Re: Not getting out of estop

[Jon Elson <jmelson-at-artsci.wustl.edu>]

Max Heise wrote:

> Hi,
>
> I not getting out of estop. No matter what I try.
> My setup looks as follows.
>
> Hardware:
> AMD K6-2 at 300Mhz
> 64 MB RAM
> Only one (buildin) par. port
> STG Ver.1 Board - 4 Axis
> 2 Axis table plotter (x,y), with one rotary axis (z) for the 5 tools (tool
> offset via G54-G58). Home and limit switches connected to STG board, estop
> connected to par. port. X and Y Axis connected to STG board too.

The first thing to check is the address of the parallel port.  If you do "more
/proc/ioports"
it will show the physical I/O address that is set for your parallel port.  Make
sure that
corresponds with the one in the .ini file.

> Software:
> Redhat 6.1
> linux 2.2.14
> rtlinux-2.0
> EMC-15-Mar
> some patches ac patches and a patch for my ali 15xx IDE driver to do UDMA33.
> Everythings compiles and runs fine. The simulation runs just great.
>
> Encoder feedback is working for all 3 axis. (what is the plural of axis ?)

axes.

> I am using ioshow.tcl to monitor the par. port. If I tell tkemc to get out of
> estop I cannot see anything happen on digital out 10.  If I switch digital out
> 10 using testppt tkemc goes into estop reset - but still not out of estop even
> if I switch digital in 1 using the estop button.

OK, there are 2 things needed to get the machine 'running'.  First, you need
to get E-stop reset, which you have apparently done with testppt.  If the external

circuitry was set up to pull pin 13 to +5 Volts on the 25-pin parallel port
connector,
and to pull pin 16 to ground, then hitting the F1 key should do the same.
Once in e-stop reset, you should be able to hit F2 to go to "machine on".
But, that may require the limit switches to all show "not at limit" status.
You can either override this (a screen button, I think) or change the polarity
of the sense lines for the limit switches in the .ini file.

> Or is the bridgeport PLC logic so different from my machine setup that I have
> to write my own one. Can I take tkio.tcl as an example ?

I think you want to use the script that has minimill.io rather than Bridgeport.io.

That should also use minimilltask rather than bridgeporttask.

> How can I see what's the reason for not getting out of estop
> ? Does anyone has a clue ?

I think you HAVE gotten out of estop, but it is a 2-stage process.  First
you have to clear estop, then set machine on.  I'm not sure of the reasons
for this, and it has some drawbacks, but I have gotten it working, and am used
to it.  There are some diagnostic uses for the state between estop and machine
on, like servo alignment.

Jon