ColorCNC Colorlight 5A-75E/5A-75B as FPGA controller board

  My emergency stop button can't be pressed

        loadrt [KINS]KINEMATICS
        loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
        loadrt litexcnc
        loadrt litexcnc_eth config_file="[LITEXCNC]CONFIG_FILE"
        loadrt pos2vel number=6
        loadusr -W hal_manualtoolchange
        
        # Add the functions to the thread
        addf [LITEXCNC](NAME).read servo-thread
        addf motion-command-handler servo-thread
        addf motion-controller servo-thread
        addf pos2vel.convert servo-thread
        addf [LITEXCNC](NAME).write servo-thread
        
        ########################################################################
        #STEPGEN
        ########################################################################
        # - timings (prevent re-calculation)
        net pos2vel.period-s       <= [LITEXCNC](NAME).stepgen.period-s
        net pos2vel.period-s-recip <= [LITEXCNC](NAME).stepgen.period-s-recip
        
        #STEPGEN - X-AXIS
        ########################################################################
        # POS2VEL
        # - position control
        net xpos-fb  <= [LITEXCNC](NAME).stepgen.00.position_prediction
        net xpos-fb  => joint.0.motor-pos-fb
        net xpos-fb  => pos2vel.0.position-feedback
        net xvel-fb  pos2vel.0.velocity-feedback <= [LITEXCNC](NAME).stepgen.00.velocity-prediction
        net xpos-cmd pos2vel.0.position-cmd      <= joint.0.motor-pos-cmd
        # - settings
        setp pos2vel.0.max-acceleration [JOINT_0]STEPGEN_MAXACCEL
        # setp pos2vel.0.debug 1
        
        # STEPGEN
        # - Setup of timings
        setp [LITEXCNC](NAME).stepgen.00.position-scale   [JOINT_0]SCALE
        setp [LITEXCNC](NAME).stepgen.00.steplen          5000
        setp [LITEXCNC](NAME).stepgen.00.stepspace        5000
        setp [LITEXCNC](NAME).stepgen.00.dir-hold-time    10000
        setp [LITEXCNC](NAME).stepgen.00.dir-setup-time   10000
        setp [LITEXCNC](NAME).stepgen.00.max-velocity     [JOINT_0]MAX_VELOCITY
        setp [LITEXCNC](NAME).stepgen.00.max-acceleration [JOINT_0]STEPGEN_MAXACCEL
        # setp [LITEXCNC](NAME).stepgen.00.debug 1
        # - Connect velocity command
        net xvel_cmd pos2vel.0.velocity-cmd => [LITEXCNC](NAME).stepgen.00.velocity-cmd
        # - Set the acceleration to be used (NOTE: pos2vel has fixed acceleration)
        setp [LITEXCNC](NAME).stepgen.00.acceleration-cmd [JOINT_0]STEPGEN_MAXACCEL
        # - enable the drive
        net xenable joint.0.amp-enable-out => [LITEXCNC](NAME).stepgen.00.enable
        
        #STEPGEN - Y-AXIS
        ########################################################################
        # POS2VEL
        # - position control
        net ypos-fb  <= [LITEXCNC](NAME).stepgen.01.position_prediction
        net ypos-fb  => joint.1.motor-pos-fb
        net ypos-fb  => pos2vel.1.position-feedback
        net yvel-fb  pos2vel.1.velocity-feedback <= [LITEXCNC](NAME).stepgen.01.velocity-prediction
        net ypos-cmd pos2vel.1.position-cmd      <= joint.1.motor-pos-cmd
        # - settings
        setp pos2vel.1.max-acceleration [JOINT_1]STEPGEN_MAXACCEL
        # setp pos2vel.0.debug 1
        
        # STEPGEN
        # - Setup of timings
        setp [LITEXCNC](NAME).stepgen.01.position-scale   [JOINT_1]SCALE
        setp [LITEXCNC](NAME).stepgen.01.steplen          5000
        setp [LITEXCNC](NAME).stepgen.01.stepspace        5000
        setp [LITEXCNC](NAME).stepgen.01.dir-hold-time    10000
        setp [LITEXCNC](NAME).stepgen.01.dir-setup-time   10000
        setp [LITEXCNC](NAME).stepgen.01.max-velocity     [JOINT_1]MAX_VELOCITY
        setp [LITEXCNC](NAME).stepgen.01.max-acceleration [JOINT_1]STEPGEN_MAXACCEL
        # setp [LITEXCNC](NAME).stepgen.00.debug 1
        # - Connect velocity command
        net yvel_cmd pos2vel.1.velocity-cmd => [LITEXCNC](NAME).stepgen.01.velocity-cmd
        # - Set the acceleration to be used (NOTE: pos2vel has fixed acceleration)
        setp [LITEXCNC](NAME).stepgen.01.acceleration-cmd [JOINT_1]STEPGEN_MAXACCEL
        # - enable the drive
        net yenable joint.1.amp-enable-out => [LITEXCNC](NAME).stepgen.01.enable
        
        #//////////////////////////////////////////////////////////////////////////////
        #STEPGEN - Z-AXIS
        ########################################################################
        # POS2VEL
        # - position control
        net zpos-fb  <= [LITEXCNC](NAME).stepgen.02.position_prediction
        net zpos-fb  => joint.2.motor-pos-fb
        net zpos-fb  => pos2vel.2.position-feedback
        net zvel-fb  pos2vel.2.velocity-feedback <= [LITEXCNC](NAME).stepgen.02.velocity-prediction
        net zpos-cmd pos2vel.2.position-cmd      <= joint.2.motor-pos-cmd
        # - settings
        setp pos2vel.2.max-acceleration [JOINT_2]STEPGEN_MAXACCEL
        # setp pos2vel.0.debug 1
        
        # STEPGEN
        # - Setup of timings
        setp [LITEXCNC](NAME).stepgen.02.position-scale   [JOINT_2]SCALE
        setp [LITEXCNC](NAME).stepgen.02.steplen          5000
        setp [LITEXCNC](NAME).stepgen.02.stepspace        5000
        setp [LITEXCNC](NAME).stepgen.02.dir-hold-time    10000
        setp [LITEXCNC](NAME).stepgen.02.dir-setup-time   10000
        setp [LITEXCNC](NAME).stepgen.02.max-velocity     [JOINT_2]MAX_VELOCITY
        setp [LITEXCNC](NAME).stepgen.02.max-acceleration [JOINT_2]STEPGEN_MAXACCEL
        # setp [LITEXCNC](NAME).stepgen.00.debug 1
        # - Connect velocity command
        net zvel_cmd pos2vel.2.velocity-cmd => [LITEXCNC](NAME).stepgen.02.velocity-cmd
        # - Set the acceleration to be used (NOTE: pos2vel has fixed acceleration)
        setp [LITEXCNC](NAME).stepgen.02.acceleration-cmd [JOINT_2]STEPGEN_MAXACCEL
        # - enable the drive
        net zenable joint.2.amp-enable-out => [LITEXCNC](NAME).stepgen.02.enable
        
        #net estop-out  =>     [LITEXCNC](NAME).gpio.j1:8.out
        
        # toolchange setup
        net tool-change  iocontrol.0.tool-change =>      hal_manualtoolchange.change
        net tool-changed iocontrol.0.tool-changed =>     hal_manualtoolchange.changed
        net tool-number  iocontrol.0.tool-prep-number => hal_manualtoolchange.number
        net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
        
        
        
        
        
 

To find out you can open terminal and run "halrun".
then load the two modules with
loadrt litexcnc
loadrt litexcnc_eth config_file="/path/to/config.json"

after successfully loaded type
show pin

which gives you a list of all pins and their names

@wuyatom: please clarify what you mean with 'cannot press E-Stop'. Is this in the GUI, or is it a physical button?

In case of the GUI: I cannot help you as you are using Axis and I use GMOCCAPY.

If it is a physical button. In the HAL file you posted I don't see any input defined for the E-stop. If you have an input assigned to the E-Stop and it is still not running, please verify you've modified the buffers. The default buffers are output only!

  It may be that my 5A-75E7.1 does not support it, but my 5a-75b_ The firmware file bit generated by v7.0i12o14p6s6e6.json, I use your 5a-75e_ v6.0_ The firmware file generated by i24o26p6s6e6.json cannot ping the motherboard. I don't know why 

The above gui shows that external estop is enabled, and I have minimized hal