Figure: E-Stop Section DisplayThe External E-Stop example is in the /config/classicladder/cl-estop folder. It uses a pyVCP panel to simulate the external components.
To interface an external E-Stop to EMC and have the external E-Stop work together with the internal E-Stop requires a couple of connections through ClassicLadder.
First we have to open the E-Stop loop in the main hal file by commenting out by adding the pound sign as shown or removing the following lines.
# net estop-out <= iocontrol.0.user-enable-out
# net estop-out => iocontrol.0.emc-enable-in
Next we add ClassicLadder to our custom.hal file by adding these two lines:
loadrt classicladder_rt
addf classicladder.0.refresh servo-thread
Next we run our config and build the ladder as shown here.
After building the ladder select Save As and save the ladder as estop.clp
Now add the following line to your custom.hal file.
# Load the ladder
loadusr classicladder --nogui estop.clp
I/O assignments
Next we add the following lines to the custom_postgui.hal file
# E-Stop example using pyVCP buttons to simulate external components
# The pyVCP checkbutton simulates a normally closed external E-Stop
net ext-estop classicladder.0.in-00 <= pyvcp.py-estop
# Request E-Stop Enable from EMC
net estop-all-ok iocontrol.0.emc-enable-in <= classicladder.0.out-00
# Request E-Stop Enable from pyVCP or external source
net ext-estop-reset classicladder.0.in-03 <= pyvcp.py-reset
# This line resets the E-Stop from EMC
net emc-reset-estop iocontrol.0.user-request-enable => classicladder.0.in-02
# This line enables EMC to unlatch the E-Stop in classicladder
net emc-estop iocontrol.0.user-enable-out => classicladder.0.in-01
# This line turns on the green indicator when out of E-Stop
net estop-all-ok => pyvcp.py-es-status
Next we add the following lines to the panel.xml file. Note you have to open it with the text editor not the default html viewer.
<pyvcp>
<vbox>
<label><text>"E-Stop Demo"</text></label>
<led>
<halpin>"py-es-status"</halpin>
<size>50</size>
<on_color>"green"</on_color>
<off_color>"red"</off_color>
</led>
<checkbutton>
<halpin>"py-estop"</halpin>
<text>"E-Stop"</text>
</checkbutton>
</vbox>
<button>
<halpin>"py-reset"</halpin>
<text>"Reset"</text>
</button>
</pyvcp>
Now start up your config and it should look like this.
Note that in this example like in real life you must clear the remote E-Stop (simulated by the checkbox) before the AXIS E-Stop or the external Reset will put you in OFF mode. If the E-Stop in the AXIS screen was pressed you must press it again to clear it. You cannot reset from the external after you do an E-Stop in AXIS.
In this example we are using the Operate block to assign a value to the timer preset based on if an input is on or off.
In this case %I0 is true so the timer preset value is 10. If %I0 was false the timer preset would be 5.
This is a program for one type of tool turret. The turret has a home switch at tool position 1 and another switch to tell you when the turret is in a lockable position. To keep track of the actual tool number one must count how many positions past home you are. We will use ClassicLadder's counter block '$CO'.The counter is preset to 1 when RESET is true. The counter is increased by one on the rising edge of INDEX. We then 'COMPARE' the counter value (%C0.V) to the tool number we want (in the example only checks for tool 1 and 2 are shown). We also 'OPERATE' the counter value to a word variable (%W0) that (you can assume) is mapped on to a S32 out HAL pin so you can let some other HAL component know what the current tool number is. In the real world another S32 (in) pin would be used to get the requested tool number from EMC.You would have to load ClassicLadder's real time module specifying that you want S32 in and out pins. See 'loading options' above. [display turret sample]
This is a sequential program when the program is first started step one is active then when %B0 is true then steps 2 and 3 are then active and step one is inactive then when %B1 and/or %B2 are true, step 4 and/or 5 are active and step 2 and/or 3 are inactive Then when either %B3 OR %B4 are true, step 6 is true and steps 4 and 5 are inactive then when %B5 is true step 1 is active and step 6 is inactive and it all starts again As shown the sequence has been: %B0 was true making step 2 and 3 active then %B1 became true (and still is-see the pink line through %B1) making step 4 active and step 2 inactive step 3 is active and waiting for %B2 to be true step 4 is active and is waiting for %B3 to be true WOW that was quite a mouth full!! [display sequential program]
