diff --git a/scripts/addSS1Group.cmd b/scripts/addSS1Group.cmd index 5a8e853..bca6bb4 100644 --- a/scripts/addSS1Group.cmd +++ b/scripts/addSS1Group.cmd @@ -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 @@ #- : Ethercat entry input for activation of maximum velo limitation (set to "empty" to disable) #- : 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}")