motion/ecmc_plugin_safety
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2024-02-16 15:31:13 +01:00
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@@ -11,8 +11,8 @@ This plugin is designed for interfacing safety systems to ecmc motion axes.
TODO!!
# SS1
The plugin supports stopping axes accoring to a concept described as SS1. In SS1 the STO (or removal of power) from the axes are delayed for a certain time alowwing a controlled rampdown. This allows moving axes to ramp down and disable before the power to the axis is interrupted. This will result in less harware failures and less error messages in the system.
Basically the safey system is interfaced with binary signals (ethercat I/O). If, for instance, an emergency stop button is pressed the safety system imiedietlly commands to rampdown velocity of axes (that a configured to stop). When all axes, that are configured to rampdown, have stopped then this plugin will disable the axes and set an ethercat output telling the safety system that the axes are standstill. After a certain timout the safety system will make sure power is removed from the motion axes by STO or removing power.
The plugin supports stopping axes accoring to a concept described as SS1. In SS1 the STO (or removal of power) from the axes are delayed for a certain time allowing a controlled rampdown. This makes it possible to stop moving axes in a controlled way and disable of drives before the power is interrupted (or STO triggered). This will result in a safer system and less harware failures and error messages.
Basically the safey system is interfaced with binary signals (ethercat I/O). If, for instance, an emergency stop button is pressed the safety system immediately commands this plugin to rampdown velocity of axes (that a configured to stop). When all axes, that are configured to rampdown, have stopped then this plugin will disable the axes and set an ethercat output informing the safety system that the axes are standstill. After a certain timout the safety system will make sure power is removed from the motion axes by STO or removing power. The removal of power to triggering of STO will made regardless if the axes are stanmding still or not. A reset of the safety system will only be possible once teh safetry system gets a confirmation that all axes are at rest.
The configuration is made by two commands:
1. ecmcAddSS1SafetyGroup()