motion/ecmc_plugin_safety
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cleanup

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sandst_a
2024-02-21 12:36:41 +01:00
parent c37198d7b5
commit a6dd5f8b02
4 changed files with 12 additions and 10 deletions
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scripts/addSS1Group.cmd
+5 -5
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@@ -16,18 +16,18 @@
#-
#- Arguments:
#- NAME : Name of safety group
#- EC_RAMP_DOWN_CMD : Ethercat entry for rampd down command (cmd from safety PLC/system)
#- EC_STANDSTILL_STAT : Ethercat entry for axes at standstill status (feedback to safety PLC/system)
#- EC_RAMP_DOWN : Ethercat entry for rampd down command (cmd from safety PLC/system)
#- EC_AXES_STANDSTILL : Ethercat entry for axes at standstill status (feedback to safety PLC/system)
#- DELAY_MS : Time between rampdown command and STO
#-
#################################################################################
#- ecmcAddSS1SafetyGroup(<name>, <ec_rampdown_cmd>, <ec_standstill_status>,<time_delay_ms>)
#- <name> : Name of group.
#- <ec_rampdown_cmd> : Ethercat entry input for rampdown cmd.
#- <ec_standstill_status> : Ethercat entry output for group standstill status.
#- <ec_rampdown> : Ethercat entry input for rampdown cmd.
#- <ec_standstill> : Ethercat entry output for group standstill status.
#- <time_delay_ms> : Time delay of STO [ms].
ecmcAddSS1SafetyGroup("${NAME}","${EC_RAMP_DOWN_CMD}","${EC_STANDSTILL_STAT}",${DELAY_MS=0})
ecmcAddSS1SafetyGroup("${NAME}","${EC_RAMP_DOWN}","${EC_AXES_STANDSTILL}",${DELAY_MS=0})
#- Load SS1 group records
dbLoadRecords("ss1.template","P=${ECMC_PREFIX},NAME=${NAME}")