From f68a2602d576768544429bbe7a57444305df93f3 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= <anders.sandstroem@psi.ch>
Date: Wed, 28 Feb 2024 13:54:40 +0100
Subject: [PATCH] Rename addAxisToGroup.cmd to addAxisToSafetyGroup.cmd

---
 GNUmakefile                      |  2 +-
 README.md                        | 13 ++++++++++---
 iocsh/test.script                |  2 +-
 iocsh/test_4ax_box.script        |  2 +-
 scripts/addAxisToSafetyGroup.cmd |  2 +-
 5 files changed, 14 insertions(+), 7 deletions(-)

diff --git a/GNUmakefile b/GNUmakefile
index 1145c13..47aaf94 100644
--- a/GNUmakefile
+++ b/GNUmakefile
@@ -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)
diff --git a/README.md b/README.md
index bed2599..fdbcad0 100644
--- a/README.md
+++ b/README.md
@@ -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:
 ```
diff --git a/iocsh/test.script b/iocsh/test.script
index 4d5947a..b3c6d43 100644
--- a/iocsh/test.script
+++ b/iocsh/test.script
@@ -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:
diff --git a/iocsh/test_4ax_box.script b/iocsh/test_4ax_box.script
index a540b80..76fa10c 100644
--- a/iocsh/test_4ax_box.script
+++ b/iocsh/test_4ax_box.script
@@ -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:
diff --git a/scripts/addAxisToSafetyGroup.cmd b/scripts/addAxisToSafetyGroup.cmd
index 11b70f5..e6c6ef2 100644
--- a/scripts/addAxisToSafetyGroup.cmd
+++ b/scripts/addAxisToSafetyGroup.cmd
@@ -1,6 +1,6 @@
 
 #==============================================================================
-# addAxisToGroup.cmd
+# addAxisToSafetyGroup.cmd
 #-
 #- !!!!!!!!!!!!!  IMPORTANT  !!!!!!!!! 
 #- This plugin has _NO_ safety rated functionalities.