motion/ecmc_plugin_safety
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Update naming in scripts

Browse Source
This commit is contained in:
sandst_a
2024-12-16 09:45:06 +01:00
parent 31fd9d8851
commit eeaffaad96
3 changed files with 18 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files
iocsh/test_4ax_box.script
+9 -10
View File
@@ -54,23 +54,22 @@ ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml"
require ecmc_plugin_safety
# Create SS1 group
#- EC_RAMP_DOWN : Ethercat entry for ramp down command, input to ecmc (command from safety PLC/system)
#- EC_AXES_REST : Ethercat entry for signaling that all axes in group are at rest, output from ecmc (feedback to safety PLC/system)
#- EC_AXES_MAX_VELO : Ethercat entry for reducing velocity, input to ecmc (command from safety PLC/system)
#- DELAY_MS : Time between rampdown command and STO
epicsEnvSet(EC_RAMP_DOWN,"ec${ECMC_EC_MASTER_ID}.s${BI_SLAVE}.binaryInput08.0")
epicsEnvSet(EC_AXES_REST,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.binaryOutput07.0")
epicsEnvSet(EC_AXES_MAX_VELO,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.ONE.0")
#- EC_RAMP_DOWN_CMD : EtherCAT entry for ramp down command, input to ecmc (command from safety PLC/system)
#- EC_REST_STAT : EtherCAT entry for signaling that all axes in group are at rest, output from ecmc (feedback to safety PLC/system)
#- EC_RED_VEL_CMD : EtherCAT entry for reducing velocity, input to ecmc (command from safety PLC/system)
#- DELAY_MS : Time between rampdown command and STO
epicsEnvSet(EC_RAMP_DOWN_CMD,"ec${ECMC_EC_MASTER_ID}.s${BI_SLAVE}.binaryInput08.0")
epicsEnvSet(EC_REST_STAT,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.binaryOutput07.0")
epicsEnvSet(EC_RED_VEL_CMD,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.ONE.0")
epicsEnvSet(SAFETY_TIMEOUT,500)
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN=${EC_RAMP_DOWN},EC_AXES_REST=${EC_AXES_REST},EC_AXES_MAX_VELO=${EC_AXES_MAX_VELO=empty},DELAY_MS=${SAFETY_TIMEOUT}"
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN_CMD=${EC_RAMP_DOWN_CMD},EC_REST_STAT=${EC_REST_STAT},EC_RED_VEL_CMD=${EC_RED_VEL_CMD=empty},DELAY_MS=${SAFETY_TIMEOUT}"
#- Add axis
#- 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]
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd "NAME=first,AX_ID=1,VELO_REST_LIM=1,VELO_MAX_LIM=100"
##############################################################################
## Configure diagnostics:
#
scripts/addAxisToSafetyGroup.cmd
+2 -2
View File
@@ -18,7 +18,7 @@
#- NAME : Name of safety group
#- AX_ID : Axis ID
#- VELO_REST_LIM : Velocity at rest limit [unit same as EGU of axis]
#- VELO_MAX_LIM : Velocity maximum limit, -1 to disable [unit same as EGU of axis]
#- VELO_MAX_LIM : Velocity maximum limit when EC_RED_VEL_CMD, set to -1 to disable [unit same as EGU of axis]
#-
#################################################################################
@@ -26,7 +26,7 @@
#- <name> : Name of safety group to add axis to.
#- <Axis id> : Axis index to add (ecmc axis index).
#- <velo_rest_limit> : Axis at rest velo limit [unit of axis].
#- <velo_max_limit> : Axis max velo limit [unit of axis].
#- <velo_max_limit> : Velocity maximum limit when EC_RED_VEL_CMD, set to -1 to disable [unit same as EGU of axis]
#- <filter_time> : NOT USED (for future implemenation). Time for axis to be below velo limit [ms].
ecmcAddAxisToSafetyGroup("${NAME}",${AX_ID},${VELO_REST_LIM=0},0,${VELO_MAX_LIM=0.0})
scripts/addSS1Group.cmd
+7 -7
View File
@@ -15,11 +15,11 @@
#-###############################################################################
#-
#- Arguments:
#- NAME : Name of safety group
#- EC_RAMP_DOWN : Ethercat entry for ramp down command, input to ecmc (command from safety PLC/system)
#- EC_AXES_REST : Ethercat entry for signaling that all axes in group are at rest, output from ecmc (feedback to safety PLC/system)
#- EC_AXES_MAX_VELO : Ethercat entry for reducing velocity, input to ecmc (command from safety PLC/system)
#- DELAY_MS : Time between rampdown command and STO
#- NAME : Name of safety group
#- EC_RAMP_DOWN_CMD : EtherCAT entry for ramp down command, input to ecmc (command from safety PLC/system)
#- EC_REST_STAT : EtherCAT entry for signaling that all axes in group are at rest, output from ecmc (feedback to safety PLC/system)
#- EC_RED_VEL_CMD : EtherCAT entry for reducing velocity, input to ecmc (command from safety PLC/system)
#- DELAY_MS : Time between rampdown command and STO
#-
#################################################################################
@@ -27,10 +27,10 @@
#- <name> : Name of group
#- <ec_rampdown_cmd> : Ethercat entry input for rampdown cmd
#- <ec_standstill_status> : Ethercat entry output for group standstill status
#- <ec_max_velo_cmd> : Ethercat entry input for activation of maximum velo limitation (set to "empty" to disable)
#- <ec_red_velo_cmd> : Ethercat entry input for activation of maximum velo limitation (set to "empty" to disable)
#- <time_delay_ms> : Time delay of STO [ms]
ecmcAddSS1SafetyGroup("${NAME}","${EC_RAMP_DOWN}","${EC_AXES_REST}","${EC_AXES_MAX_VELO=empty}",${DELAY_MS=0})
ecmcAddSS1SafetyGroup("${NAME}","${EC_RAMP_DOWN_CMD}","${EC_REST_STAT}","${EC_RED_VEL_CMD=empty}",${DELAY_MS=0})
#- Load SS1 group records
dbLoadRecords("ss1.template","P=${ECMC_PREFIX},NAME=${NAME}")