estop_latch(9)

Usage

loadrt estop_latch [count=N|names=name1[,name2...]]

Overview

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.

Functions

estop-latch.N

Pins

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

Releases

2 releases since Debian 12 (Bookworm); the text changed 1 time.

12
13