STMBL Brake, Power on / Fault behaviour and HAL / INI
16 Jan 2020 17:18 #155029
by ross_dev
STMBL Brake, Power on / Fault behaviour and HAL / INI was created by ross_dev
Hi
We are trying to setup the machine so that the brake comes off when the machine is powered on, and comes back on if estop arises. At the moment when we power on, the motors come on, but the brakes do nothing.
We are able to control the brake from AXIS using a little pyvcp plugin, with the brake lines on STMBL out 0, so we know that LCNC can see and access the brake.
At present we are just running one axis.
The STMBL profile has the line
added, as I assumed this forces the stmbl to monitor for fault condition.
Here are the relevant parts of the HAL file (a lot has been snipped out for clarity but I can post the full thing)
Is there anything obvious missing that means the brake is not affected by the power on / estop behaviour? Running under 2.8 pre on Debian Wheezy.
Cheers!
We are trying to setup the machine so that the brake comes off when the machine is powered on, and comes back on if estop arises. At the moment when we power on, the motors come on, but the brakes do nothing.
We are able to control the brake from AXIS using a little pyvcp plugin, with the brake lines on STMBL out 0, so we know that LCNC can see and access the brake.
At present we are just running one axis.
The STMBL profile has the line
io0.out0 = fault0.mot_brakeadded, as I assumed this forces the stmbl to monitor for fault condition.
Here are the relevant parts of the HAL file (a lot has been snipped out for clarity but I can post the full thing)
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="192.168.1.121" config=" num_stepgens=4 sserial_port_0=000xxx"
loadrt estop_latch
loadrt not
setp hm2_7i94.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s
addf hm2_7i94.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller 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_7i94.0.write servo-thread
#add estop components to servo thread - added RL
addf estop-latch.0 servo-thread
addf not.0 servo-thread
#*******************
# AXIS X JOINT 0
#*******************
net xposcmd joint.0.motor-pos-cmd => hm2_7i94.0.stbl.0.1.pos_cmd
net xvelcmd joint.0.vel-cmd => hm2_7i94.0.stbl.0.1.vel_cmd
net xposfb joint.0.motor-pos-fb <= hm2_7i94.0.stbl.0.1.pos_fb
net xenable joint.0.amp-enable-out => hm2_7i94.0.stbl.0.1.enable
net xfault joint.0.amp-fault-in <= hm2_7i94.0.stbl.0.1.fault
#added RL
net x-index joint.0.index-enable <=> hm2_7i94.0.stbl.0.1.index_enable
net x-brake => hm2_7i94.0.stbl.0.1.out-00
# ---setup home / limit switch signals---
net x-home-sw => joint.0.home-sw-in
net x-neg-limit => joint.0.neg-lim-sw-in
net x-pos-limit => joint.0.pos-lim-sw-in
#allows you to reset smart serial - may not be needed - added RL
net ssrun not.0.out => hm2_7i94.0.sserial.port-0.run
net ssrunn => not.0.in
net user-enable iocontrol.0.user-request-enable => estop-latch.0.reset
net enable-latch estop-latch.0.ok-out => iocontrol.0.emc-enable-in
net watchdog hm2_[HOSTMOT2](BOARD).0.watchdog.has_bit => estop-latch.0.fault-in
Is there anything obvious missing that means the brake is not affected by the power on / estop behaviour? Running under 2.8 pre on Debian Wheezy.
Cheers!
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16 Jan 2020 19:30 #155032
by tommylight
Replied by tommylight on topic STMBL Brake, Power on / Fault behaviour and HAL / INI
If you just need it on and off without any other control, you can use "amplifier_enable" or "machine_is_on" pins.
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17 Jan 2020 07:34 #155049
by ross_dev
Replied by ross_dev on topic STMBL Brake, Power on / Fault behaviour and HAL / INI
Hi Tommy
Thanks for the reply. I'm not sure I follow however. Those pins have been created in the HAL file and are present, however I want to be able to hit the 'power on' button in AXIS and have the brakes come off when all the motors power on.
At the moment the motors come on, but the brakes don't come off. I also want any error such as joint following error to lead to estop and the brake to come back on.
What do I need to add to the HAL file make that happen please?
Cheers
Ross
Thanks for the reply. I'm not sure I follow however. Those pins have been created in the HAL file and are present, however I want to be able to hit the 'power on' button in AXIS and have the brakes come off when all the motors power on.
At the moment the motors come on, but the brakes don't come off. I also want any error such as joint following error to lead to estop and the brake to come back on.
What do I need to add to the HAL file make that happen please?
Cheers
Ross
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17 Jan 2020 09:06 - 17 Jan 2020 09:08 #155051
by ross_dev
Replied by ross_dev on topic STMBL Brake, Power on / Fault behaviour and HAL / INI
Here is the rest of the HAL file barring the two axes we are not working on yet:
Cheers
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="192.168.1.121" config=" num_stepgens=4 sserial_port_0=000xxx"
loadrt estop_latch
loadrt not
setp hm2_7i94.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s
addf hm2_7i94.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller 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_7i94.0.write servo-thread
addf estop-latch.0 servo-thread
addf not.0 servo-thread
#*******************
# AXIS X JOINT 0
#*******************
net xposcmd joint.0.motor-pos-cmd => hm2_7i94.0.stbl.0.1.pos_cmd
net xvelcmd joint.0.vel-cmd => hm2_7i94.0.stbl.0.1.vel_cmd
net xposfb joint.0.motor-pos-fb <= hm2_7i94.0.stbl.0.1.pos_fb
net xenable joint.0.amp-enable-out => hm2_7i94.0.stbl.0.1.enable # AMP ENABLE LINE
net xfault joint.0.amp-fault-in <= hm2_7i94.0.stbl.0.1.fault
net x-index joint.0.index-enable <=> hm2_7i94.0.stbl.0.1.index_enable
net x-brake => hm2_7i94.0.stbl.0.1.out-00
# ---setup home / limit switch signals---
net x-home-sw => joint.0.home-sw-in
net x-neg-limit => joint.0.neg-lim-sw-in
net x-pos-limit => joint.0.pos-lim-sw-in
#allows you to reset smart serial - may not be needed
net ssrun not.0.out => hm2_7i94.0.sserial.port-0.run
net ssrunn => not.0.in
# ---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 # MACHINE IS ON LINE
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
#added RL
net user-enable iocontrol.0.user-request-enable => estop-latch.0.reset
net enable-latch estop-latch.0.ok-out => iocontrol.0.emc-enable-in
net watchdog hm2_[HOSTMOT2](BOARD).0.watchdog.has_bit => estop-latch.0.fault-in
# ---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
Cheers
Last edit: 17 Jan 2020 09:08 by ross_dev.
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17 Jan 2020 13:35 #155060
by bevins
Replied by bevins on topic STMBL Brake, Power on / Fault behaviour and HAL / INI
This will cause an output to follow turning on and off the machine.
net machine-is-on hm2_5i25.0.7i71.1.1.output-25
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19 Jan 2020 19:29 #155176
by andypugh
Replied by andypugh on topic STMBL Brake, Power on / Fault behaviour and HAL / INI
I think this might be a question about STMBL HAL, which is modelled on LinuxCNC HAL, but runs in the motor drive itself.
Have you tried asking on the STMBL gitter chat?
gitter.im/rene-dev/stmbl
Have you tried asking on the STMBL gitter chat?
gitter.im/rene-dev/stmbl
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21 Jan 2020 09:20 #155302
by ross_dev
Replied by ross_dev on topic STMBL Brake, Power on / Fault behaviour and HAL / INI
Cheers Andy that's a good idea. I think you are right, certainly on STMBL configs I have seen before I don't recall the need for additional lines in the main HAL (could be wrong) so I presume there's something I need in the STMBL profile.
Cheers
Ross
Cheers
Ross
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