From 6d4867d5b8ceebc1246952bb8056b0bf57a36711 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= <anders.sandstroem@psi.ch>
Date: Fri, 16 Feb 2024 16:13:28 +0100
Subject: [PATCH 1/2] WIP

---
 scripts/startup.cmd | 8 ++------
 1 file changed, 2 insertions(+), 6 deletions(-)

diff --git a/scripts/startup.cmd b/scripts/startup.cmd
index 89b6af6..210de07 100644
--- a/scripts/startup.cmd
+++ b/scripts/startup.cmd
@@ -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=""})"

From 7404f7206cba944893b38eb400bf1c7d77360e46 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= <anders.sandstroem@psi.ch>
Date: Fri, 16 Feb 2024 16:22:50 +0100
Subject: [PATCH 2/2] Update readme

---
 README.md                                 | 14 +++++++++++---
 iocsh/{el7042-0052.script => test.script} |  0
 2 files changed, 11 insertions(+), 3 deletions(-)
 rename iocsh/{el7042-0052.script => test.script} (100%)

diff --git a/README.md b/README.md
index d6985cd..b492457 100644
--- a/README.md
+++ b/README.md
@@ -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)
diff --git a/iocsh/el7042-0052.script b/iocsh/test.script
similarity index 100%
rename from iocsh/el7042-0052.script
rename to iocsh/test.script