[rbickle]

Quick questions for the gurus...

I notice that my machine now kills threads 2 and 3, which are my MPG and SSO,DRO programs, whenever the E-stop switch is pressed. In thread 1, the program detects the pressing and releasing of the E-stop. I have code in the release of the E-stop switch that starts threads 2 and 3, but this does not seem to work. If I go into the C program tab and start them manually, then everything is fine. Its a bit of a pain to do this though, every time you hit the switch.

This wasn't happening previously. I may have made a program change that is causing it.
Any suggestions?

	// Handle ESTOP pressed
	result = Debounce(ReadBit(ESTOP),&ecount,&elast,&elastsolid);
	if  (result == 0)
	{
		printf("Emergency Stop ON\n");		
		DoPC(PC_COMM_ESTOP);
		ClearBit (DRIVE_ENABLE);
		ClearBit (SPINDLE_ENABLE);
		Estop = 1;	// Set a flag so that the release code only happens once
	}
	
	// Handle ESTOP released

	result = Debounce(ReadBit(ESTOP),&ecount2,&elast2,&elastsolid2);
	if (result == 1)
	{
		if (Estop == 1)	// Check for flag
		{
			//DoPC(PC_COMM_IDLE);
			printf("Emergency Stop OFF\n");
			Estop = 0;
			SetBit (DRIVE_ENABLE);
			EnableAxis (0);
			EnableAxis (1);
			EnableAxis (2);
			EnableAxis (4);
			StartThread(2);
			StartThread(3);
			
		}
	}

Thanks,
Rick

[TomKerekes]

Hi Rick,

Off hand I can't see why that wouldn't restart Threads 2 and 3 if it is being called. Does the message print?

btw A single Debounce of ESTOP can be used to indicate pressed and released.

I think a better approach would be to eliminate the need for Threads 2 and 3 altogether by handling everything in a forever loop in your Init Progam in Thread #1

Regards

[rbickle]

Hi Rick,

Off hand I can't see why that wouldn't restart Threads 2 and 3 if it is being called. Does the message print?

btw A single Debounce of ESTOP can be used to indicate pressed and released.

I think a better approach would be to eliminate the need for Threads 2 and 3 altogether by handling everything in a forever loop in your Init Progam in Thread #1

Regards

Yes, the message prints to the console when the Estop is pressed and released.
I also noticed when I cut and pasted the code that I could have simplified.

I'll see what I can do to combine the programs.

Thanks,
Rick