Re: PPMC developments

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

Fred Proctor wrote:

Thanks for the reply!

> 1. The estop sense needs to show that the button/relay is not latched.
> You can use ESTOP_SENSE_POLARITY to twiddle this, as you noted.
>
> 2. The motion system needs to be off the position limits. If the
> hardware limit switches are tripped, you'll have to physically move the
> axis off the limit switch, or change the polarity of the limit switch in
> the .ini file (MAX/MIN_LIMIT_SWITCH_POLARITY).

OK, this must be the problem, I had forgotten that limit switches were part
of
the e-stop decision tree.

> 3. The amp fault must not be asserted. If you don't have the amp fault
> input tied to the real amp fault, then set FAULT_POLARITY to be such
> that you don't see a fault when reading the stubbed value.

For steppers, of course, there shouldn't be an amp fault input.  On my servo

system, I also don't have individual amp fault signals.

> What I normally do when I can't come out of estop is bring up the EMC
> motion diagnosics application "usrmot" and peek into the status. Once
> the EMC is up, run usrmot (via "plat/linux_XXX/bin/usrmot -ini
> yours.ini") and then show the status, with "show flags" and RETURN.
> You'll see the bits labeled. Notice anything like amp fault or limits
> that may keep the motion system from allowing you to come out of estop.
> "show" with no args returns to normal status mode, where RETURN just
> updates the status.

Ahh, I was looking for this, but couldn't remember the name!  thanks.
Does this work for both servo and stepper versions?  Is there a way that
this could be added as a new menu entry of, say, TkEMC?

> You can use emcpanel with the IO system to check its status. What I do
> is run the emcio controller manually, by itself. It doesn't need motion
> or the task controller to be up. Then, run the text-based emcpanel, with
> "plat/linux_XXX/bin/emcpanel -ini yours.ini", and you'll see errors pop
> up showing that it can't connect to the task level (it's not running),
> and you'll get the emcio> prompt. You can type "estop on/off" and you
> should see your electronics taking the system out of estop. If you can
> come out of estop with emcio only, then the problem is with the motion
> system. If you still can't, it's at least an IO problem.

Thanks again, I saw these pieces but didn't know how to do this.

Jon