7i76e use outputs to toggle motor enable

changed my custom HAL file so pin 008 is linked to the iocontrol.0.user-request-enable  rodw mentioned.
The alarm clearing is now under control much better: need to toggle the e-stop button in linuxcnc to clear it, so my data is not lost (I have time to check the blinking pattern)
The pulse is long enough for the ihvs57 servos I'm using.

Unhome seems to work as well now, but I haven't tried triggering errors with all joints homed yet.


 

I wonder.  I've been using the same type of servo for two years and never get an alarm.  have you read the alarm cause via rs232?

No it is not that they go into the alarm state by themselves, I force them into the alarm, in order to be sure my connections work - and they dont...
I still cannot get rid of the alarm neither with the iocontrol.0.user-request-enable nor with the machine-is -enabled signal.
I connected all 3 ENA+ inputs from the servos to pin 4 Dir4- (gpio 8) and reduced the stepgens to 4 and put

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
setp hm2_7i76e.0.gpio.008.is_output true
net estop-reset => hm2_7i76e.0.gpio.008.out
net estop-reset => iocontrol.0.user-request-enable
net estop-reset => estop-latch.0.reset

net remote-estop estop-latch.0.fault-in <= [HMOT](CARD0).7i76.0.0.input-12-not

in my hal file.
 

Have you seen parameter P6-20?  You can invert the alarm output signal to zero.  If the servo does not start, you will get an alarm.

chris@cnc wrote:

I wonder.  I've been using the same type of servo for two years and never get an alarm.  have you read the alarm cause via rs232?

As for me, I'm currently figuring out how fast it can travel and home, so I'll run into alarms regularly (usually positioning errors - 3 flashes). I'm glad we can read the error code now, because one of the Y motors is running into the under voltage error (6 flashes), so perhaps I should check if there is something with the power supply of that one.

strahlensauger wrote:

setp hm2_7i76e.0.gpio.008.is_output true
net estop-reset => hm2_7i76e.0.gpio.008.out
net estop-reset => iocontrol.0.user-request-enable
net estop-reset => estop-latch.0.reset

 
I'm not sure if the direction of the arrows is actually processed by linuxcnc, or just for readability, but I have the one to the iocontrol.0.user-request-enable in the opposite direction.

Have you tried without the estop-latch lines? Maybe the logic causes conflicts?

I just noticed I forgot to mention in my previous post that I had to change the wiring to put the ENA+ of the motors on to DIR4+ (fifth physical pin). That was the only way I could find to invert the signal, because I couldn't get the motors enabled on DIR4-...

 

I'm not sure if the direction of the arrows is actually processed by linuxcnc...
 

It is not.

That was exactly my problem, I couldn't get rid of the alarm and so Linuxcnc kept disabled.
Power off was the solution.
Now I can clear the alarm, and I can reproduce what was written in this thread.
Tommy was right, it is that easy - if you are connected to the right pin.
Thank you so much pCNC, I was almost to give up on connecting the ENA+ signal.