied by Todd Zuercher on topic physical start button + pause switch

This doesn't give the alarm, but I don't think it should be necessary on a Cartesian machine that doesn't have a joint mode. (seems a little bug like to me.)

Code:

setp halui.mode.teleop 1
net run-btn <= parport.0.pin-13-in => halui.mode.auto => halui.program.run
net stop-btn <= parport.0.pin-15-in => halui.program.stop

The more complecated examples you were grabbing code from (with all the ands, ors...) I believe were trying to make one button do multiple tasks. Such as one button that pressing it when the machine is idle starts a file, press again pauses it, and press again resumes. Which is perfectly fine, just a little harder to configure, getting all the logic and hal commands right. At least this might get you started with something that works.

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