Gmocappy fires relay twice

bevins
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7 years 1 month ago - 7 years 1 month ago #144473 by bevins

Replied by bevins on topic Gmocappy fires relay twice

JohnnyCNC wrote: I had a similar problem in Axis when it was starting up. I used a debounce to solve the problem.

Code:

#This stops the relay that controls the 48volts from briefly clicking on while LCNC is starting. net machine-ison halui.machine.is-on => vc-p4s.machine.ison debounce.1.0.in # SSR 48Volt DYN4 Power net mach-on debounce.1.0.out => hm2_5i25.0.7i76.0.0.output-02 hm2_5i25.0.7i76.0.0.output-04

I am pressing a button in the gui. There should be no debounce problem there. IF there is it should be dealt with in the code for the gui.

I tried your example and that didnt work.

Last edit: 7 years 1 month ago by bevins.

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PCW
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7 years 1 month ago #144484 by PCW

Replied by PCW on topic Gmocappy fires relay twice

bevins wrote:
cmorley wrote: what drives the signal 'machine-is-on'?

Chris M

When you press the on button in the gui.

Gmocappy version 3.08

I think what Chris meant is: what drives the 'machine-is-on' signal in the hal file

Could you post your hal files?

The following user(s) said Thank You: bevins

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bevins
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7 years 1 month ago #144485 by bevins

Replied by bevins on topic Gmocappy fires relay twice

When hitting estop it clicks twice also.

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bevins
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7 years 1 month ago - 7 years 1 month ago #144486 by bevins

Replied by bevins on topic Gmocappy fires relay twice

Axis Hal Scope when pressing machine-on button in gui.

Gmocappy Hal Scope when pressing machine-on button in gui.

Last edit: 7 years 1 month ago by bevins.

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bevins
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7 years 1 month ago - 7 years 1 month ago #144488 by bevins

Replied by bevins on topic Gmocappy fires relay twice

PCW wrote:
bevins wrote:
cmorley wrote: what drives the signal 'machine-is-on'?

Chris M

When you press the on button in the gui.

Gmocappy version 3.08

I think what Chris meant is: what drives the 'machine-is-on' signal in the hal file

Could you post your hal files?

halui,machine-is-on is driving machine-is-on.

Hal File

Warning: Spoiler!

Code:

# Generated by PNCconf at Fri Sep  6 12:30:24 2019
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=6 num_pwmgens=0 num_stepgens=0 sserial_port_0=000xxx" 
setp    hm2_7i92.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s


addf hm2_7i92.0.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_7i92.0.write         servo-thread
setp hm2_7i92.0.dpll.01.timer-us -50
#setp hm2_7i92.0.stepgen.timer-number 1

# external output signals


# external input signals

# --- HOME-X ---
net home-x     <=  hm2_7i92.0.gpio.018.in

# --- HOME-Y ---
net home-y     <=  hm2_7i92.0.gpio.019.in

# --- HOME-Z ---
net home-z     <=  hm2_7i92.0.gpio.021.in

# --- BOTH-X ---
#net both-x     <=  hm2_7i92.0.gpio.022.in

# --- BOTH-Y ---
#net both-y     <=  hm2_7i92.0.gpio.023.in

# --- BOTH-Z ---
#net both-z     <=  hm2_7i92.0.gpio.025.in


#*******************
#  AXIS X JOINT 0
#*******************

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

net x-index-enable  <=> pid.x.index-enable
net x-enable        =>  pid.x.enable 
net x-pos-cmd       =>  pid.x.command
net x-pos-fb        =>  pid.x.feedback
net x-output        <=  pid.x.output

# ---PWM Generator signals/setup---

setp   hm2_7i92.0.7i77.0.1.analogout0-scalemax  [JOINT_0]OUTPUT_SCALE
setp   hm2_7i92.0.7i77.0.1.analogout0-minlim    [JOINT_0]OUTPUT_MIN_LIMIT
setp   hm2_7i92.0.7i77.0.1.analogout0-maxlim    [JOINT_0]OUTPUT_MAX_LIMIT

net x-output     => hm2_7i92.0.7i77.0.1.analogout0
net x-pos-cmd    <= joint.0.motor-pos-cmd
net x-enable     <= joint.0.amp-enable-out
# enable _all_ sserial pwmgens
net x-enable   => hm2_7i92.0.7i77.0.1.analogena 

# ---Encoder feedback signals/setup---

setp    hm2_7i92.0.encoder.00.counter-mode 0
setp    hm2_7i92.0.encoder.00.filter 1
setp    hm2_7i92.0.encoder.00.index-invert 0
setp    hm2_7i92.0.encoder.00.index-mask 0
setp    hm2_7i92.0.encoder.00.index-mask-invert 0
setp    hm2_7i92.0.encoder.00.scale  [JOINT_0]ENCODER_SCALE

net x-pos-fb               <=  hm2_7i92.0.encoder.00.position
net x-vel-fb               <=  hm2_7i92.0.encoder.00.velocity
net x-pos-fb               =>  joint.0.motor-pos-fb
net x-index-enable    joint.0.index-enable  <=>  hm2_7i92.0.encoder.00.index-enable
net x-pos-rawcounts        <=  hm2_7i92.0.encoder.00.rawcounts

# ---setup home / limit switch signals---

net home-x     =>  joint.0.home-sw-in
net both-x     =>  joint.0.neg-lim-sw-in
net both-x     =>  joint.0.pos-lim-sw-in

#*******************
#  AXIS Y JOINT 1
#*******************

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

net y-index-enable  <=> pid.y.index-enable
net y-enable        =>  pid.y.enable
net y-pos-cmd       =>  pid.y.command
net y-pos-fb        =>  pid.y.feedback
net y-output        <=  pid.y.output

# ---PWM Generator signals/setup---

setp   hm2_7i92.0.7i77.0.1.analogout1-scalemax  [JOINT_1]OUTPUT_SCALE
setp   hm2_7i92.0.7i77.0.1.analogout1-minlim    [JOINT_1]OUTPUT_MIN_LIMIT
setp   hm2_7i92.0.7i77.0.1.analogout1-maxlim    [JOINT_1]OUTPUT_MAX_LIMIT

net y-output     => hm2_7i92.0.7i77.0.1.analogout1
net y-pos-cmd    <= joint.1.motor-pos-cmd
net y-enable     <= joint.1.amp-enable-out

# ---Encoder feedback signals/setup---

setp    hm2_7i92.0.encoder.01.counter-mode 0
setp    hm2_7i92.0.encoder.01.filter 1
setp    hm2_7i92.0.encoder.01.index-invert 0
setp    hm2_7i92.0.encoder.01.index-mask 0
setp    hm2_7i92.0.encoder.01.index-mask-invert 0
setp    hm2_7i92.0.encoder.01.scale  [JOINT_1]ENCODER_SCALE

net y-pos-fb               <=  hm2_7i92.0.encoder.01.position
net y-vel-fb               <=  hm2_7i92.0.encoder.01.velocity
net y-pos-fb               =>  joint.1.motor-pos-fb
net y-index-enable    joint.1.index-enable  <=>  hm2_7i92.0.encoder.01.index-enable
net y-pos-rawcounts        <=  hm2_7i92.0.encoder.01.rawcounts

# ---setup home / limit switch signals---

net home-y     =>  joint.1.home-sw-in
net both-y     =>  joint.1.neg-lim-sw-in
net both-y     =>  joint.1.pos-lim-sw-in

#*******************
#  AXIS Z JOINT 2
#*******************

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

net z-index-enable  <=> pid.z.index-enable
net z-enable        =>  pid.z.enable
net z-pos-cmd       =>  pid.z.command
net z-pos-fb        =>  pid.z.feedback
net z-output        <=  pid.z.output

# ---PWM Generator signals/setup---

setp   hm2_7i92.0.7i77.0.1.analogout3-scalemax  [JOINT_2]OUTPUT_SCALE
setp   hm2_7i92.0.7i77.0.1.analogout3-minlim    [JOINT_2]OUTPUT_MIN_LIMIT
setp   hm2_7i92.0.7i77.0.1.analogout3-maxlim    [JOINT_2]OUTPUT_MAX_LIMIT

net z-output     => hm2_7i92.0.7i77.0.1.analogout3
net z-pos-cmd    <= joint.2.motor-pos-cmd
net z-enable     <= joint.2.amp-enable-out

# ---Encoder feedback signals/setup---

setp    hm2_7i92.0.encoder.03.counter-mode 0
setp    hm2_7i92.0.encoder.03.filter 1
setp    hm2_7i92.0.encoder.03.index-invert 0
setp    hm2_7i92.0.encoder.03.index-mask 0
setp    hm2_7i92.0.encoder.03.index-mask-invert 0
setp    hm2_7i92.0.encoder.03.scale  [JOINT_2]ENCODER_SCALE

net z-pos-fb               <=  hm2_7i92.0.encoder.03.position
net z-vel-fb               <=  hm2_7i92.0.encoder.03.velocity
net z-pos-fb               =>  joint.2.motor-pos-fb
net z-index-enable    joint.2.index-enable  <=>  hm2_7i92.0.encoder.03.index-enable
net z-pos-rawcounts        <=  hm2_7i92.0.encoder.03.rawcounts

# ---setup home / limit switch signals---

net home-z     =>  joint.2.home-sw-in
net both-z     =>  joint.2.neg-lim-sw-in
net both-z     =>  joint.2.pos-lim-sw-in

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

#setp   pid.s.Pgain     [SPINDLE_9]P
#setp   pid.s.Igain     [SPINDLE_9]I
#setp   pid.s.Dgain     [SPINDLE_9]D
#setp   pid.s.bias      [SPINDLE_9]BIAS
#setp   pid.s.FF0       [SPINDLE_9]FF0
#setp   pid.s.FF1       [SPINDLE_9]FF1
#setp   pid.s.FF2       [SPINDLE_9]FF2
#setp   pid.s.deadband  [SPINDLE_9]DEADBAND
#setp   pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
#setp   pid.s.error-previous-target true

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

# ---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


#******************************
# connect miscellaneous signals
#******************************

#  ---HALUI signals---

net axis-select-x  halui.axis.x.select
net jog-x-pos      halui.axis.x.plus
net jog-x-neg      halui.axis.x.minus
net jog-x-analog   halui.axis.x.analog
net x-is-homed     halui.joint.0.is-homed
net axis-select-y  halui.axis.y.select
net jog-y-pos      halui.axis.y.plus
net jog-y-neg      halui.axis.y.minus
net jog-y-analog   halui.axis.y.analog
net y-is-homed     halui.joint.1.is-homed
net axis-select-z  halui.axis.z.select
net jog-z-pos      halui.axis.z.plus
net jog-z-neg      halui.axis.z.minus
net jog-z-analog   halui.axis.z.analog
net z-is-homed     halui.joint.2.is-homed
net jog-selected-pos      halui.axis.selected.plus
net jog-selected-neg      halui.axis.selected.minus
net spindle-manual-cw     halui.spindle.0.forward
net spindle-manual-ccw    halui.spindle.0.reverse
net spindle-manual-stop   halui.spindle.0.stop
net machine-is-on         halui.machine.is-on
net jog-speed             halui.axis.jog-speed
net MDI-mode              halui.mode.is-mdi

#  ---coolant signals---

net coolant-mist      <=  iocontrol.0.coolant-mist
net coolant-flood     <=  iocontrol.0.coolant-flood

#  ---probe signal---

net probe-in     =>  motion.probe-input

#  ---motion control signals---

net in-position               <=  motion.in-position
net machine-is-enabled        <=  motion.motion-enabled

#  ---digital in / out signals---

#  ---estop signals---

#net estop-out     <=  iocontrol.0.user-enable-out
#net estop-out     =>  iocontrol.0.emc-enable-in

loadrt estop_latch
addf estop-latch.0 servo-thread
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 estop-estop estop-latch.0.fault-in <= hm2_7i92.0.7i77.0.0.input-00-not

#  ---manual tool change signals---

loadusr -W hal_manualtoolchange
net tool-change-request     iocontrol.0.tool-change       =>  hal_manualtoolchange.change
net tool-change-confirmed   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

custom.hal

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Last edit: 7 years 1 month ago by bevins.

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PCW
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7 years 1 month ago #144492 by PCW

Replied by PCW on topic Gmocappy fires relay twice

Does your axis config use halui the same way?
What pokes halui.machine.on and halui.machine.off ?

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Gmocappy fires relay twice

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