| ESTOP_LATCH(9) | HAL Component | ESTOP_LATCH(9) |
estop_latch - Software ESTOP latch
loadrt estop_latch [count=N|names=name1[,name2...]]
This component can be used as a part of a simple software ESTOP chain.
It has two states: "OK" and "Faulted".
The initial state is "Faulted". When faulted, the out-ok output is false, the fault-out output is true, and the watchdog output is unchanging.
The state changes from "Faulted" to "OK" when all these conditions are true:
When "OK", the out-ok output is true, the fault-out output is false, and the watchdog output is toggling.
The state changes from "OK" to "Faulted" when any of the following are true:
To facilitate using only a single fault source, ok-in and fault-en are both set to the non-fault-causing value when no signal is connected. For estop-latch to ever be able to signal a fault, at least one of these inputs must be connected.
Typically, an external fault or estop input is connected to fault-in, iocontrol.0.user-request-enable is connected to reset, and ok-out is connected to iocontrol.0.emc-enable-in.
In more complex systems, it may be more appropriate to use classicladder to manage the software portion of the estop chain.
John Kasunich
GPL
| 2023-02-10 | LinuxCNC Documentation |