motion/ecmc_plugin_safety
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Rename addAxisToGroup.cmd to addAxisToSafetyGroup.cmd

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This commit is contained in:
sandst_a
2024-02-28 13:54:40 +01:00
parent ed84fa26e3
commit c85f3187ba
5 changed files with 14 additions and 7 deletions
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2
GNUmakefile
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@@ -43,5 +43,5 @@ HEADERS += $(foreach d,${SRC_DIR}, $(wildcard $d/*.h))
DBDS += $(foreach d,${SRC_DIR}, $(wildcard $d/*.dbd))
SCRIPTS += $(BASE_DIR)/startup.cmd
SCRIPTS += $(BASE_DIR)/scripts/addSS1Group.cmd
SCRIPTS += $(BASE_DIR)/scripts/addAxisToGroup.cmd
SCRIPTS += $(BASE_DIR)/scripts/addAxisToSafetyGroup.cmd
TEMPLATES += $(wildcard $(DB_DIR)/*.template)

13
README.md
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@@ -41,12 +41,11 @@ Axes that needs the SS1 fucntionality can be added to this group with the ecmcAd
This command is also wrapped in a snippet addSS1Group.cmd with the follwoing parameters:
* NAME : Name of group
* EC_RAMP_DOWN : Ethercat input of ramp down signal from safety PLC
* EC_AXES_STANDSTILL : Ethercat output for signaling safetysystem that all axes are at standstill.
* EC_AXES_STANDSTILL : Ethercat output for signaling safetysystem that all axes are at rest.
* DELAY_MS : Safety system delay time of STO or removal of power
Example:
```
# Create SS1 group
epicsEnvSet(EC_RAMP_DOWN,"ec${ECMC_EC_MASTER_ID}.s${BI_SLAVE}.binaryInput08.0")
epicsEnvSet(EC_AXES_STANDSTILL,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.binaryOutput07.0")
@@ -70,7 +69,15 @@ Note: The "filter_time" parameter is not used right now. As soon as the axis is
Note: The plugin checks the trajectory generated velocity setpoint and not the actual velocity.
This command is also wrapped in a snippet addAxisToSafetyGroup.cmd with the following parameters
This command is also wrapped in a snippet addAxisToSafetyGroup.cmd with the following parameters:
* NAME : Name of group to add axis to (group must be created first with addSS1Group.cmd)
* AX_ID : ecmc axis index of axis to add
* VELO_LIM : Velocity limit [EGU of axis], default 0. If setpoint and actual velocity is lower or equal than VELO_LIM the axis is considered to be at rest
Example:
```
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd "NAME=first,AX_ID=1,VELO_LIM=1"
```
# Example of startup script:
```

2
iocsh/test.script
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@@ -56,7 +56,7 @@ epicsEnvSet(EC_AXES_STANDSTILL,"ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.1")
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN=${EC_RAMP_DOWN},EC_AXES_STANDSTILL=${EC_AXES_STANDSTILL},DELAY_MS=500"
#- Add axis
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToGroup.cmd "NAME=first,AX_ID=1,VELO_LIM=1"
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd "NAME=first,AX_ID=1,VELO_LIM=1"
##############################################################################
## Configure diagnostics:

2
iocsh/test_4ax_box.script
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@@ -60,7 +60,7 @@ epicsEnvSet(SAFETY_TIMEOUT,500)
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN=${EC_RAMP_DOWN},EC_AXES_STANDSTILL=${EC_AXES_STANDSTILL},DELAY_MS=${SAFETY_TIMEOUT}"
#- Add axis
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToGroup.cmd "NAME=first,AX_ID=1,VELO_LIM=1"
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd "NAME=first,AX_ID=1,VELO_LIM=1"
##############################################################################
## Configure diagnostics:

2
scripts/addAxisToSafetyGroup.cmd
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@@ -1,6 +1,6 @@
#==============================================================================
# addAxisToGroup.cmd
# addAxisToSafetyGroup.cmd
#-
#- !!!!!!!!!!!!! IMPORTANT !!!!!!!!!
#- This plugin has _NO_ safety rated functionalities.