motion/ecmc_plugin_safety
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sandst_a
2025-02-24 16:37:43 +01:00
parent 980aeeecdc
commit 3d0896a290
3 changed files with 7 additions and 2 deletions
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2
iocsh/cfg/axis.yaml
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@@ -68,7 +68,7 @@ input:
forward: ec0.s$(DRV_SID).driveStatus01.12 # Ethercat entry for low limit switch input
backward: ec0.s$(DRV_SID).driveStatus01.11 # Ethercat entry for high limit switch input
home: 'ec0.s$(DRV_SID).ONE.0' # Ethercat entry for home switch
interlock: 'ec0.s$(DRV_SID).ONE.0' # Ethercat entry for interlock switch input
interlock: 'ec0.s-1.ONE.0' # Ethercat entry for interlock switch input
softlimits:
enable: true # Enable soft limits

4
iocsh/test_lab_rack.script
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@@ -71,5 +71,7 @@ ${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN_
#- AX_ID : Axis ID
#- VELO_REST_LIM : Velocity at rest limit [unit same as EGU of axis]
#- VELO_MAX_LIM : Velocity maximum limit, -1 to disable [unit same as EGU of axis]
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd "NAME=first,AX_ID=1,VELO_REST_LIM=0.01,VELO_MAX_LIM=0.1"
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd "NAME=first,AX_ID=1,VELO_REST_LIM=0.01,VELO_MAX_LIM=1"
ecmcEpicsEnvSetCalc(S_ID, "${DRV_SID}", "%03d")
afterInit "dbpf ${IOC}:m${ECMC_EC_MASTER_ID=0}s${S_ID}-One 0"

3
qt/readme.md Normal file
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@@ -0,0 +1,3 @@
caqtdm -macro "IOC=c6015a-02,BI_S_ID=014,BO_S_ID=014" test_plugin.ui
caqtdm -macro "IOC=c6015a-02,SAFETY_GRP=first" ecmc_plugin_safety_main.ui