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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This commit is contained in:
sandst_a
2024-03-20 09:29:59 +01:00
parent 0c5f9a4091 5d1ff4fc99
commit 7550551cc4
6 changed files with 33 additions and 67 deletions
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11
src/ecmcSS1SafetyGroup.cpp
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@@ -291,6 +291,10 @@ void ecmcSS1SafetyGroup::connectToDataSources() {
throw std::runtime_error( "Safety: EtherCAT entry for rampdown I/O NULL.");
}
if(bitRampDown_ >= ecEntryRampDown_->getBits()) {
throw std::runtime_error( "Safety: Bit out of range for rampdown ethercat entry.");
}
// standstill
slave = ecMaster_->findSlave(slaveIdStandStill_);
if(!slave) {
@@ -302,6 +306,9 @@ void ecmcSS1SafetyGroup::connectToDataSources() {
throw std::runtime_error( "Safety: EtherCAT entry for standstill I/O NULL.");
};
if(bitStandStill_ >= ecEntryStandstill_->getBits()) {
throw std::runtime_error( "Safety: Bit out of range for standstill ethercat entry.");
}
// Limit velo
if( limitMaxVeloEnable_ ) {
@@ -314,6 +321,10 @@ void ecmcSS1SafetyGroup::connectToDataSources() {
if(!ecEntryLimitVelo_) {
throw std::runtime_error( "Safety: EtherCAT entry for limit velo I/O NULL.");
};
if(bitLimitVelo_ >= ecEntryLimitVelo_->getBits()) {
throw std::runtime_error( "Safety: Bit out of range for limit velo ethercat entry.");
}
}
dataSourcesLinked_ = 1;