motion/ecmc_plugin_safety
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sandst_a
2025-02-24 16:20:41 +01:00
parent f85f010d06
commit 9f0147c83e
5 changed files with 228 additions and 4 deletions
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Db/ss1.template
+2 -2
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@@ -51,11 +51,11 @@ record(bi,"${P}SS1-${NAME}-AxsStndStllAct"){
field(ONAM, "Standstill")
field(ZSV, "NO_ALARM")
field(OSV, "NO_ALARM")
field(FLNK, "${P}SS1-${NAME}-RedVeloAct.PROC")
field(FLNK, "${P}SS1-${NAME}-RedVeloCmdAct.PROC")
}
# // bit 3 reduce velo active
record(bi,"${P}SS1-${NAME}-RedVeloAct"){
record(bi,"${P}SS1-${NAME}-RedVeloCmdAct"){
field(DESC, "SS1-${NAME}: Reduce velo active")
field(INP, "${P}SS1-${NAME}-Stat_.B3")
field(ZNAM, "Not Active")
iocsh/cfg/axis.yaml
-1
View File
@@ -68,7 +68,6 @@ input:
forward: ec0.s$(DRV_SID).driveStatus01.12 # Ethercat entry for low limit switch input
backward: ec0.s$(DRV_SID).driveStatus01.11 # Ethercat entry for high limit switch input
home: 'ec0.s$(DRV_SID).ONE.0' # Ethercat entry for home switch
interlock: 'ec0.s$(DRV_SID).ONE.0' # Ethercat entry for interlock switch input
softlimits:
enable: true # Enable soft limits
iocsh/test_lab_rack.script
-1
View File
@@ -72,4 +72,3 @@ ${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN_
#- 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]
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd "NAME=first,AX_ID=1,VELO_REST_LIM=0.01,VELO_MAX_LIM=0.1"
qt/ecmc_plugin_safety_main.ui
+83
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@@ -0,0 +1,83 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>Form</class>
<widget class="QWidget" name="Form">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>400</width>
<height>300</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<widget class="caLed" name="caled">
<property name="geometry">
<rect>
<x>100</x>
<y>80</y>
<width>30</width>
<height>30</height>
</rect>
</property>
<property name="channel" stdset="0">
<string notr="true">$(IOC):SS1$(SAFETY_GROUP)-AxsStndStllAct</string>
</property>
</widget>
<widget class="caLabel" name="calabel_4">
<property name="geometry">
<rect>
<x>140</x>
<y>80</y>
<width>116</width>
<height>28</height>
</rect>
</property>
<property name="text">
<string>Axis at rest</string>
</property>
</widget>
<widget class="caLabel" name="calabel_5">
<property name="geometry">
<rect>
<x>140</x>
<y>115</y>
<width>206</width>
<height>28</height>
</rect>
</property>
<property name="text">
<string>Rampdown cmd active</string>
</property>
</widget>
<widget class="caLed" name="caled_2">
<property name="geometry">
<rect>
<x>100</x>
<y>115</y>
<width>30</width>
<height>30</height>
</rect>
</property>
<property name="channel" stdset="0">
<string notr="true">$(IOC):SS1$(SAFETY_GROUP)-RmpDwnCmdAct</string>
</property>
</widget>
</widget>
<customwidgets>
<customwidget>
<class>caLabel</class>
<extends>QLabel</extends>
<header>caLabel</header>
</customwidget>
<customwidget>
<class>caLed</class>
<extends>QWidget</extends>
<header>caLed</header>
</customwidget>
</customwidgets>
<resources/>
<connections/>
</ui>
qt/test_plugin.ui
+143
View File
@@ -0,0 +1,143 @@
<?xml version="1.0" encoding="UTF-8"?>
<ui version="4.0">
<class>Form</class>
<widget class="QWidget" name="Form">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>525</width>
<height>312</height>
</rect>
</property>
<property name="windowTitle">
<string>Form</string>
</property>
<widget class="caByteController" name="cabytecontroller">
<property name="geometry">
<rect>
<x>120</x>
<y>70</y>
<width>41</width>
<height>151</height>
</rect>
</property>
<property name="channel" stdset="0">
<string notr="true">$(IOC):m$(M_ID=0)s$(BI_S_ID)-One</string>
</property>
<property name="endBit">
<number>1</number>
</property>
</widget>
<widget class="caByte" name="cabyte">
<property name="geometry">
<rect>
<x>120</x>
<y>235</y>
<width>56</width>
<height>51</height>
</rect>
</property>
<property name="channel" stdset="0">
<string notr="true">$(IOC):m$(M_ID=0)s$(BO_S_ID)-Zero</string>
</property>
<property name="endBit">
<number>0</number>
</property>
</widget>
<widget class="caLabel" name="calabel">
<property name="geometry">
<rect>
<x>160</x>
<y>100</y>
<width>90</width>
<height>28</height>
</rect>
</property>
<property name="text">
<string>E-Stop</string>
</property>
</widget>
<widget class="caLabel" name="calabel_2">
<property name="geometry">
<rect>
<x>170</x>
<y>170</y>
<width>121</width>
<height>28</height>
</rect>
</property>
<property name="text">
<string>Reduce velo</string>
</property>
</widget>
<widget class="caLabel" name="calabel_3">
<property name="geometry">
<rect>
<x>170</x>
<y>245</y>
<width>116</width>
<height>28</height>
</rect>
</property>
<property name="text">
<string>Axis at rest</string>
</property>
</widget>
<widget class="caTextEntry" name="catextentry">
<property name="geometry">
<rect>
<x>405</x>
<y>255</y>
<width>100</width>
<height>22</height>
</rect>
</property>
<property name="channel" stdset="0">
<string notr="true">$(IOC):m$(M_ID=0)s$(BI_S_ID)-One</string>
</property>
</widget>
<widget class="caLabel" name="calabel_4">
<property name="geometry">
<rect>
<x>20</x>
<y>30</y>
<width>426</width>
<height>28</height>
</rect>
</property>
<property name="text">
<string>Simulation of motion safety box</string>
</property>
</widget>
</widget>
<customwidgets>
<customwidget>
<class>caTextEntry</class>
<extends>caLineEdit</extends>
<header>caTextEntry</header>
</customwidget>
<customwidget>
<class>caByteController</class>
<extends>QWidget</extends>
<header>caByteController</header>
</customwidget>
<customwidget>
<class>caLabel</class>
<extends>QLabel</extends>
<header>caLabel</header>
</customwidget>
<customwidget>
<class>caLineEdit</class>
<extends>QLineEdit</extends>
<header>caLineEdit</header>
</customwidget>
<customwidget>
<class>caByte</class>
<extends>QWidget</extends>
<header>caByte</header>
</customwidget>
</customwidgets>
<resources/>
<connections/>
</ui>