KFLOP Servo alarm sensing

Just for some background I am retrofitting a Tree Journeyman 325 Mill.
So far most of the project is going better then expected. I am using AASD-30A 1.5KW servos and a Lepond 7.5 KW VFD to drive the original Fanuc spindle Motor.
The machine runs good and I can easily get rapids in 400IPM range.

There are two safety issues I am having:

1. When I shut down the computer after initializing, the servos stay enabled. I need them to disable once the software is shut down.

2. I need the control to sense if one of the drives has a fault output that goes low and stop all motion.

I changed the setting in the main program to Setbit (48) to enable the drives during INIT.

I am using bits 1050-1053 on a Konnect to monitor the servo ready signals from the drives.

I have scoured the documentation and cannot seam to find a solution is there something I am missing?

To follow up on this post. I did get the system to monitor the servo ready signals and shut it down if it detected a low signal. I just used a simple IF, ELSE command to monitor the input bits and Disable the appropriate axis.
I'm still trying to find a way to disable the servos if the PC freezes or is shutdown.

Hi Crasher,

See the WatchdogStatusRequests.c example.

HTH

Code:

---

#include "KMotionDef.h"

void ServiceWatchdogStatus(void);
void WatchdogTripped(void);
void WatchdogOK(void);

#define WATCHDOG_DELAY 5.0 // seconds after host stops to Trigger

// for testing
main()
{
    for (;;)
    {
        WaitNextTimeSlice();
        ServiceWatchdogStatus();
    }
}


// Watchdog Trips after all host applications stop requesting status
// Watchdog OK is called when communication and status requests Resume

void ServiceWatchdogStatus(void)
{
    static int Alive=FALSE;
    static int PrevStatusRequestCounter=-1;
    static double WatchdogTime=0;
    double T=Time_sec();
   
    // check if Host is requesting Status
    if (StatusRequestCounter != PrevStatusRequestCounter)
    {
        // yes, save time
        WatchdogTime = T + WATCHDOG_DELAY;
        PrevStatusRequestCounter=StatusRequestCounter;
        if (!Alive) WatchdogOK();
        Alive=TRUE;
    }
    else
    {
        if (T > WatchdogTime)  // time to trigger?
        {
            if (Alive) WatchdogTripped();
            Alive=FALSE;
        }
    }
}

void WatchdogOK(void)
{
    ClearBit(47);  // KFLOP LED off
    Delay_sec(1);
    SetBit(47);
    Delay_sec(1);
}

void WatchdogTripped(void)
{       
    ClearBit(46);  // KFLOP LED off
    Delay_sec(1);
    SetBit(46);
    Delay_sec(1);
}

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