STMBL Brake, Power on / Fault behaviour and HAL / INI

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16 Jan 2020 17:18 #155029 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
io0.out0 = fault0.mot_brake

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)
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
If you just need it on and off without any other control, you can use "amplifier_enable" or "machine_is_on" pins.
The following user(s) said Thank You: ross_dev

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17 Jan 2020 07:34 #155049 by ross_dev
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

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17 Jan 2020 09:06 - 17 Jan 2020 09:08 #155051 by ross_dev
Here is the rest of the HAL file barring the two axes we are not working on yet:
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
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
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

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21 Jan 2020 09:20 #155302 by ross_dev
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

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