I am trying to implement multiple e-stops. One directly to a 7I77 and a second on a pendant via a 7i73 so i can't just daisy chain them together. I am trying to use a version Rodw's estop chain modified, or at least attempted, for only 2. The problem is i am unable to bring it out or e-stop initially and the state of either button makes no difference. Any help would be appreciated.
Code:
loadrt estop_latch count=2
addf estop-latch.0 servo-thread
addf estop-latch.1 servo-thread
# --- ESTOP CHAIN STARTS ---
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 latch0-out <= estop-latch.0.ok-out
net latch0-out => estop-latch.1.ok-in
net latch-reset => estop-latch.0.reset
net latch-reset => estop-latch.1.reset
net latch-out iocontrol.0.emc-enable-in <= estop-latch.1.ok-out
net estop-out estop-latch.1.fault-out
# --- EXTERNAL ESTOP SWITCH ---
net external-estop <= [HMOT](CARD0).7i77.0.0.input-06
net external-estop => estop-latch.0.fault-in
net pendant-estop <= [HMOT](CARD0).7i73.0.2.input-06-not
net pendant-estop => estop-latch.1.fault-in
# --- ESTOP CHAIN ENDS ---
