Update readme

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)