motion/ecmc_plugin_safety
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sandst_a
2025-02-25 12:34:35 +01:00
parent 8f68bc021d
commit 261f93ed43
6 changed files with 671 additions and 139 deletions
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6
scripts/addSS1Group.cmd
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@@ -30,7 +30,11 @@
#- <ec_red_velo_cmd> : Ethercat entry input for activation of maximum velo limitation (set to "empty" to disable)
#- <time_delay_ms> : Time delay of STO [ms]
ecmcAddSS1SafetyGroup("${NAME}","${EC_RAMP_DOWN_CMD}","${EC_AXES_AT_REST_STAT}","${EC_AXES_LIM_VELO_CMD=empty}",${DELAY_MS=0})
ecmcEpicsEnvSetCalc(ECMC_PLG_SAFETY_GRP_CNT, "${ECMC_PLG_SAFETY_GRP_CNT=0}+1", "%02d")
#- Load SS1 group records
dbLoadRecords("ss1.template","P=${ECMC_PREFIX},NAME=${NAME}")
dbLoadRecords("ecmcSS1Group.template","P=${ECMC_PREFIX},NAME=${NAME},ID=${ECMC_PLG_SAFETY_GRP_CNT},COUNT=${ECMC_PLG_SAFETY_GRP_CNT}")