estop_latch − Software ESTOP latch
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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:
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fault-in is false |
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ok-in is true |
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reset changes from false to 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:
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fault-in is true |
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ok-in is false |
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.
estop-latch.N
estop-latch.N.ok-in
bit in (default: true)
estop-latch.N.fault-in bit in (default:
false)
estop-latch.N.reset bit in
estop-latch.N.ok-out bit out (default:
false)
estop-latch.N.fault-out bit out (default:
true)
estop-latch.N.watchdog bit out
GPL