[ltran2000]

Hi Tom
Please help me add "cyclestart and estop" external button to this init, I tried to copy from
"external botton" file to this init without any success, Thanks

[TomKerekes]

Hi Itran2000,

Looks like you are expecting an External FeedHold button wired to KSTEP Opto input #0 which maps to Virtual IO 48. Does that work? Does the IO 48 change on the digital IO Screen when you push the button? Where are the other buttons wired to?

Regards

[ltran2000]

Hi Tom
All wired to Kstep Jp33 , Feedhold to: pin9 (168), cyclestart to pin10(169), estop to pin11(170) they change state on the digital IO Screen
when I press a button, I just need script(code) add to the init, that's all I need, sorry I don't know anything about C language,
feed hold work ok when I change to 168.Thanks for your help.

[TomKerekes]

Hi Itran2000,

Try this (you will need to be using one of the later Test Versions V4.31o):

#include "KMotionDef.h"
#define TMP 10 // which spare persist to use to transfer data
#include "KflopToKMotionCNCFunctions.c"

// Defines axis 0, 1, 2 as simple step dir TTL outputs for KSTEP
// enables them
// sets them as an xyz coordinate system for GCode
// supports external buttons

int flast=0,flastsolid=-1,fcount=0;  // for debouncing feedhold pushbutton
int clast=0,clastsolid=-1,ccount=0;  // for debouncing cycle start pushbutton
int elast=0,elastsolid=-1,ecount=0;  // for debouncing estop pushbutton

int Debounce(int n, int *cnt, int *last, int *lastsolid);

#define FEEDHOLDBIT 168  	// set to the external feedhold input bit
#define CYCLESTARTBIT 169  	// set to the external cycle start input bit
#define ESTOP 170  			// set to the external estop input bit


int main() 
{
	double T0, LastX=0, LastY=0, LastZ=0, Tau;
	int result;

	KStepPresent=TRUE;      // enable KSTEP input multiplexing
	FPGA(KAN_TRIG_REG)=4;  	// Mux PWM0 to JP7 Pin5 IO 44 for KSTEP 

	FPGA(STEP_PULSE_LENGTH_ADD) = 63 + 0x80;  // set polarity and pulse length to 4us


	SetBitDirection(0,1); //set as output

	SetBit(0); // turn output on

	ClearBit(0); // turn output off

	Delay_sec(2);  // wait a while 


	ch0->InputMode=NO_INPUT_MODE;
	ch0->OutputMode=STEP_DIR_MODE;
	ch0->Vel=20000;
	ch0->Accel=60000;
	ch0->Jerk=4e+006;
	ch0->P=0;
	ch0->I=0.01;
	ch0->D=0;
	ch0->FFAccel=0;
	ch0->FFVel=0;
	ch0->MaxI=200;
	ch0->MaxErr=1e+006;
	ch0->MaxOutput=200;
	ch0->DeadBandGain=1;
	ch0->DeadBandRange=0;
	ch0->InputChan0=0;
	ch0->InputChan1=0;
	ch0->OutputChan0=8;
	ch0->OutputChan1=0;
	ch0->MasterAxis=-1;

	ch0->LimitSwitchOptions=0xa8a80013;
	ch0->InputGain0=1;
	ch0->InputGain1=1;
	ch0->InputOffset0=0;
	ch0->InputOffset1=0;
	ch0->OutputGain=1;
	ch0->OutputOffset=0;
	ch0->SlaveGain=-1;
	ch0->BacklashMode=BACKLASH_OFF;
	ch0->BacklashAmount=0;
	ch0->BacklashRate=0;
	ch0->invDistPerCycle=1;
	ch0->Lead=0;
	ch0->MaxFollowingError=1000000000;
	ch0->StepperAmplitude=20;

	ch0->iir[0].B0=1;
	ch0->iir[0].B1=0;
	ch0->iir[0].B2=0;
	ch0->iir[0].A1=0;
	ch0->iir[0].A2=0;

	ch0->iir[1].B0=1;
	ch0->iir[1].B1=0;
	ch0->iir[1].B2=0;
	ch0->iir[1].A1=0;
	ch0->iir[1].A2=0;

	ch0->iir[2].B0=0.000769;
	ch0->iir[2].B1=0.001538;
	ch0->iir[2].B2=0.000769;
	ch0->iir[2].A1=1.92076;
	ch0->iir[2].A2=-0.923833;
	EnableAxisDest(0,0);

	ch1->InputMode=NO_INPUT_MODE;
	ch1->OutputMode=STEP_DIR_MODE;
	ch1->Vel=20000;
	ch1->Accel=60000;
	ch1->Jerk=4e+006;
	ch1->P=0;
	ch1->I=0.01;
	ch1->D=0;
	ch1->FFAccel=0;
	ch1->FFVel=0;
	ch1->MaxI=200;
	ch1->MaxErr=1e+006;
	ch1->MaxOutput=200;
	ch1->DeadBandGain=1;
	ch1->DeadBandRange=0;
	ch1->InputChan0=0;
	ch1->InputChan1=0;
	ch1->OutputChan0=9;
	ch1->OutputChan1=0;
	ch1->MasterAxis=-1;
	ch1->LimitSwitchOptions=0xa9a90013;
	ch1->InputGain0=1;
	ch1->InputGain1=1;
	ch1->InputOffset0=0;
	ch1->InputOffset1=0;
	ch1->OutputGain=-1;
	ch1->OutputOffset=0;
	ch1->SlaveGain=1;
	ch1->BacklashMode=BACKLASH_OFF;
	ch1->BacklashAmount=0;
	ch1->BacklashRate=0;
	ch1->invDistPerCycle=1;
	ch1->Lead=0;
	ch1->MaxFollowingError=1000000000;
	ch1->StepperAmplitude=20;

	ch1->iir[0].B0=1;
	ch1->iir[0].B1=0;
	ch1->iir[0].B2=0;
	ch1->iir[0].A1=0;
	ch1->iir[0].A2=0;

	ch1->iir[1].B0=1;
	ch1->iir[1].B1=0;
	ch1->iir[1].B2=0;
	ch1->iir[1].A1=0;
	ch1->iir[1].A2=0;

	ch1->iir[2].B0=0.000769;
	ch1->iir[2].B1=0.001538;
	ch1->iir[2].B2=0.000769;
	ch1->iir[2].A1=1.92076;
	ch1->iir[2].A2=-0.923833;
	EnableAxisDest(1,0);

	ch2->InputMode=NO_INPUT_MODE;
	ch2->OutputMode=STEP_DIR_MODE;
	ch2->Vel=20000;
	ch2->Accel=10000;
	ch2->Jerk=4e+006;
	ch2->P=0;
	ch2->I=0.01;
	ch2->D=0;
	ch2->FFAccel=0;
	ch2->FFVel=0;
	ch2->MaxI=200;
	ch2->MaxErr=1e+006;
	ch2->MaxOutput=200;
	ch2->DeadBandGain=1;
	ch2->DeadBandRange=0;
	ch2->InputChan0=0;
	ch2->InputChan1=0;
	ch2->OutputChan0=10;
	ch2->OutputChan1=0;
	ch2->MasterAxis=-1;
	ch2->LimitSwitchOptions=0xaaaa0013;

	ch2->InputGain0=1;
	ch2->InputGain1=1;
	ch2->InputOffset0=0;
	ch2->InputOffset1=0;
	ch2->OutputGain=-1;
	ch2->OutputOffset=0;
	ch2->SlaveGain=1;
	ch2->BacklashMode=BACKLASH_OFF;
	ch2->BacklashAmount=0;
	ch2->BacklashRate=0;
	ch2->invDistPerCycle=1;
	ch2->Lead=0;
	ch2->MaxFollowingError=1000000000;
	ch2->StepperAmplitude=20;

	ch2->iir[0].B0=1;
	ch2->iir[0].B1=0;
	ch2->iir[0].B2=0;
	ch2->iir[0].A1=0;
	ch2->iir[0].A2=0;

	ch2->iir[1].B0=1;
	ch2->iir[1].B1=0;
	ch2->iir[1].B2=0;
	ch2->iir[1].A1=0;
	ch2->iir[1].A2=0;

	ch2->iir[2].B0=1;
	ch2->iir[2].B1=0;
	ch2->iir[2].B2=0;
	ch2->iir[2].A1=0;
	ch2->iir[2].A2=0;
	EnableAxisDest(2,0);


	ch3->InputMode=ENCODER_MODE;
	ch3->OutputMode=STEP_DIR_MODE;
	ch3->Vel=20000;
	ch3->Accel=60000;
	ch3->Jerk=4e+006;
	ch3->P=0;
	ch3->I=0.01;
	ch3->D=0;
	ch3->FFAccel=0;
	ch3->FFVel=0;
	ch3->MaxI=200;
	ch3->MaxErr=1e+006;
	ch3->MaxOutput=200;
	ch3->DeadBandGain=1;
	ch3->DeadBandRange=0;
	ch3->InputChan0=3;
	ch3->InputChan1=0;
	ch3->OutputChan0=11;
	ch3->OutputChan1=0;
	ch3->MasterAxis=0;
	ch3->LimitSwitchOptions=0xabab0010;
	ch3->InputGain0=1;
	ch3->InputGain1=1;
	ch3->InputOffset0=0;
	ch3->InputOffset1=0;
	ch3->OutputGain=1;
	ch3->OutputOffset=0;
	ch3->SlaveGain=-1;
	ch3->BacklashMode=BACKLASH_OFF;
	ch3->BacklashAmount=0;
	ch3->BacklashRate=0;
	ch3->invDistPerCycle=1;
	ch3->Lead=0;
	ch3->MaxFollowingError=1000000000;
	ch3->StepperAmplitude=20;

	ch3->iir[0].B0=1;
	ch3->iir[0].B1=0;
	ch3->iir[0].B2=0;
	ch3->iir[0].A1=0;
	ch3->iir[0].A2=0;

	ch3->iir[1].B0=1;
	ch3->iir[1].B1=0;
	ch3->iir[1].B2=0;
	ch3->iir[1].A1=0;
	ch3->iir[1].A2=0;

	ch3->iir[2].B0=0.000769;
	ch3->iir[2].B1=0.001538;
	ch3->iir[2].B2=0.000769;
	ch3->iir[2].A1=1.92081;
	ch3->iir[2].A2=-0.923885;

	EnableAxisDest(3,0);

	DefineCoordSystem(0,1,2,-1);

	SetBitDirection(45,1);  // set Enable Signal as Output
	SetBit(45);				// Enable the amplifiers

	//  Add a small amount of Coordinated Motion Path smoothing if desired
	//	Tau = 0.001;  // seconds for Low Pass Filter Time Constant
	//	KLP = exp(-TIMEBASE/Tau);
	KLP=0; // force to 0 to disable
	//	printf("Tau=%f KLP=%f\n",Tau,KLP);

	for (;;) // loop forever
	{
		WaitNextTimeSlice();

		if (Debounce(ReadBit(FEEDHOLDBIT),&fcount,&flast,&flastsolid) == 1)
		{
			// one push does feedhold, next will resume
			if (CS0_StoppingState == 0)
			{
				StopCoordinatedMotion();
				printf("Feed Hold on\n");
			}
			else
			{
				ResumeCoordinatedMotion();
				printf("Feed Hold off\n");
			}
		}

		// Handle Cycle Start
		result = Debounce(ReadBit(CYCLESTARTBIT),&ccount,&clast,&clastsolid);
		if  (result == 1)
		{
			DoPC(PC_COMM_EXECUTE);
		}

		// Handle ESTOP
		result = Debounce(ReadBit(ESTOP),&ecount,&elast,&elastsolid);
		if  (result == 1)
		{
			DoPC(PC_COMM_ESTOP);
		}
	}
	return 0;
}


// Debounce a bit
//
// return 1 one time when first debounced high 
// return 0 one time when first debounced low 
// return -1 otherwise 
#define DBTIME 300

int Debounce(int n, int *cnt, int *last, int *lastsolid)
{
	int v = -1;

	if (n == *last)  // same as last time?
	{
		if (*cnt == DBTIME-1)
		{
			if (n != *lastsolid)
			{
				v = *lastsolid = n;  // return debounced value
			}
		}
		if (*cnt < DBTIME)	(*cnt)++;
	}
	else
	{
		*cnt = 0;  // reset count
	}
	*last = n;
	return v;
}

Regards

[ltran2000]

Hi Tom
I get this error using new init " InitKStep3Axis_LT_V3.txt", I change it to " InitKStep3Axis_LT_V3.c", I am using 4.31o
I don't get this error using the old init.

[TomKerekes]

Hi Itran2000

The c program is including another c file that was expected to be in the same directory. If your program is in the KSTEP subdirectory and the other file is in the parent directory you can tell the C Compiler to go up one directory to find it by changing:

#include "KflopToKMotionCNCFunctions.c"

to

#include "..\KflopToKMotionCNCFunctions.c"

Otherwise you can just copy the file to the same directory.

Regards

[ltran2000]

Hi Tom,
All work as expected, no more error, all button work, Thanks for all your help.
Ltran2000

[ltran2000]

Hi Tom
I have a small problem with the Init above ( InitKStep3Axis_LT_V3.txt)
-when I set kmotioncnc M3 to " I/O setbit o to 1" all button working ok.
- when I set to "exec/wait Thread 1 var o" 2 out 3 button (estop & feedhold)no longer work, my exec/wait
script is:
#include "KMotionDef.h"

int main()
{
SetBit(0); // turn output on
Delay_sec(2.0);

return 0;
}
This wait script work ok before adding new external buttons, Please help , Thanks
Ltran2000

[TomKerekes]

Hi Ltran2000,

Use a different Thread (like #2) for your M3 program. The rule is that if two programs ever run at the same time they must run in different Threads. Your "Init" program runs in Thread #1 forever watching the button inputs. If you run a different program in Thread #1 it will kill your "Init" program. See here for more info.



Regards

[ltran2000]

Thanks for your explanation, all buttons work now, thanks again