motion/ecmc_plugin_safety
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Merge branch 'master' of git.psi.ch:epics_ioc_modules/ecmc_plugin_safety

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sandst_a
2024-02-28 12:21:37 +01:00
parent f9cf3e1fe2 68210c6e40
commit 0eb4a8032e
3 changed files with 13 additions and 4 deletions
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17
src/ecmcSS1SafetyGroup.cpp
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@@ -403,12 +403,20 @@ bool ecmcSS1SafetyGroup::checkAxesStandstill() {
// Check standstill axis
bool ecmcSS1SafetyGroup::checkAxisStandstill(safetyAxis* axis) {
double velo = 1;
int err = getAxisTrajVelo(axis->axisId_, &velo);
double traj = 1;
int err = getAxisTrajVelo(axis->axisId_, &traj);
if(err) {
return 0;
}
return std::abs(velo) <= axis->veloLimit_;
double enc = 1;
err = getAxisEncVelo(axis->axisId_, &enc);
if(err) {
return 0;
}
return std::abs(traj) <= axis->veloLimit_ && std::abs(enc) <= axis->veloLimit_;
}
// Check standstill and disable
@@ -469,7 +477,8 @@ void ecmcSS1SafetyGroup::addAxis(int axisId, double veloLimit,int standStillTime
if(cfgDbgMode_) {
printf("Safety %s: Added axis %d to safety group\n",sName_,axisId);
printf("Safety %s: Added axis %d to safety group (velo limit = %lf, standstill filter : %d)\n"
,sName_,axisId,veloLimit,standStillTimeMs);
}
return;