motion/ecmc_plugin_safety
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Merge branch 'new_plg_concept' of git.psi.ch:motion/ecmc_plugin_safety into new_plg_concept

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sandst_a
2025-02-24 14:05:05 +01:00
parent fa77ffb099 980aeeecdc
commit f85f010d06
1 changed files with 6 additions and 6 deletions
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12
scripts/addSS1Group.cmd
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@@ -15,11 +15,11 @@
#-###############################################################################
#-
#- Arguments:
#- 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
#- NAME : Name of safety group
#- EC_RAMP_DOWN_CMD : Ethercat entry for ramp down command, input to ecmc (command from safety PLC/system)
#- EC_AXES_REST_STAT : Ethercat entry for signaling that all axes in group are at rest, output from ecmc (feedback to safety PLC/system)
#- EC_AXES_LIM_VELO_CMD : Ethercat entry for reducing velocity, input to ecmc (command from safety PLC/system)
#- DELAY_MS : Time between rampdown command and STO
#-
#################################################################################
@@ -30,7 +30,7 @@
#- <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_CMD}","${EC_REST_STAT}","${EC_RED_VEL_CMD=empty}",${DELAY_MS=0})
ecmcAddSS1SafetyGroup("${NAME}","${EC_RAMP_DOWN_CMD}","${EC_AXES_AT_REST_STAT}","${EC_AXES_LIM_VELO_CMD=empty}",${DELAY_MS=0})
#- Load SS1 group records
dbLoadRecords("ss1.template","P=${ECMC_PREFIX},NAME=${NAME}")