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:
- •
-
fault-in is false
- •
-
ok-in is true
- •
-
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:
- •
-
fault-in is true
- •
-
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
John Kasunich
GPL