motion/ecmc_plugin_safety
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sandst_a
2024-02-19 16:42:20 +01:00
parent c577991a02
commit 1eb65de06d
3 changed files with 38 additions and 1 deletions
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1
GNUmakefile
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@@ -43,4 +43,5 @@ HEADERS += $(foreach d,${SRC_DIR}, $(wildcard $d/*.h))
DBDS += $(foreach d,${SRC_DIR}, $(wildcard $d/*.dbd))
SCRIPTS += $(BASE_DIR)/startup.cmd
SCRIPTS += $(BASE_DIR)/scripts/addSS1Group.cmd
SCRIPTS += $(BASE_DIR)/scripts/addAxisToGroup.cmd
TEMPLATES += $(wildcard $(DB_DIR)/*.template)

30
scripts/addAxisToGroup.cmd Normal file
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@@ -0,0 +1,30 @@
#==============================================================================
# addAxisToGroup.cmd
#-
#- !!!!!!!!!!!!! IMPORTANT !!!!!!!!!
#- This plugin has _NO_ safety rated functionalities.
#- The intended use of this plugin is only to handle interfacing with a safety PLC.
#-
#-------------- Information:
#- Description: add axis to group
#-
#- by Anders Sandström, Paul Scherrer Institute, 2023
#- email: anders.sandstroem@psi.ch
#-
#-###############################################################################
#-
#- Arguments:
#- NAME : Name of safety group
#- AX_ID : Axis ID
#- VELO_LIM : Velocity standstill limit [unit same as EGU of axis]
#-
#################################################################################
#- ecmcAddAxisToSafetyGroup(<group_name>, <axis_index>, <velo_limit>, <filter_time>)
#- <name> : Name of safety group to add axis to.
#- <Axis id> : Axis index to add (ecmc axis index).
#- <velo limit> : Axis standstill velo limit [unit of axis].
#- <filter_time> : NOT USED (for future implemenation). Time for axis to be below velo limit [ms].
ecmcAddAxisToSafetyGroup("${NAME}",${AX_ID},${VELO_LIM=0},0)

8
scripts/addSS1Group.cmd
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@@ -1,8 +1,13 @@
#==============================================================================
# addSS1Group.cmd
#-
#- !!!!!!!!!!!!! IMPORTANT !!!!!!!!!
#- This plugin has _NO_ safety rated functionalities.
#- The intended use of this plugin is only to handle interfacing with a safety PLC.
#-
#-------------- Information:
#- Description: ecmc_plugin_motion startup.cmd
#- Description: Create a SS1 motion group
#-
#- by Anders Sandström, Paul Scherrer Institute, 2023
#- email: anders.sandstroem@psi.ch
@@ -24,4 +29,5 @@
#- <time_delay_ms> : Time delay of STO [ms].
ecmcAddSS1SafetyGroup("${NAME}","${EC_RAMP_DOWN_CMD}","${EC_STANDSTILL_STAT}",${DELAY_MS=0})
#- Load SS1 group records
dbLoadRecords("ss1.template","P=${ECMC_PREFIX},NAME=${NAME}")