motion/ecmc_plugin_safety
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sandst_a
2025-02-11 16:42:26 +01:00
parent 1fb017ac64 18e4821a83
commit 9042a39a1b
6 changed files with 37 additions and 208 deletions
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scripts/addAxisToSafetyGroup.cmd
+2 -2
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@@ -18,7 +18,7 @@
#- NAME : Name of safety group
#- 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]
#- VELO_MAX_LIM : Velocity maximum limit when EC_RED_VEL_CMD, set to -1 to disable [unit same as EGU of axis]
#-
#################################################################################
@@ -26,7 +26,7 @@
#- <name> : Name of safety group to add axis to.
#- <Axis id> : Axis index to add (ecmc axis index).
#- <velo_rest_limit> : Axis at rest velo limit [unit of axis].
#- <velo_max_limit> : Axis max velo limit [unit of axis].
#- <velo_max_limit> : Velocity maximum limit when EC_RED_VEL_CMD, set to -1 to disable [unit same as EGU of axis]
#- <filter_time> : NOT USED (for future implemenation). Time for axis to be below velo limit [ms].
ecmcAddAxisToSafetyGroup("${NAME}",${AX_ID},${VELO_REST_LIM=0},0,${VELO_MAX_LIM=0.0})
scripts/addSS1Group.cmd
+1 -1
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@@ -27,7 +27,7 @@
#- <name> : Name of group
#- <ec_rampdown_cmd> : Ethercat entry input for rampdown cmd
#- <ec_standstill_status> : Ethercat entry output for group standstill status
#- <ec_max_velo_cmd> : Ethercat entry input for activation of maximum velo limitation (set to "empty" to disable)
#- <ec_red_velo_cmd> : Ethercat entry input for activation of maximum velo limitation (set to "empty" to disable)
#- <time_delay_ms> : Time delay of STO [ms]
ecmcAddSS1SafetyGroup("${NAME}","${EC_RAMP_DOWN_CMD}","${EC_AXES_REST_STAT}","${EC_AXES_LIM_VELO_CMD=empty}",${DELAY_MS=0})