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
2024-02-19 09:00:09 +01:00
parent f931aa94dc 7404f7206c
commit 2a93e3b585
2 changed files with 13 additions and 9 deletions
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14
README.md
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@@ -8,7 +8,11 @@ This plugin is designed for interfacing safety systems to ecmc motion axes.
# Loading of plugin
TODO!!
Loading of the plugin is made by require:
```
# Load safety plugin
require ecmc_plugin_safety <optional_version>
```
# 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 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.
@@ -49,9 +53,13 @@ Note: The plugin checks the trajectory generated velocity setpoint and not the a
# Example of startup script:
```
Plugin needs to be loaded..
# Load safety plugin
require ecmc_plugin_safety sandst_a
ecmcAddSS1SafetyGroup("first","ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.binaryInput01.0","ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.binaryOutput01.1",500)
# Create Group
ecmcAddSS1SafetyGroup("first","ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.0","ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.1",500)
# Add axes to group
ecmcAddAxisToSafetyGroup("first",1,1,0)
ecmcAddAxisToSafetyGroup("first",2,10,0)
ecmcAddAxisToSafetyGroup("first",3,0,0)

8
startup.cmd
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@@ -10,21 +10,17 @@
#-###############################################################################
#-
#- Arguments
#- [mandatory]
#- PLUGIN_ID : Plugin instansiation index, must be unique for each call
#-
#################################################################################
#- Print discalimer
#
# IMPORTANT!!!
# !!!!!!!!!!!!! IMPORTANT !!!!!!!!!
# This plugin has _NO_ safety rated functionalities.
# The intended use of this plugin is only to handle interfacing with a safety PLC.
#
#- Load plugin: Safety
# Might need differet paths for PSI and ESS.. must check
epicsEnvSet(ECMC_PLUGIN_FILNAME,"$(ecmc_plugin_safety_DIR)/lib/${EPICS_HOST_ARCH=linux-x86_64}/libecmc_plugin_safety.so")
epicsEnvSet(ECMC_PLUGIN_CONFIG,"DBG_PRINT=1;")
${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=${PLUGIN_ID=0},FILE=${ECMC_PLUGIN_FILNAME},CONFIG='${ECMC_PLUGIN_CONFIG=""}', REPORT=${REPORT=1}"
ecmcConfigOrDie "Cfg.LoadSafetyPlugin(${ECMC_PLUGIN_FILNAME},${ECMC_PLUGIN_CONFIG=""})"