ESTOPStuff

[22:37] <jmkasunich> +---| A |----| B |--+--| D |---+----(C)----+
[22:37] <jmkasunich> |                   |          |           |
[22:37] <jmkasunich> |                   +--| C |---+           |

rayh tries to draw a few alternative models that seem to depend upon different signals to and from iocontrol.

I'll use E,F,G for these so as not to confuse my notion of iocontrol pins from those above.

E is an output from iocontrol to HAL.

• When emc's estop state is 1 or estopped this pin is low.
• When emc's estop state is 2 or reset this pin is high.

F is an input to iocontrol from HAL

• When this pin goes high it sets emc's estop state to estopped and forces it to stay there.
• When this pin goes low it releases the hold on estop state.

G is an input to iocontrol from HAL

• When this pin goes high it sends a estop reset status message.

Several possible ladders can be drawn from this combination. This first is a loopback like we might see in minimillio. This can easily be expanded to put a real stop solenoid outboard. That looked like crap so will insert pics in a bit.