From 19a46aa7380d1d56f0edb3bb4c14981552b7b5f1 Mon Sep 17 00:00:00 2001 From: sandst_a Date: Fri, 23 Feb 2024 20:59:43 +0100 Subject: [PATCH] Update README.md --- README.md | 1 + 1 file changed, 1 insertion(+) diff --git a/README.md b/README.md index 22a8308..6a63188 100644 --- a/README.md +++ b/README.md @@ -18,6 +18,7 @@ The plugin supports stopping axes according to a concept described as SS1-t, see Basically the safey system is interfaced with two binary signals (ethercat I/O): * Ramp down command (from safety system to ecmc) * Axis stand still status (to safety system from ecmc) + If, for instance, an safety event is triggerd by the safety system, it will immediately command this plugin to rampdown velocity of all axes (that a configured to stop). When all axes, that are configured to rampdown, have stopped then this plugin will disable the axes and set an ethercat output informing the safety system that the axes are standstill. After a certain timout the safety system will make sure power is removed from the motion axes by triggering an STO or removing power. The removal of power or triggering of STO will made regardless if the axes are at rest or not. A reset of the safety system, allowing power to the drives, will only be possible once the safety system gets a confirmation that all axes are at rest. The configuration is made by two commands: