[Emc-commit] v2.4_branch: Improves system behavior by pausing the program when a guard is opened during a program. When the door is closed the spindle will restart, but the operator will have to manually resume axis motion. This gives the spindle time to reach the programmed speed and improves operator safety.

[Matt S. <gi...@gi...>]

Improves system behavior by pausing the program when a guard is opened during a program. When the door is closed the spindle will restart, but the operator will have to manually resume axis motion. This gives the spindle time to reach the programmed speed and improves operator safety.



http://git.linuxcnc.org/?p=emc2.git;a=commitdiff;h=44780f5

---
 configs/smithy/1240.hal               |    2 +-
 configs/smithy/1240_4axis.hal         |    2 +-
 configs/smithy/1240gecko.hal          |    4 ++--
 configs/smithy/516gecko.hal           |    4 ++--
 configs/smithy/622.hal                |    2 +-
 configs/smithy/622_4axis.hal          |    2 +-
 configs/smithy/622gecko.hal           |    4 ++--
 configs/smithy/622keyence.hal         |    2 +-
 configs/smithy/622leadshine.hal       |    2 +-
 configs/smithy/622leadshine_4axis.hal |    2 +-
 configs/smithy/924.hal                |   13 ++++++++++---
 configs/smithy/README                 |    2 ++
 12 files changed, 25 insertions(+), 16 deletions(-)

diff --git a/configs/smithy/1240.hal b/configs/smithy/1240.hal
index 5937b67..dcea196 100644
--- a/configs/smithy/1240.hal
+++ b/configs/smithy/1240.hal
@@ -136,7 +136,7 @@ net ACOK hm2_5i20.0.gpio.035.in_not
 net VFDOK hm2_5i20.0.gpio.031.in_not
 #net Ahome hm2_5i20.0.gpio.031.in axis.3.home-sw-in
 # Spindle Contactor - False when spindle contactor is energized
-net SOFF hm2_5i20.0.gpio.033.in motion.feed-hold
+net SOFF hm2_5i20.0.gpio.033.in halui.program.pause motion.feed-hold
 
 # Axis Drive Status Signals
 # True when YAKO stepper drive is on a full step position
diff --git a/configs/smithy/1240_4axis.hal b/configs/smithy/1240_4axis.hal
index b107449..fa17b0b 100644
--- a/configs/smithy/1240_4axis.hal
+++ b/configs/smithy/1240_4axis.hal
@@ -133,7 +133,7 @@ net ACOK hm2_5i20.0.gpio.035.in_not
 # VFD Fault Relay - True when VFD is not faulted
 net VFDOK hm2_5i20.0.gpio.031.in_not
 # Spindle Contactor - False when spindle contactor is energized
-net SOFF hm2_5i20.0.gpio.033.in motion.feed-hold
+net SOFF hm2_5i20.0.gpio.033.in halui.program.pause motion.feed-hold
 
 # Axis Drive Status Signals
 # True when YAKO stepper drive is on a full step position
diff --git a/configs/smithy/1240gecko.hal b/configs/smithy/1240gecko.hal
index 892bbf8..ff5d6f5 100644
--- a/configs/smithy/1240gecko.hal
+++ b/configs/smithy/1240gecko.hal
@@ -50,9 +50,9 @@ net charge-pump parport.0.pin-17-out charge-pump.out
 net estop-in parport.0.pin-10-in-not iocontrol.0.emc-enable-in
 net estop-out charge-pump.enable halui.machine.is-on
 #PMDX-110
-net run parport.0.pin-11-in-not motion.feed-hold
+net run parport.0.pin-11-in-not halui.program.pause motion.feed-hold
 #PMDX-131
-#net run parport.0.pin-11-in motion.feed-hold
+#net run parport.0.pin-11-in halui.program.pause motion.feed-hold
 net all-home parport.0.pin-12-in-not
 
 setp stepgen.0.position-scale [AXIS_0]SCALE
diff --git a/configs/smithy/516gecko.hal b/configs/smithy/516gecko.hal
index f39a94a..f227f3b 100644
--- a/configs/smithy/516gecko.hal
+++ b/configs/smithy/516gecko.hal
@@ -56,9 +56,9 @@ net charge-pump parport.0.pin-17-out charge-pump.out
 net estop-in parport.0.pin-10-in-not iocontrol.0.emc-enable-in
 net estop-out charge-pump.enable halui.machine.is-on
 #PMDX-110
-net run parport.0.pin-11-in-not motion.feed-hold
+net run parport.0.pin-11-in-not halui.program.pause motion.feed-hold
 #PMDX-131
-#net run parport.0.pin-11-in motion.feed-hold
+#net run parport.0.pin-11-in halui.program.pause motion.feed-hold
 #normally closed switches (late production)
 net all-home parport.0.pin-12-in
 #normally open switches (early production)
diff --git a/configs/smithy/622.hal b/configs/smithy/622.hal
index 9d953db..3172c3e 100644
--- a/configs/smithy/622.hal
+++ b/configs/smithy/622.hal
@@ -136,7 +136,7 @@ net ACOK hm2_5i20.0.gpio.035.in_not
 #net VFDOK hm2_5i20.0.gpio.031.in_not
 #net Ahome hm2_5i20.0.gpio.031.in axis.3.home-sw-in
 # Spindle Contactor - False when spindle contactor is energized
-net SOFF hm2_5i20.0.gpio.033.in motion.feed-hold
+net SOFF hm2_5i20.0.gpio.033.in halui.program.pause motion.feed-hold
 
 # Axis Drive Status Signals
 # True when YAKO stepper drive is on a full step position
diff --git a/configs/smithy/622_4axis.hal b/configs/smithy/622_4axis.hal
index 236b839..eb54faf 100644
--- a/configs/smithy/622_4axis.hal
+++ b/configs/smithy/622_4axis.hal
@@ -136,7 +136,7 @@ net ACOK hm2_5i20.0.gpio.035.in_not
 #net VFDOK hm2_5i20.0.gpio.031.in_not
 net Ahome hm2_5i20.0.gpio.031.in axis.3.home-sw-in
 # Spindle Contactor - False when spindle contactor is energized
-net SOFF hm2_5i20.0.gpio.033.in motion.feed-hold
+net SOFF hm2_5i20.0.gpio.033.in halui.program.pause motion.feed-hold
 
 # Axis Drive Status Signals
 # True when YAKO stepper drive is on a full step position
diff --git a/configs/smithy/622gecko.hal b/configs/smithy/622gecko.hal
index fecc884..97db686 100644
--- a/configs/smithy/622gecko.hal
+++ b/configs/smithy/622gecko.hal
@@ -56,9 +56,9 @@ net charge-pump parport.0.pin-17-out charge-pump.out
 net estop-in parport.0.pin-10-in-not iocontrol.0.emc-enable-in
 net estop-out charge-pump.enable halui.machine.is-on
 #PMDX-110
-net run parport.0.pin-11-in-not motion.feed-hold
+net run parport.0.pin-11-in-not halui.program.pause motion.feed-hold
 #PMDX-131
-#net run parport.0.pin-11-in motion.feed-hold
+#net run parport.0.pin-11-in halui.program.pause motion.feed-hold
 #normally closed switches (late production)
 net all-home parport.0.pin-12-in
 #normally open switches (early production)
diff --git a/configs/smithy/622keyence.hal b/configs/smithy/622keyence.hal
index cb6fa5a..285604f 100644
--- a/configs/smithy/622keyence.hal
+++ b/configs/smithy/622keyence.hal
@@ -133,7 +133,7 @@ net ACOK hm2_5i20.0.gpio.035.in_not
 # VFD Fault Relay - True when VFD is not faulted
 net VFDOK hm2_5i20.0.gpio.031.in_not
 # Spindle Contactor - False when spindle contactor is energized
-net SOFF hm2_5i20.0.gpio.033.in motion.feed-hold
+net SOFF hm2_5i20.0.gpio.033.in halui.program.pause motion.feed-hold
 
 # Axis Drive Status Signals
 # True when YAKO stepper drive is on a full step position
diff --git a/configs/smithy/622leadshine.hal b/configs/smithy/622leadshine.hal
index 6adfa69..531e78a 100644
--- a/configs/smithy/622leadshine.hal
+++ b/configs/smithy/622leadshine.hal
@@ -136,7 +136,7 @@ net ACOK hm2_5i20.0.gpio.035.in_not
 #net VFDOK hm2_5i20.0.gpio.031.in_not
 #net Ahome hm2_5i20.0.gpio.031.in axis.3.home-sw-in
 # Spindle Contactor - False when spindle contactor is energized
-net SOFF hm2_5i20.0.gpio.033.in motion.feed-hold
+net SOFF hm2_5i20.0.gpio.033.in halui.program.pause motion.feed-hold
 
 # Axis Drive Status Signals
 # True when YAKO stepper drive is on a full step position
diff --git a/configs/smithy/622leadshine_4axis.hal b/configs/smithy/622leadshine_4axis.hal
index e267d5a..b0b1641 100644
--- a/configs/smithy/622leadshine_4axis.hal
+++ b/configs/smithy/622leadshine_4axis.hal
@@ -137,7 +137,7 @@ net ACOK hm2_5i20.0.gpio.035.in_not
 #net VFDOK hm2_5i20.0.gpio.031.in_not
 net Ahome hm2_5i20.0.gpio.031.in axis.3.home-sw-in
 # Spindle Contactor - False when spindle contactor is energized
-net SOFF hm2_5i20.0.gpio.033.in motion.feed-hold
+net SOFF hm2_5i20.0.gpio.033.in halui.program.pause motion.feed-hold
 
 # Axis Drive Status Signals
 # True when YAKO stepper drive is on a full step position
diff --git a/configs/smithy/924.hal b/configs/smithy/924.hal
index 3b344e7..88c57e8 100644
--- a/configs/smithy/924.hal
+++ b/configs/smithy/924.hal
@@ -1,6 +1,6 @@
 # 5i20 config file for Smithy 924 Lathe
 
-# load the hostmot2 driver, this doesnt do anything by itself,
+# load the hostmot2 driver, this doesn't do anything by itself,
 # it just waits for low-level drivers to register boards
 loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
 
@@ -38,8 +38,13 @@ setp hm2_5i20.0.encoder.00.scale 4096
 net Spos hm2_5i20.0.encoder.00.position motion.spindle-revs
 net Sidx hm2_5i20.0.encoder.00.index-enable => motion.spindle-index-enable
 
-#configure the spindle speed
-net scmd motion.spindle-speed-out hm2_5i20.0.pwmgen.00.value
+#configure the spindle speed lowpass filter & PWM generator
+net Scmd motion.spindle-speed-out => lowpass.0.in
+net Sflt lowpass.0.out => hm2_5i20.0.pwmgen.00.value
+#early production machines
+setp lowpass.0.gain 0.0001
+#later production machines
+#setp lowpass.0.gain 1.0
 setp hm2_5i20.0.pwmgen.00.scale 3000
 setp hm2_5i20.0.pwmgen.00.output-type 1
 setp hm2_5i20.0.pwmgen.pwm_frequency 100
@@ -161,6 +166,8 @@ addf motion-command-handler servo-thread
 addf motion-controller servo-thread
 # refresh classicladder
 addf classicladder.0.refresh servo-thread
+# run the spindle speed lowpass filter
+addf lowpass.0  servo-thread
 # write outputs
 addf hm2_5i20.0.write servo-thread
 addf hm2_5i20.0.write_gpio servo-thread
diff --git a/configs/smithy/README b/configs/smithy/README
index 4b28a45..695b25c 100644
--- a/configs/smithy/README
+++ b/configs/smithy/README
@@ -18,6 +18,8 @@ These configurations are for the following Smithy machines:
 
 622gecko - Mill equipped with Gecko G201 axis drives, Sieg variable speed brushless DC spindle, and controlled by signals from a PC parallel port.
 
+622keyence - Mill equipped with Leadshine MD2278 axis drives, Sieg variable speed brushless DC spindle, Keyence digital contact sensor, chip vacuum and controlled by signals from a Mesa 5i20 FPGA card.
+
 622leadshine - Mill equipped with Leadshine MD2278 axis drives, Sieg variable speed brushless DC spindle, and controlled by signals from a Mesa 5i20 FPGA card.
 
 924 - Lathe equipped with YAKO Automation axis drives, Sieg variable speed brushless DC spindle, programable power tool post, and controlled by signals from a Mesa 5i20 FPGA card.