From 1d78d25c31dda4645791f4faeff5068a565254de Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= <anders.sandstroem@psi.ch>
Date: Mon, 19 Feb 2024 16:49:28 +0100
Subject: [PATCH] Update readme

---
 README.md | 24 +++++++++++++++++-------
 1 file changed, 17 insertions(+), 7 deletions(-)

diff --git a/README.md b/README.md
index b492457..073ca20 100644
--- a/README.md
+++ b/README.md
@@ -35,6 +35,9 @@ ecmcAddSS1SafetyGroup(<name>, <ec_rampdown_cmd>, <ec_standstill_status>,<time_de
 Each group is interfacing the safety system through the same I/O (ethercat).
 Axes that needs the SS1 fucntionality can be added to this group with the ecmcAddAxisToSafetyGroup() command.
 
+This command is also wrapped in a snippet:
+* addSS1Group.cmd
+
 ## ecmcAddAxisToSafetyGroup()
 With the "ecmcAddAxisToSafetyGroup()" command an ecmc axis can be added to a safety group.
 All axes linked to a certain group will act on command from the safety system (initiation of velocity rampdown).
@@ -51,17 +54,24 @@ 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:
+* addAxisToGroup.cmd
+
 # Example of startup script:
 ```
-# Load safety plugin
+##############################################################################
+## Load safety plugin
+#
 require ecmc_plugin_safety sandst_a
 
-# Create Group
-ecmcAddSS1SafetyGroup("first","ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.0","ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.1",500)
+# Create SS1 group
+epicsEnvSet(RAMP_DOWN_CMD,"ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.0")
+epicsEnvSet(STANDSTILL_STAT,"ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.1")
+${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN_CMD=${RAMP_DOWN_CMD},EC_STANDSTILL_STAT=${STANDSTILL_STAT},DELAY_MS=500"
 
-# Add axes to group
-ecmcAddAxisToSafetyGroup("first",1,1,0)
-ecmcAddAxisToSafetyGroup("first",2,10,0)
-ecmcAddAxisToSafetyGroup("first",3,0,0)
+#- Add axes
+${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToGroup.cmd "NAME=first,AX_ID=1,VELO_LIM=1"
+${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToGroup.cmd "NAME=first,AX_ID=2,VELO_LIM=1"
+${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToGroup.cmd "NAME=first,AX_ID=3,VELO_LIM=1"
 ....
 ```