motion/ecmc_plugin_safety
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sandst_a
2025-02-11 16:55:21 +01:00
parent 9042a39a1b
commit 980aeeecdc
2 changed files with 2 additions and 2 deletions
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2
iocsh/test_lab_rack.script
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@@ -62,7 +62,7 @@ epicsEnvSet(BO_SLAVE,${DRV_SID})
#- EC_AXES_LIM_VELO_CMD : Digital Input: Ethercat entry for reducing velocity, input to ecmc (command from safety PLC/system)
#- DELAY_MS : Time between rampdown command and STO
epicsEnvSet(EC_RAMP_DOWN_CMD,"ec${ECMC_EC_MASTER_ID}.s${BI_SLAVE}.ONE.0")
epicsEnvSet(EC_AXES_AT_REST_STAT,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.ZERO.1")
epicsEnvSet(EC_AXES_AT_REST_STAT,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.ZERO.0")
epicsEnvSet(EC_AXES_LIM_VELO_CMD,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.ONE.1")
epicsEnvSet(SAFETY_TIMEOUT,500)
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN_CMD=${EC_RAMP_DOWN_CMD},EC_AXES_AT_REST_STAT=${EC_AXES_AT_REST_STAT},EC_AXES_LIM_VELO_CMD=${EC_AXES_LIM_VELO_CMD=empty},DELAY_MS=${SAFETY_TIMEOUT}"

2
scripts/addSS1Group.cmd
View File

@@ -30,7 +30,7 @@
#- <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}",${DELAY_MS=0})
ecmcAddSS1SafetyGroup("${NAME}","${EC_RAMP_DOWN_CMD}","${EC_AXES_AT_REST_STAT}","${EC_AXES_LIM_VELO_CMD=empty}",${DELAY_MS=0})
#- Load SS1 group records
dbLoadRecords("ss1.template","P=${ECMC_PREFIX},NAME=${NAME}")