I wanna use E-Stop (B0 Interrupt)

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Dear Master.

I just finished StepMoter running program.

But I wanna Use E-Stop at B0...

I don't know how to use E-stop

When I push E-Stop Button than everything stop.

If turning motor also stop....

Please check my code....

Thank you~!


void reset()
{
E0 = ON;
E1 = ON;
delay_ms(1000);
E2 = ON;
}

#INT_EXT
ext_isr()
{
reset();
}



Full Code

#include <16F874.h>
#use delay(clock=4000000)
#fuses HS,NOWDT
// #use rs232(baud=9600,parity=N,xmit=P E2,rcv=P E1)
#zero_ram

#byte porta = 0x05
#byte portb = 0x06
#byte portc = 0x07
#byte portd = 0x08
#byte porte = 0x09

#bit A0 = porta.0 // IN 체결 회전 위치
#bit A1 = porta.1 // IN Tray 위치
#bit A2 = porta.2 // IN Tray 0점
#bit A3 = porta.3 // IN 체결 하강 위치
#bit A4 = porta.4 // IN Alram_tray
#bit A5 = porta.5 // IN Alram_cpruf

#bit B0 = portb.0 // IN 비상정지
#bit B1 = portb.1 // IN 체결동작 Start
#bit B2 = portb.2 // IN Tray Move
#bit B3 = portb.3 // IN O점 이동
#bit B4 = portb.4 //
#bit B5 = portb.5 //
#bit B6 = portb.6 //
#bit B7 = portb.7 //

#bit C0 = portc.0 //
#bit C1 = portc.1 //
#bit C2 = portc.2 //
#bit C3 = portc.3 //
#bit C4 = portc.4 //
#bit C5 = portc.5 //
#bit C6 = portc.6 //
#bit C7 = portc.7 //

#bit D0 = portd.0 //
#bit D1 = portd.1 //
#bit D2 = portd.2 //
#bit D3 = portd.3 //
#bit D4 = portd.4 // OUT tray_cw
#bit D5 = portd.5 // OUT tray_ccw
#bit D6 = portd.6 // OUT cpruf_cw
#bit D7 = portd.7 // OUT cpruf_ccw

#bit E0 = porte.0 // OUT Reset_cpruf
#bit E1 = porte.1 // OUT Reset_Tray
#bit E2 = porte.2 // OUT Ready

#define ON 1
#define OFF 0
#define ON_NPN 1
#define OFF_NPN 0

int Speed_CW, Speed_CCW, Speed_Home, Speed_Tray;
int16 i, j;

void reset()
{
E0 = ON;
E1 = ON;
delay_ms(1000);
E2 = ON;
}

#INT_EXT
ext_isr()
{
reset();
}



void Move_Home()
{
E2 = OFF;

while(A0 != ON_NPN) // 체결 센서 입력이 않될때 까지 이동
{
D7 = ON;
delay_us(speed_home);
D7 = OFF;
delay_us(speed_home);
}
while(A0 != OFF_NPN) // 센서 입력이 될때 까지 이동
{
D6 = ON;
delay_us(speed_home);
D6 = OFF;
delay_us(speed_home);
}

while(A1 != ON_NPN) // 센서 입력이 않될때 까지 이동
{
D5 = ON;
delay_us(speed_home);
D5 = OFF;
delay_us(speed_home);
}
while(A1 != OFF_NPN) // 센서 입력이 될때 까지 이동
{
D4 = ON;
delay_us(speed_home);
D4 = OFF;
delay_us(speed_home);
}
E2 = ON;
}

void cpruf()
{
E2 = OFF;

for(j=0; j<=1600; j++)
{
D6 = ON;
delay_us(speed_ccw);
D6 = OFF;
delay_us(speed_ccw);
}

while(A3 != ON) // 하강 리미트 입력시까지
{
D7 = ON;
delay_us(speed_cw);
D7 = OFF;
delay_us(speed_cw);
}

for(i=0; i <= 1600; i++)
{
D6 = ON;
delay_us(speed_ccw);
D6 = OFF;
delay_us(speed_ccw);
}

E2 = ON;
}

void move_tray()
{
E2 = OFF;

while(A2 != ON_NPN) // 센서가 감지 안 될때까지 이동
{
D4 = ON;
delay_us(speed_tray);
D4 = OFF;
delay_us(speed_tray);
}
while(A2 != OFF_NPN) // 센서가 감지 될때까지 이동
{
D4 = ON;
delay_us(speed_tray);
D4 = OFF;
delay_us(speed_tray);
}

E2 = ON;
}

void main()
{

setup_adc_ports(NO_ANALOGS);
ext_int_edge(0,L_TO_H);
enable_interrupts(int_ext);
enable_interrupts(global);

set_tris_a(0xFF); // IN
set_tris_b(0xFF); // IN
set_tris_c(0xFF); // IN
set_tris_d(0x00); // OUT
set_tris_e(0x00); // OUT

output_d(0x00);
output_e(0x00);

speed_home = 255;
speed_cw = 200;
speed_ccw = 100;
speed_tray = 100;

Move_Home();

while(1)
{
E2 = ON;
if(B0 == ON) reset();
else if(B1 == ON) cpruf();
else if(B2 == ON) Move_Tray();
else if(B3 == ON) Move_Home();
}
}


// main...

setup_adc_ports(NO_ANALOGS);
ext_int_edge(0,L_TO_H);
enable_interrupts(int_ext);
enable_interrupts(global);

[mkent]

Hello Nick,
I did not check your code but want to warn you to check your National Electrical Codes to see if it is legal to do an E-Stop function in software. Many countrys require E-Stop circuits to be hard wired. You must remove the power source from your motor with a relay. Good Luck, Mick

[Nick]

Thank you for your refly.

So you mean... use the power?

I think when push the E-Stop Button than EXT Interrupt...

than Output Reset to Step Motor or Servo motor...

I need like this source code.

Thank you~!

[TSchultz]

What I have always done is to have the e-stop circuitry hardwired to the motor control. I then bring a digital signal back from this circuit to the micro so it "know's" the e-stop status.

This is what most safety codes require and is not that difficult to do, and much more reliable. Remember that the micro is not a safety certified component and does not fail safe.

[Nick]

Dear all.

Thak you fo help....

I'll check code and H/W