depend on ecmc 9

Use ecmc 9.5.0
Update test script
2024-09-13 09:02:15 +02:00 · 2024-05-01 10:32:16 +02:00 · 2024-03-20 09:54:37 +01:00 · 2024-03-20 09:51:21 +01:00 · 2024-03-20 09:50:18 +01:00 · 2024-03-20 09:29:59 +01:00
19 changed files with 997 additions and 248 deletions
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -2,6 +2,7 @@
    "files.associations": {
        "string_view": "cpp",
        "stdexcept": "cpp",
-        "iosfwd": "cpp"
+        "iosfwd": "cpp",
+        "typeinfo": "cpp"
    }
 }
--- a/Db/ss1.template
+++ b/Db/ss1.template
@@ -51,4 +51,15 @@ record(bi,"${P}SS1-${NAME}-AxsStndStllAct"){
  field(ONAM, "Standstill")
  field(ZSV,  "NO_ALARM")
  field(OSV,  "NO_ALARM")
+  field(FLNK, "${P}SS1-${NAME}-RedVeloAct.PROC")
+}
+
+#  // bit 3 reduce velo active
+record(bi,"${P}SS1-${NAME}-RedVeloAct"){
+  field(DESC, "SS1-${NAME}: Reduce velo active")
+  field(INP,  "${P}SS1-${NAME}-Stat_.B3")
+  field(ZNAM, "Not Active")
+  field(ONAM, "Active")
+  field(ZSV,  "NO_ALARM")
+  field(OSV,  "NO_ALARM")
 }
--- a/6
+++ b/6
@@ -16,9 +16,7 @@ OPT_CXXFLAGS_YES = -O3

 # dependencies
 ECmasterECMC_VERSION = v1.1.0
-# motorECMC_VERSION = 7.0.7-ESS
-#ecmc_VERSION = v9.0.1_RC4
-ecmc_VERSION = 9.1.0
+ecmc_VERSION = 9

 ################################################################################
 # THIS RELATES TO THE EtherCAT MASTER LIBRARY
@@ -43,5 +41,5 @@ 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)
--- a/README.md
+++ b/README.md
@@ -10,37 +10,61 @@ This plugin is designed for interfacing safety systems, see example in below pic
 # SS1-t
 The plugin supports stopping axes according to a concept described as SS1-t, see below picture. In SS1-t the STO (or removal of power) from the axes are delayed for a certain defined time allowing a controlled rampdown of velocity. The rampdown of the axis is handled by the non-safe motion controller while the removal of power (or triggering of STO) after the time delay is handled by a safety system, . This makes it possible to stop moving axes in a controlled way and disable the drives before the power is interrupted (or STO triggered). This will result in a safer system and less harware failures and error messages.

- After the time delay expires, hopfully all axes are at standstill and power is already removed from the drives.  
+After the time delay expires, hopfully all axes are at standstill and power is already removed from the drives.  

 ![SS1-t](docs/SS1-t.png)

+## Velocity limit
+An additional optional feature of this plugin is limiting of axis velocity based on an the state of an ethercat I/O (this is not a safety certified fucntionality).
+
+Axes that are configured with a max velocity will be monitored by this plugin and if exceeding the configured max velocity, the axis will be disabled.
+
+For initiation of new movements, the target velocity will be limited to 95% of the configured maximum velocity. The reason for this is toi allow small fluctuations in actual velocity without disablaing the axes.
+
 ## Interface
-Basically the safey system is interfaced with two binary signals (ethercat I/O):
-* Ramp down command (from safety system to ecmc)
-* Axis stand still status (to safety system from ecmc)
+Basically the safey system is interfaced with three binary signals (ethercat I/O):
+* Ramp down command (from safety system to ecmc). 0 means ramp down command is active.
+* Axis stand still status (to safety system from ecmc). 1 means that all axes are at rest _AND_ disabled
+* Limitation of velocity (optional). 0 means limitation of velocity is acrive
+
 If, for instance, an safety event is triggerd by the safety system, it will immediately command this plugin to rampdown velocity of all axes (that a configured to stop). When all axes, that are configured to rampdown, have stopped then this plugin will disable the axes and set an ethercat output informing the safety system that the axes are standstill. After a certain timout the safety system will make sure power is removed from the motion axes by triggering an STO or removing power. The removal of power or triggering of STO will made regardless if the axes are at rest or not. A reset of the safety system, allowing power to the drives, will only be possible once the safety system gets a confirmation that all axes are at rest.

 The configuration is made by two commands:
-1. ecmcAddSS1SafetyGroup()
-2. ecmcAddAxisToSafetyGroup()
+1. ecmcAddSS1SafetyGroup() wrapped into addSS1Group.cmd
+2. ecmcAddAxisToSafetyGroup() wrapped in snippet addAxisToSafetyGroup.cmd

 ## ecmcAddSS1SafetyGroup()

 The ecmcAddSS1SafetyGroup() adds a SS1 safety group. The command takes the following parameters:
 ```
-ecmcAddSS1SafetyGroup(<name>, <ec_rampdown_cmd>, <ec_standstill_status>,<time_delay_ms>)
-          <name>                     : Name of group.
-          <ec_rampdown>              : Ethercat entry input for rampdown cmd.
-          <ec_axes_at_rest>          : Ethercat entry output for group standstill status.
-          <time_delay_ms>            : Time delay of STO [ms].
+ecmcAddSS1SafetyGroup(<name>, <ec_rampdown_cmd>, <ec_standstill_status>,<ec_max_velo_cmd>,<time_delay_ms>)
+        <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)
+        <time_delay_ms>            : Time delay of STO [ms] 
 ```
 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
+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_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), put 0 to disable
+* 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_REST,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.binaryOutput07.0")
+epicsEnvSet(SAFETY_TIMEOUT,500)
+${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN=${EC_RAMP_DOWN},EC_AXES_REST=${EC_AXES_REST},DELAY_MS=${SAFETY_TIMEOUT}"
+
+```
 ## 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).

@@ -49,31 +73,76 @@ The ecmcAddAxisToSafetyGroup() command takes the following parameters:
 ecmcAddAxisToSafetyGroup(<group_name>, <axis_index>, <velo_limit>, <filter_time>)
          <name>                     : Name of safety group to add axis to.
          <Axis id>                  : Axis index to add (ecmc axis index).
-          <velo limit>               : Axis standstill velo limit [unit of axis].
+          <velo_rest_limit>          : Axis at rest velo limit [unit of axis].
+          <velo_max_limit>           : Axis max velo limit [unit of axis].
          <filter_time>              : NOT USED (for future implemenation). Time for axis to be below velo limit [ms].
 ```
 Note: The "filter_time" parameter is not used right now. As soon as the axis is below teh velo_limit it will be considered to stand still and will then be disabled. 

 Note: The plugin checks the trajectory generated velocity setpoint and not the actual velocity.

-This command is also wrapped in a snippet:
-* addAxisToGroup.cmd
+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_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]
+
+Example:
+```
+${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd "NAME=first,AX_ID=1,VELO_REST_LIM=1,VELO_MAX_LIM=100"
+```

 # Example of startup script:
 ```
 ##############################################################################
 ## Load safety plugin
 #
+
 require ecmc_plugin_safety sandst_a

-# 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 "first"
-${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} ${ecmc_plugin_safety_DIR}addAxisToGroup.cmd "NAME=first,AX_ID=3,VELO_LIM=1"
+# Create SS1 group
+#-   EC_RAMP_DOWN       :   Ethercat entry for ramp down command, input to ecmc (command from safety PLC/system)
+#-   EC_AXES_REST       :   Ethercat entry for signaling that all axes in group are at rest, output from ecmc (feedback to safety PLC/system)
+#-   EC_AXES_MAX_VELO   :   Ethercat entry for reducing velocity, input to ecmc (command from safety PLC/system), set to "empty" to disable
+#-   DELAY_MS           :   Time between rampdown command and STO
+epicsEnvSet(EC_RAMP_DOWN,"ec${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${BO_SLAVE}.ONE.0")
+epicsEnvSet(SAFETY_TIMEOUT,500)
+${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},DELAY_MS=${SAFETY_TIMEOUT}"
+
+#- Add axis
+#-   AX_ID              :   Axis ID
+#-   VELO_REST_LIM      :   Velocity at rest limit [unit same as EGU of axis]
+#-   VELO_MAX_LIM       :   Velocity maximum limit, -1 to disable [unit same as EGU of axis]
+${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd "NAME=first,AX_ID=1,VELO_REST_LIM=1,VELO_MAX_LIM=100"
 ....
 ```
+
+# Test
+Triggering of e-stop:
+* Velo 500mm/s 
+* Stop ramp 1200mm/s/s
+
+[Test data](docs/data_log.txt)
+
+![Velocity](docs/velo.png)
+![Digital](docs/digital.png)
+
+# Test at Debye
+
+```
+libversionShow
+require            3.3.1     /gfa/.mounts/sls_ioc/modules/require/3.3.1/R7.0.7/             
+misc               2.15.0    /gfa/.mounts/sls_ioc/modules/misc/2.15.0/R7.0.7/               
+ecmccfg            safety3   /gfa/.mounts/sls_ioc/modules/ecmccfg/safety3/R7.0.7/           
+ECmasterECMC       v1.1.0    /gfa/.mounts/sls_ioc/modules/ECmasterECMC/v1.1.0/R7.0.7/       
+calc               3.7.6     /gfa/.mounts/sls_ioc/modules/calc/3.7.6/R7.0.7/                
+asyn               4.42.2    /gfa/.mounts/sls_ioc/modules/asyn/4.42.2/R7.0.7/               
+motorECMC          7.0.9-ESS /gfa/.mounts/sls_ioc/modules/motorECMC/7.0.9-ESS/R7.0.7/       
+ruckig             0.6.3     /gfa/.mounts/sls_ioc/modules/ruckig/0.6.3/R7.0.7/              
+ecmc               safety3   /gfa/.mounts/sls_ioc/modules/ecmc/safety3/R7.0.7/              
+ecmccomp           0.1.0     /gfa/.mounts/sls_ioc/modules/ecmccomp/0.1.0/R7.0.7/            
+ecmc_plugin_safety safety3   /gfa/.mounts/sls_ioc/modules/ecmc_plugin_safety/safety3/R7.0.7/
+```
--- a/docs/data_log.txt
+++ b/docs/data_log.txt
@@ -0,0 +1,425 @@
+c6025a:m0s006-BI08             2024-02-28 12:07:05.294742 1  
+c6025a:m0s005-BO07             2024-02-28 12:07:05.294742 1  
+c6025a:Axis1-EnaAct            2024-02-28 12:07:05.294742 0  
+c6025a:Axis1-VelAct            2024-02-28 12:07:05.294742 0  
+c6025a:Axis1-EnaAct            2024-02-28 12:07:05.294742 1  
+c6025a:Axis1-VelAct            2024-02-28 12:07:06.894679 0.28125  
+c6025a:m0s005-BO07             2024-02-28 12:07:06.894708 0  
+c6025a:Axis1-VelAct            2024-02-28 12:07:06.904782 0.5625  
+c6025a:Axis1-VelAct            2024-02-28 12:07:06.914794 1.125  
+c6025a:Axis1-VelAct            2024-02-28 12:07:06.924633 1.96875  
+c6025a:Axis1-VelAct            2024-02-28 12:07:06.934677 2.8125  
+c6025a:Axis1-VelAct            2024-02-28 12:07:06.944878 3.9375  
+c6025a:Axis1-VelAct            2024-02-28 12:07:06.954778 5.34375  
+c6025a:Axis1-VelAct            2024-02-28 12:07:06.964832 6.75  
+c6025a:Axis1-VelAct            2024-02-28 12:07:06.974675 8.4375  
+c6025a:Axis1-VelAct            2024-02-28 12:07:06.984744 10.4063  
+c6025a:Axis1-VelAct            2024-02-28 12:07:06.994771 12.375  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.004719 14.3438  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.014668 16.3125  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.024860 18.2812  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.034780 20.25  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.044877 22.5  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.054717 24.4688  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.064741 26.4375  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.074748 28.6875  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.084629 30.6563  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.094523 32.625  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.104632 34.5937  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.114639 36.5625  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.124609 38.5313  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.134548 40.7812  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.144687 42.4687  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.154661 44.7187  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.164621 46.9687  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.174524 48.6562  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.184630 50.625  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.194575 52.875  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.204647 54.8437  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.214532 57.0937  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.224681 59.0625  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.234638 61.0313  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.244621 63  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.254531 64.9688  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.264625 66.9375  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.274624 69.1875  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.284604 71.1562  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.294620 73.125  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.304609 75.375  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.314694 77.0625  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.324532 79.3125  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.334747 81.2813  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.344719 83.5313  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.354545 85.2187  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.364593 87.4687  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.374513 89.4375  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.384706 91.4062  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.394533 93.375  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.404724 95.3438  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.414536 97.5938  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.424718 99.2812  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.434576 101.531  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.444675 103.5  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.454711 105.469  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.464727 107.438  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.474662 109.406  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.484694 111.656  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.494580 113.625  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.504554 115.594  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.514593 117.562  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.524542 119.812  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.534518 121.5  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.544705 123.469  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.554553 125.719  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.564548 127.687  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.574571 129.656  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.584575 131.625  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.594579 133.594  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.604569 135.563  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.614496 137.531  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.624543 139.5  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.634565 141.75  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.644578 143.719  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.654534 145.687  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.664575 147.656  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.674540 149.625  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.684578 151.875  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.694520 153.563  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.704569 155.812  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.714592 157.781  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.724494 159.75  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.734526 161.719  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.744597 163.688  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.754577 165.656  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.764576 167.625  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.774517 169.594  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.784631 171.281  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.794569 173.531  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.804553 175.5  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.814502 177.469  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.824549 179.437  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.834559 181.125  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.844593 183.375  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.854506 185.344  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.864635 187.312  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.874661 189.563  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.884596 191.25  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.894512 193.5  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.904671 195.188  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.914657 197.156  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.924587 199.406  
+c6025a:Axis1-VelAct            2024-02-28 12:07:07.934617 201.375  
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+c6025a:Axis1-VelAct            2024-02-28 12:07:10.624638 489.375  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.634658 484.031  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.644652 478.406  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.654683 470.531  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.664770 462.375  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.674767 453.375  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.684621 443.531  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.694674 433.406  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.704723 423  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.714780 412.875  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.724635 402.75  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.734512 392.625  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.744636 382.781  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.754596 372.656  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.764606 362.812  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.774654 352.406  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.784561 342  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.794658 332.156  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.804674 322.312  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.814531 311.906  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.824686 301.781  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.834649 291.656  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.844586 281.25  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.854558 271.406  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.864770 261  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.874783 251.156  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.884754 241.031  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.894669 230.625  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.904844 220.219  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.914783 210.375  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.924773 200.25  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.934565 190.125  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.944765 180  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.954775 169.875  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.964800 159.469  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.974678 149.344  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.984575 138.938  
+c6025a:Axis1-VelAct            2024-02-28 12:07:10.994651 129.094  
+c6025a:Axis1-VelAct            2024-02-28 12:07:11.004591 118.969  
+c6025a:Axis1-VelAct            2024-02-28 12:07:11.014573 108.844  
+c6025a:Axis1-VelAct            2024-02-28 12:07:11.024572 98.7187  
+c6025a:Axis1-VelAct            2024-02-28 12:07:11.034612 88.5938  
+c6025a:Axis1-VelAct            2024-02-28 12:07:11.044612 78.1875  
+c6025a:Axis1-VelAct            2024-02-28 12:07:11.054502 68.0625  
+c6025a:Axis1-VelAct            2024-02-28 12:07:11.064659 58.2187  
+c6025a:Axis1-VelAct            2024-02-28 12:07:11.074643 48.0937  
+c6025a:Axis1-VelAct            2024-02-28 12:07:11.084611 38.25  
+c6025a:Axis1-VelAct            2024-02-28 12:07:11.094559 29.25  
+c6025a:Axis1-VelAct            2024-02-28 12:07:11.104667 21.375  
+c6025a:Axis1-VelAct            2024-02-28 12:07:11.114636 14.3437  
+c6025a:Axis1-VelAct            2024-02-28 12:07:11.124627 9  
+c6025a:Axis1-VelAct            2024-02-28 12:07:11.134527 4.78125  
+c6025a:Axis1-VelAct            2024-02-28 12:07:11.144553 1.6875  
+c6025a:Axis1-EnaAct            2024-02-28 12:07:11.154581 0  
+c6025a:Axis1-VelAct            2024-02-28 12:07:11.154623 -0.5625  
+c6025a:m0s005-BO07             2024-02-28 12:07:11.154636 1  
+c6025a:Axis1-VelAct            2024-02-28 12:07:11.164637 -1.96875  
+c6025a:m0s005-BO07             2024-02-28 12:07:11.164653 0  
+c6025a:Axis1-VelAct            2024-02-28 12:07:11.174543 -2.25  
+c6025a:Axis1-VelAct            2024-02-28 12:07:11.184536 -1.6875  
+c6025a:Axis1-VelAct            2024-02-28 12:07:11.194595 -1.125  
+c6025a:Axis1-VelAct            2024-02-28 12:07:11.204578 -0.5625  
+c6025a:m0s005-BO07             2024-02-28 12:07:11.204628 1  
+c6025a:Axis1-VelAct            2024-02-28 12:07:11.214568 0  
--- a/docs/digital.png
+++ b/docs/digital.png
--- a/docs/velo.png
+++ b/docs/velo.png
--- a/iocsh/cfg/axis.yaml
+++ b/iocsh/cfg/axis.yaml
@@ -1,10 +1,8 @@
-macros: LIMIT=10000,TYPE=0,DRV_SLAVE=${DRV_SLAVE}     # Macros for all below (evaluated before jinja linter)
-
 axis:
  id: 1                                               # Axis id
  type: joint                                         # this is for future selection of axis type
  # mode: CSV                                         # supported mode, CSV and CSP, defaults CSV
-  # parameters: 'axisPar' # additional parameters     # Additional params to motor record driver
+  parameters: 'powerAutoOnOff=2;powerOffDelay=4;powerOnDelay=4;' # additional parameters     # Additional params to motor record driver
  #healthOutput: ec0...                               # Ethercat entry for health output
  # autoMode:                                         # Switch drive modes automaticaly for normal motion and homing (smaract for instance)
  #   modeSet: ec0..                                  # Ethercat entry drive mode write (set CSV,CSP,homing)
@@ -23,10 +21,10 @@ epics:
  precision: 3                                        # Decimal count
  description: very important motor axis              # Axis description
  unit: mm                                            # Unit
-  # motorRecord:
-  #   enable: true
-  #   description: This is MR
-  #   fieldInit: 'RRES=1.0,RTRY=2,RMOD=1,UEIP=0,RDBD=0.1,URIP=1,RDBL=$(IOC):$(ECMC_MOTOR_NAME)-PosActSim' # Extra config for Motor record
+  motorRecord:
+    enable: true
+    description: This is MR
+    fieldInit: 'TWV=1000' # Extra config for Motor record

 drive:
  numerator: 3600                                     # Fastest speed in engineering units
@@ -37,31 +35,31 @@ drive:
  enabled: 1                                          # Enabled bit index in status word (not used if DS402)
  status: ec0.s$(DRV_SLAVE).driveStatus01             # Status word ethercat entry
  setpoint: ec0.s$(DRV_SLAVE).velocitySetpoint01      # Velocity setpoint if CSV. Position setpoint if CSP
-#  reduceTorque: 2                                    # Reduce torque bit in drive control word
-#  reduceTorqueEnable: True                           # Enable reduce torque functionality
+  reduceTorque: 2                                    # Reduce torque bit in drive control word
+  reduceTorqueEnable: True                           # Enable reduce torque functionality
 #  brake:
 #    enable: true                                     # Enable brake
 #    output: ec0...                                   # Ethercat link to brake output
 #    openDelay: 0                                     # Brake timing parameter in cycles (default 1kHz)
 #    closeAhead: 0                                    # Brake timing parameter in cycles (default 1kHz)
-#  reset: 1                                           # Reset   (if no drive reset bit then leave empty)
-#  warning: 2                                         # Warning (if no drive warning bit then leave empty)
-#  error:                                             # max 3
-#    - 3                                              # Error 0 (if no drive error bit then leave empty)
-#    - 7                                              # Error 1 (if no drive error bit then leave empty)
-#    - 14                                             # Error 2 (if no drive error bit then leave empty)
+  reset: 1                                           # Reset   (if no drive reset bit then leave empty)
+  warning: 2                                         # Warning (if no drive warning bit then leave empty)
+  error:                                             # max 3
+    - 3                                              # Error 0 (if no drive error bit then leave empty)
+    - 7                                              # Error 1 (if no drive error bit then leave empty)
+    - 14                                             # Error 2 (if no drive error bit then leave empty)

 encoder:
-  numerator: 360                                      # Scaling numerator example 360 deg/rev
-  denominator: 12800                                  # Scaling denominator example 4096 ticks per 360 degree
+  numerator: 720                                      # 2mm Scaling numerator example 360 deg/rev
+  denominator: 8192                                   # Scaling denominator example 4096 ticks per 360 degree
  # type: 0                                           # Type: 0=Incremental, 1=Absolute
  bits: 16                                            # Total bit count of encoder raw data
  # absBits: 0                                        # Absolute bit count (for absolute encoders) always least significant part of 'bits'
  # absOffset: 0                                      # Encoder offset in eng units (for absolute encoders)
  # mask: '0xFFF00'                                   # Mask applied to raw encoder value
-  position: ec0.s$(DRV_SLAVE).positionActual01        # Ethercat entry for actual position input (encoder)
-  control: ec0.s$(DRV_SLAVE).encoderControl01         # mandatory only if 'reset' is used
-  status: ec0.s$(DRV_SLAVE).encoderStatus01           # mandatory only if 'warning' or 'error' are used
+  position: ec0.s$(ENC_SLAVE).positionActual01        # Ethercat entry for actual position input (encoder)
+  control: ec0.s$(ENC_SLAVE).encoderControl01         # mandatory only if 'reset' is used
+  status: ec0.s$(ENC_SLAVE).encoderStatus01           # mandatory only if 'warning' or 'error' are used
  # ready: 10                                         # Bit in encoder status word for encoder ready
  # source: 0                                         # 0 = Encoder value from etehrcat hardware, 1 = Encoder value from PLC
  # reset: 1                                          # Reset   (optional)
@@ -102,6 +100,10 @@ controller:
  Kp: 1                                              # Kp proportinal gain
  Ki: 0.02                                          # Ki integral gain
  Kd: 0                                             # Kd derivative gain
+  limits:
+    minIntegral: -10000
+    maxIntegral: 10000
+
  # Kff: 1                                            # Feed forward gain
  # deadband:
  #   tol: 0.01                                       # Stop control if within this distance from target for the below time
@@ -123,7 +125,7 @@ trajectory:
    velocity: 500                                     # Default velo for axis
    acceleration: 200                                 # Default acc for axis
    deceleration: 200                                 # Default dec for axis
-    emergencyDeceleration: 1000                       # Deceleration when axis in error state
+    emergencyDeceleration: 1200                       # Deceleration when axis in error state
    jerk: 10                                          # Default jerk for axis
  jog:
    velocity: 5                                       # Default velo fro JOG (motor record)
@@ -167,15 +169,15 @@ softlimits:
 monitoring:
  lag:
    enable: true                                      # Enable position lag monitoring (following error)
-    tolerance: 2                                      # Allowed tolerance
+    tolerance: 10                                      # Allowed tolerance
    time: 10                                          # Allowed time outside tolerance  target:
  target:
    enable: true                                     # Enable at target monitoring (needs to be enabled if using motor record)
-    tolerance: 0.5                                    # Allowed tolerance
+    tolerance: 0.1                                    # Allowed tolerance
    time: 10                                          # Filter time inside tolerance to be at target
  velocity:
-    enable: false                                     # Enable velocity monitoring
-    max: 100                                          # Allowed max velocity
+    enable: true                                     # Enable velocity monitoring
+    max: 1000                                          # Allowed max velocity
    time:
      trajectory: 100                                 # Time allowed outside max velo before system init halt
      drive: 200                                      # Time allowed outside max velo before system disables drive
@@ -185,20 +187,3 @@ monitoring:
  #   time:
  #     trajectory: 100                               # Time allowed outside max diff velo before system init halt
  #     drive: 200                                    # Time allowed outside max diff velo before system disables drive
-
-#plc:
-#  enable: true                                        # Enable axis plc
-#  externalCommands: true                              # Allow axis to inputs from PLC
-#  file: ${PLC_PATH}test.plc
-#  code:                                                # Sync code
-#  - "if(static.counter % ${LIMIT} == 0){println('AX PLC: Appended');static.counter:=0;};" # calculate set pos for physical axis
-#  - "if(not(static.plc_code_loaded)) {static.counter:=static.counter+1;};"
-#  - ec0.s$(DRV_SLAVE).ONE > 1; # Enable axis if one of master axes is enabled
-#  - ec0.s$(DRV_SLAVE).ZERO > 1; # calculate set pos for physical axis
-#   velocity_filter:                                    # Filter used to smother velocity feedforward
-#    encoder:                                          # Filter plc enc velo
-#      enable: false                                   # Filter enable
-#      size: 100                                       # Filter size
-#    trajectory:                                       # Filter plc traj velo
-#      enable: false                                   # Filter enable
-#      size: 100                                       # Filter size
--- a/iocsh/plc/plc_cfg.yaml
+++ b/iocsh/plc/plc_cfg.yaml
@@ -1,9 +0,0 @@
-macros: LIMIT=1000,TYPE=1                             # Macros to pass to this file (also plc.file)
-plc:
-  id: 1
-  enable: yes
-  rateMilliseconds: 1
-  file: ${PLC_PATH}test.plc
-  code:
-  - "if(static.counter % ${LIMIT} == 0){println('PLC:    Appended');static.counter:=0;};" # calculate set pos for physical axis
-  - "if(not(static.plc_code_loaded)) {static.counter:=static.counter+1;};"
--- a/iocsh/plc/plc_no_ec_fft_sin.plc
+++ b/iocsh/plc/plc_no_ec_fft_sin.plc
@@ -1,9 +0,0 @@
-###############################################################################################
-# For help on syntax, variables and functions, please read the file: "plcSyntaxHelp.plc"
-#
-# PLC Functionality Demo:
-#   No hardware related variables
-#
-
-static.time:=ec_get_time()/1E9;
-static.sineval:=sin(2*pi*${FREQ=10}*static.time);
--- a/iocsh/plc/test.plc
+++ b/iocsh/plc/test.plc
@@ -1,9 +0,0 @@
-static.counter:=static.counter+1;
-static.plc_code_loaded:=1;
-if(static.counter % ${LIMIT} == 0) {    
-  if(${TYPE}=0) {
-    println('AX PLC: File');
-  } else {
-    println('PLC   : File');
-  };
-};
--- a/iocsh/readme.md
+++ b/iocsh/readme.md
@@ -0,0 +1,22 @@
+# Start IOC
+```
+sudo iocsh test_4ax_box.script
+```
+
+# Collect data
+```
+camon -d -t -nostat -nounit -int c6025a:m0s006-BI08 c6025a:m0s005-BO07 c6025a:Axis1-EnaAct c6025a:Axis1-VelAct
+
+# for classic camonitor format:
+/usr/local/epics/base-7.0.7/bin/RHEL8-x86_64/camonitor -n c6025a:m0s006-BI08 c6025a:m0s005-BO07 c6025a:Axis1-EnaAct c6025a:Axis1-VelAct
+```
+# Plot
+```
+Must be in "classic" camonitor format to use plotCaMonitor.py
+
+Velo:
+cat data_log.txt |  grep Vel | python3 ~/myhome/sources/ecmccomgui/pyDataManip/plotCaMonitor.py
+
+Digital:
+cat data_log.txt |  grep -v Vel | python3 ~/myhome/sources/ecmccomgui/pyDataManip/plotCaMonitor.py 
+```
--- a/iocsh/test_4ax_box.script
+++ b/iocsh/test_4ax_box.script
@@ -11,8 +11,8 @@
 ##       camon c6025a:SS1-first-Err c6025a:SS1-first-RmpDwnCmdAct c6025a:SS1-first-AxsStndStllAct
 ##

-epicsEnvSet(IOC,c6025a)
-require ecmccfg v9.0.1_RC4,"ECMC_VER=v9.0.1_RC4,ENG_MODE=1"
+#epicsEnvSet(IOC,c6025a)
+require ecmccfg "ENG_MODE=1,MASTER_ID=1"

 ##############################################################################
 ## Load components lib
@@ -22,13 +22,22 @@ require ecmccomp
 ##############################################################################
 ## Configure hardware

-epicsEnvSet("DRV_SLAVE",              "13")
+epicsEnvSet("DRV_SLAVE",              "7")
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(DRV_SLAVE), HW_DESC=EL7041-0052"
 ${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_STDBY_MA=200,I_MAX_MA=1000,R_COIL_MOHM=1700'"

-epicsEnvSet("ENC_SLAVE",              "14")
+epicsEnvSet("ENC_SLAVE",              "2")
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ENC_SLAVE), HW_DESC=EL5042"
-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-24bit-BISS-C"
+${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-BISS-C,CH_ID=1"
+${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-SSI,CH_ID=2"
+
+epicsEnvSet("BO_SLAVE",              "5")
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(BO_SLAVE), HW_DESC=EL2008"
+# This hardware box need to set BO6 to get power
+ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${BO_SLAVE},binaryOutput06,1)"
+
+epicsEnvSet("BI_SLAVE",              "6")
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(BI_SLAVE), HW_DESC=EL1008"

 #Apply hardware configuration
 ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
@@ -37,26 +46,30 @@ ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
 ## AXIS 1
 #
 epicsEnvSet("DEV",      "$(IOC)")
-epicsEnvSet("PLC_PATH",      "/ioc/c6025a5a/ecmccfg/examples/test/ecmccomp/plc/")
-${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml,LIMIT=1000,TYPE=0"
-
-##############################################################################
-## PLC 1
-#
-#-${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlPlc.cmd, "FILE=./plc/plc_cfg.yaml,LIMIT=5000,TYPE=1"
+${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml"

 ##############################################################################
 ## Load safety plugin
 #
-require ecmc_plugin_safety v9.0.1_RC4
+require ecmc_plugin_safety

 # 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=${STANDSTILL_STAT},DELAY_MS=500"
+#-   EC_RAMP_DOWN       :   Ethercat entry for ramp down command, input to ecmc (command from safety PLC/system)
+#-   EC_AXES_REST       :   Ethercat entry for signaling that all axes in group are at rest, output from ecmc (feedback to safety PLC/system)
+#-   EC_AXES_MAX_VELO   :   Ethercat entry for reducing velocity, input to ecmc (command from safety PLC/system)
+#-   DELAY_MS           :   Time between rampdown command and STO
+epicsEnvSet(EC_RAMP_DOWN,"ec${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${BO_SLAVE}.ONE.0")
+epicsEnvSet(SAFETY_TIMEOUT,500)
+${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}"

 #- Add axis
-${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToGroup.cmd "NAME=first,AX_ID=1,VELO_LIM=1"
+#-   AX_ID              :   Axis ID
+#-   VELO_REST_LIM      :   Velocity at rest limit [unit same as EGU of axis]
+#-   VELO_MAX_LIM       :   Velocity maximum limit, -1 to disable [unit same as EGU of axis]
+${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd "NAME=first,AX_ID=1,VELO_REST_LIM=1,VELO_MAX_LIM=100"
+

 ##############################################################################
 ## Configure diagnostics:
--- a/scripts/addAxisToSafetyGroup.cmd
+++ b/scripts/addAxisToSafetyGroup.cmd
@@ -1,6 +1,6 @@

 #==============================================================================
-# addAxisToGroup.cmd
+# addAxisToSafetyGroup.cmd
 #-
 #- !!!!!!!!!!!!!  IMPORTANT  !!!!!!!!! 
 #- This plugin has _NO_ safety rated functionalities.
@@ -17,14 +17,16 @@
 #- Arguments:
 #-   NAME               :   Name of safety group
 #-   AX_ID              :   Axis ID
-#-   VELO_LIM           :   Velocity standstill limit [unit same as EGU of axis]
+#-   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]
 #-
 #################################################################################

 #- ecmcAddAxisToSafetyGroup(<group_name>, <axis_index>, <velo_limit>, <filter_time>)
 #-           <name>                     : Name of safety group to add axis to.
 #-           <Axis id>                  : Axis index to add (ecmc axis index).
-#-           <velo limit>               : Axis standstill velo limit [unit of axis].
+#-           <velo_rest_limit>          : Axis at rest velo limit [unit of axis].
+#-           <velo_max_limit>           : Axis max velo limit [unit of axis].
 #-           <filter_time>              : NOT USED (for future implemenation). Time for axis to be below velo limit [ms].

-ecmcAddAxisToSafetyGroup("${NAME}",${AX_ID},${VELO_LIM=0},0)
+ecmcAddAxisToSafetyGroup("${NAME}",${AX_ID},${VELO_REST_LIM=0},0,${VELO_MAX_LIM=0.0})
--- a/scripts/addSS1Group.cmd
+++ b/scripts/addSS1Group.cmd
@@ -16,18 +16,21 @@
 #-
 #- Arguments:
 #-   NAME               :   Name of safety group
-#-   EC_RAMP_DOWN       :   Ethercat entry for rampd down command, input to ecmc (command from safety PLC/system)
-#-   EC_AXES_STANDSTILL :   Ethercat entry for all axes in group at standstill, output from ecmc (feedback to safety PLC/system)
+#-   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
 #-
 #################################################################################

-#- ecmcAddSS1SafetyGroup(<name>, <ec_rampdown_cmd>, <ec_standstill_status>,<time_delay_ms>)
-#-           <name>                     : Name of group.
-#-           <ec_rampdown>              : Ethercat entry input for rampdown cmd.
-#-           <ec_standstill>            : Ethercat entry output for group standstill status.
-#-           <time_delay_ms>            : Time delay of STO [ms].
-ecmcAddSS1SafetyGroup("${NAME}","${EC_RAMP_DOWN}","${EC_AXES_STANDSTILL}",${DELAY_MS=0})
+#-Use ecmcAddSS1SafetyGroup(<name>, <ec_rampdown_cmd>, <ec_standstill_status>,<time_delay_ms>)
+#-   <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)
+#-   <time_delay_ms>            : Time delay of STO [ms]
+
+ecmcAddSS1SafetyGroup("${NAME}","${EC_RAMP_DOWN}","${EC_AXES_REST}","${EC_AXES_MAX_VELO=empty}",${DELAY_MS=0})

 #- Load SS1 group records
 dbLoadRecords("ss1.template","P=${ECMC_PREFIX},NAME=${NAME}")
--- a/src/ecmcSS1SafetyGroup.cpp
+++ b/src/ecmcSS1SafetyGroup.cpp
@@ -35,11 +35,12 @@ extern DBBASE *pdbbase;
 *    - runtime_error
 */
 ecmcSS1SafetyGroup::ecmcSS1SafetyGroup(const char *name,
-                                 const char *ec_rampdown_cmd,
-                                 const char *ec_standstill_status,
-                                 int time_delay_ms,
-                                 const char *cfg_string,
-                                 char* portName) 
+                                       const char *ec_rampdown_cmd,
+                                       const char *ec_standstill_status,
+                                       const char *ec_limit_velo,
+                                       int time_delay_ms,
+                                       const char *cfg_string,
+                                       char* portName) 
                : asynPortDriver(portName,
                   1, /* maxAddr */
                   asynInt32Mask | asynFloat64Mask | asynFloat32ArrayMask |
@@ -55,49 +56,61 @@ ecmcSS1SafetyGroup::ecmcSS1SafetyGroup(const char *name,
                   0, /* Default priority */
                   0) /* Default stack size */
                   {
-  sName_                = strdup(name);
-  sEcRampDownCmdNameOrg_   = strdup(ec_rampdown_cmd);
-  sEcAxesStandStillStatOrg_= strdup(ec_standstill_status);
-  sEcRampDownCmdNameStrip_ = strdup(ec_rampdown_cmd);
-  sEcAxesStandStillStatStrip_ = strdup(ec_standstill_status);
-  sConfig_              = strdup(cfg_string);
-  delayMs_              = time_delay_ms;
+  sName_                    = strdup(name);
+  sEcRampDownCmdNameOrg_    = strdup(ec_rampdown_cmd);
+  sEcAxesStandStillStatOrg_ = strdup(ec_standstill_status);
+  sEcLimitVeloOrg_          = strdup(ec_limit_velo);
+  limitMaxVeloEnable_       = 1;
+  
+  if(strcmp(sEcLimitVeloOrg_, "empty") == 0) {
+    limitMaxVeloEnable_     = 0;
+  }
+  
+  sConfig_                  = strdup(cfg_string);
+  delayMs_                  = time_delay_ms;  
+  ptrStatus_                = (int*)&status_;
+  asynStatusId_             = -1;
+  axesCounter_              = 0;
+  ecmcSampleRateHz_         = getEcmcSampleRate();
+  dataSourcesLinked_        = 0;
+  ecMaster_                 = NULL;
+  ecEntryRampDown_          = NULL;
+  ecEntryStandstill_        = NULL;
+  ecEntryLimitVelo_         = NULL;
+  masterId_                 = 0;
+  slaveIdRampDown_          = 0;
+  bitRampDown_              = 0;
+  slaveIdStandStill_        = 0;
+  bitStandStill_            = 0;
+  aliasRampDown_[0]         = 0;  
+  aliasStandStill_[0]       = 0;
+  aliasLimitVelo_[0]        = 0;
+  rampDownCmd_              = 0;
+  axesAreStandstill_        = 0;
+  rampDownCmdOld_           = 0;
+  axesAreStandstillOld_     = 0;
+  printEnableStatus_        = 1;
+  limitVeloCmdOld_          = 0;
+  limitVeloCmd_             = 0;
+  axesDisabled_             = 0;
+  cfgDbgMode_               = 0;
  memset(&status_,0,sizeof(status_));
-  ptrStatus_            = (int*)&status_;
-  asynStatusId_         = -1;
-  axesCounter_          = 0;
-  ecmcSampleRateHz_     = getEcmcSampleRate();
-  dataSourcesLinked_    = 0;
-  ecMaster_             = NULL;
-  ecEntryRampDown_      = NULL;
-  ecEntryStandstill_    = NULL;
-  masterId_             = 0;
-  slaveIdRampDown_      = 0;
-  bitRampDown_          = 0;
-  slaveIdStandStill_    = 0;
-  bitStandStill_        = 0;
-  aliasRampDown_[0]     = 0;
-  aliasStandStill_[0]   = 0;
-  rampDownCmd_          = 0;
-  axesAreStandstill_    = 0;
-  rampDownCmdOld_       = 0;
-  axesAreStandstillOld_ = 0;
-  printEnableStatus_    = 1;

-  // Config defaults
-  cfgDbgMode_           = 0;
  parseConfigStr(cfg_string);
  initAsyn();
  if(cfgDbgMode_) {
-    printf("Safety %s: Safety group created:\n"
-           "    Type:                                      SS1\n"
-           "    Name:                                      %s\n"
-           "    I/O for rampdown command from saftey PLC:  %s\n" 
-           "    I/O for axes standstill status:            %s\n"
-           "    STO delay [ms]:                            %d\n"
-           "    Configuration string:                      %s\n",           
+    printf("Safety %s: Group created:\n"
+           "    Type:                                        SS1-t\n"
+           "    Name:                                        %s\n"
+           "    I/O for rampdown command from saftey PLC:    %s\n" 
+           "    I/O for axes standstill status:              %s\n"
+           "    I/O for velo limit command from safety PLC:  %s (%s)\n"
+           "    STO delay [ms]:                              %d\n"
+           "    Configuration string:                        %s\n",           
           sName_,sName_,sEcRampDownCmdNameOrg_,
-           sEcAxesStandStillStatOrg_,delayMs_,sConfig_);
+           sEcAxesStandStillStatOrg_,sEcLimitVeloOrg_,
+           limitMaxVeloEnable_ ? "enabled" : "disabled",
+           delayMs_,sConfig_);
  }
 }

@@ -109,9 +122,8 @@ ecmcSS1SafetyGroup::~ecmcSS1SafetyGroup() {
  free(sName_);
  free(sEcRampDownCmdNameOrg_);
  free(sEcAxesStandStillStatOrg_);
-  free(sEcRampDownCmdNameStrip_);
-  free(sEcAxesStandStillStatStrip_);
  free(sConfig_);
+  free(sEcLimitVeloOrg_);
 }

 void ecmcSS1SafetyGroup::parseConfigStr(const char *configStr) {
@@ -167,8 +179,20 @@ void ecmcSS1SafetyGroup::validateCfgs() {
                &bitStandStill_)) {    
    throw std::runtime_error( "Safety: Parse error: Data source for standstill status.");
  }
+  
+  // init to masterIdRampDown if case !limitMaxVeloEnable_ 
+  int masterIdLimitVelo = masterIdStandStill;
+  if(limitMaxVeloEnable_) {
+    if(parseEcPath(sEcLimitVeloOrg_,
+                  &masterIdLimitVelo,
+                  &slaveIdLimitVelo_,
+                  aliasLimitVelo_,
+                  &bitLimitVelo_)) {    
+      throw std::runtime_error( "Safety: Parse error: Data source for limit velo.");
+    }
+  }

-  if(masterIdStandStill != masterIdRampDown ) {
+  if(masterIdStandStill != masterIdRampDown || masterIdLimitVelo != masterIdRampDown) {
    throw std::runtime_error( "Safety: Parse error: Master id for datasources different.");
  }
  masterId_ = masterIdStandStill;
@@ -180,6 +204,10 @@ void ecmcSS1SafetyGroup::validateCfgs() {
  if(bitStandStill_ < 0) {
    throw std::runtime_error( "Safety: Parse error: Standstill status, bit invalid.");
  }
+  
+  if(bitLimitVelo_ < 0) {
+    throw std::runtime_error( "Safety: Parse error: Limit velo, bit invalid.");
+  }
 }

 void ecmcSS1SafetyGroup::validateAxes() {  
@@ -226,6 +254,22 @@ void ecmcSS1SafetyGroup::validateAxes() {
    printf("Safety %s: Error, group empty (axis count zero)\n",sName_);
    throw std::runtime_error( "Safety: Error, empty group not allowed.");
  }
+
+  // Check if max velo enabled in axis
+  int axesMaxVeloEnabled = 0;
+  for(std::vector<safetyAxis*>::iterator saxis = axes_.begin(); saxis != axes_.end(); ++saxis) {
+    axesMaxVeloEnabled = (*saxis)->veloMaxLimitEnabled_ || axesMaxVeloEnabled;
+  }
+
+  if(limitMaxVeloEnable_ && !axesMaxVeloEnabled) {
+    printf("Safety %s: Error, Limit max velo enabled but no axis configured with max velo\n",sName_);
+    throw std::runtime_error( "Safety: Error, Limit max velo enabled but no axis configured with max velo");
+  }
+
+  if(!limitMaxVeloEnable_ && axesMaxVeloEnabled) {
+    printf("Safety %s: Error, Limit max velo disabled but axis configured with a max velo\n",sName_);
+    throw std::runtime_error( "Safety: Error, Limit max velo disabled but axis configured with a max velo");
+  }
 }

 void ecmcSS1SafetyGroup::connectToDataSources() {
@@ -247,6 +291,10 @@ void ecmcSS1SafetyGroup::connectToDataSources() {
    throw std::runtime_error( "Safety: EtherCAT entry for rampdown I/O NULL.");
  }

+  if(bitRampDown_ >= ecEntryRampDown_->getBits()) {
+    throw std::runtime_error( "Safety: Bit out of range for rampdown ethercat entry.");
+  }
+
  // standstill
  slave = ecMaster_->findSlave(slaveIdStandStill_);
  if(!slave) {
@@ -255,30 +303,32 @@ void ecmcSS1SafetyGroup::connectToDataSources() {

  ecEntryStandstill_ = slave->findEntry(aliasStandStill_);
  if(!ecEntryStandstill_) {
-    throw std::runtime_error( "Safety: EtherCAT entry for rampdown I/O NULL.");
+    throw std::runtime_error( "Safety: EtherCAT entry for standstill I/O NULL.");
  };
+
+  if(bitStandStill_ >= ecEntryStandstill_->getBits()) {
+    throw std::runtime_error( "Safety: Bit out of range for standstill ethercat entry.");
+  }
+
+  // Limit velo
+  if( limitMaxVeloEnable_ ) {
+    slave = ecMaster_->findSlave(slaveIdLimitVelo_);
+    if(!slave) {
+      throw std::runtime_error( "Safety: EtherCAT slave limit velo I/O NULL.");
+    }
  
+    ecEntryLimitVelo_ = slave->findEntry(aliasLimitVelo_);
+    if(!ecEntryLimitVelo_) {
+      throw std::runtime_error( "Safety: EtherCAT entry for limit velo I/O NULL.");
+    };
+
+    if(bitLimitVelo_ >= ecEntryLimitVelo_->getBits()) {
+      throw std::runtime_error( "Safety: Bit out of range for limit velo ethercat entry.");
+    }
+  }
  dataSourcesLinked_ = 1;

  return;
-  
-  //// Get dataItem for rampdown command
-  //dataItemRampDownCmd_ = (ecmcDataItem*) getEcmcDataItem(sEcRampDownCmdNameStrip_);
-  //if(!dataItemRampDownCmd_) {
-  //  throw std::runtime_error( "Safety: Data item for ramp down command NULL.");
-  //}
-  //
-  //// Get dataItem for axes standstill status
-  //dataItemStandStillStat_ = (ecmcDataItem*) getEcmcDataItem(sEcAxesStandStillStatStrip_);
-  //if(!dataItemStandStillStat_) {
-  //  throw std::runtime_error( "Safety: Data item for axes standstill status NULL.");
-  //}
-  //
-  //if(cfgDbgMode_) {
-  //  printf("Safety: Safety group \"%s\"\": Data sources linked.\n",sName_);
-  //}
-  //
-  //dataSourcesLinked_ = 1;
 }

 void ecmcSS1SafetyGroup::refreshAsyn() { 
@@ -318,9 +368,8 @@ std::string ecmcSS1SafetyGroup::to_string(int value) {
  return os.str();
 }

-// Executed by ecmc rt thread.
-void ecmcSS1SafetyGroup::execute() {
-  
+// Ramp down and disable if safety interlock
+void ecmcSS1SafetyGroup::exeRampDown() {
  uint64_t data = 0;
  // Read ramp down command from safety plc
  if(ecEntryRampDown_->readBit(bitRampDown_,
@@ -333,7 +382,7 @@ void ecmcSS1SafetyGroup::execute() {
  }

  rampDownCmdOld_ = rampDownCmd_;
-  rampDownCmd_ = data == 0;
+  rampDownCmd_    = data == 0;

  if(rampDownCmdOld_ != rampDownCmd_) {
    
@@ -353,8 +402,12 @@ void ecmcSS1SafetyGroup::execute() {

  // set safety interlock in ecmc
  setAxesSafetyInterlocks(rampDownCmd_);
+
+  axesDisabled_ = checkAxesDisabled();
+  
  // check if axes are standstill to safety PLC
  axesAreStandstill_ = checkAxesStandstillAndDisableIfNeeded();
+
  setAxesStandstillStatus(axesAreStandstill_);
 
  // Disable
@@ -365,6 +418,56 @@ void ecmcSS1SafetyGroup::execute() {
  }
 }

+// Limit velo if needed
+void ecmcSS1SafetyGroup::exeLimitVelo() {
+
+  if(!limitMaxVeloEnable_) {
+    return;
+  }
+
+    uint64_t data = 0;
+  // Read ramp down command from safety plc
+  if(ecEntryLimitVelo_->readBit(bitLimitVelo_,
+                               &data)) {
+    // Disable all axes
+    setAxesDisable();           // disable
+    setAxesSafetyInterlocks(0); // stop
+    setAxesStandstillStatus(0); // set output
+    throw std::out_of_range("Safety: Read limit velo cmd failed");
+  }
+
+  limitVeloCmdOld_ = limitVeloCmd_;
+  limitVeloCmd_    = data == 0;
+
+  if(limitVeloCmdOld_ != limitVeloCmd_) { 
+    // Update asyn status wd
+    status_.limitVeloCmdActive = limitVeloCmd_;
+    refreshAsyn();
+
+    resetPrintoutStatus();
+    if(cfgDbgMode_) {
+      if(limitVeloCmd_) {
+        printf("Safety %s: Limit velo cmd active\n",sName_);
+      } else {
+        printf("Safety %s: Limit velo cmd not active\n",sName_);
+      }
+    }
+  }
+  
+  if(limitVeloCmd_) {    
+    checkAxesMaxVeloAndDisableIfNeeded();
+  }
+
+  // Write velo limit and activation to ecmc axis object
+  setAxesMaxVelo();
+}
+
+// Executed by ecmc rt thread.
+void ecmcSS1SafetyGroup::execute() {
+  exeRampDown();
+  exeLimitVelo();
+}
+
 void ecmcSS1SafetyGroup::resetPrintoutStatus() {
  for(std::vector<safetyAxis*>::iterator saxis = axes_.begin(); saxis != axes_.end(); ++saxis) {
    (*saxis)->printEnableStat_ = 1;    
@@ -384,9 +487,10 @@ void ecmcSS1SafetyGroup::setAxesStandstillStatus(int standstill) {
    status_.axesAtStandstill = standstill;
    refreshAsyn();
  }
-
+  
+  // Only write axis standstill bit if all axes are disabled
  if(ecEntryStandstill_->writeBit(bitStandStill_,
-                                  standstill > 0)) {
+                                 ((standstill > 0) && axesDisabled_) )) {
    throw std::out_of_range("Safety: Read rampdown cmd failed");
  }
  axesAreStandstillOld_ = standstill;
@@ -396,19 +500,82 @@ void ecmcSS1SafetyGroup::setAxesStandstillStatus(int standstill) {
 bool ecmcSS1SafetyGroup::checkAxesStandstill() {
  bool standstill = 1;
  for(std::vector<safetyAxis*>::iterator saxis = axes_.begin(); saxis != axes_.end(); ++saxis) {
-    standstill= standstill && checkAxisStandstill((*saxis));    
+    standstill= standstill && checkAxisStandstill((*saxis));
  }
  return standstill;
 }

-// Check standstill axis
-bool ecmcSS1SafetyGroup::checkAxisStandstill(safetyAxis* axis) {
-  double velo = 1;
-  int err = getAxisTrajVelo(axis->axisId_, &velo);
+// Check axes disabled
+bool ecmcSS1SafetyGroup::checkAxesDisabled() {
+  bool enabledsum = 1;
+  int enabled     = 0;
+  for(std::vector<safetyAxis*>::iterator saxis = axes_.begin(); saxis != axes_.end(); ++saxis) {    
+    getAxisEnabled((*saxis)->axisId_,&enabled);
+    enabledsum = enabledsum && enabled;
+  }
+  return !enabledsum;
+}
+
+// Check max velo violation
+void ecmcSS1SafetyGroup::checkAxesMaxVeloAndDisableIfNeeded() {
+  if(!limitVeloCmd_) {
+    return;
+  }
+
+  for(std::vector<safetyAxis*>::iterator saxis = axes_.begin(); saxis != axes_.end(); ++saxis) {
+    if(!(*saxis)->veloMaxLimitEnabled_) {
+      break;
+    }
+    if(checkAxisMaxVelo((*saxis))) {
+      printf("Safety %s: Axis %d, velo too high, disabling axis.\n", sName_, (*saxis)->axisId_);
+      setAxisEnable((*saxis)->axisId_,0);
+    }
+  }
+  return;
+}
+
+// Set max velo in axis object
+void ecmcSS1SafetyGroup::setAxesMaxVelo() {
+  for(std::vector<safetyAxis*>::iterator saxis = axes_.begin(); saxis != axes_.end(); ++saxis) {
+    if( (*saxis)->veloMaxLimitEnabled_ ) {
+      setAxisExtMaxVelo((*saxis)->axisId_,0.95*(*saxis)->veloMaxLimit_,limitVeloCmd_);
+    }
+  }
+}
+
+bool ecmcSS1SafetyGroup::checkAxisMaxVelo(safetyAxis* axis) {
+  double traj = 1;
+
+  int err = getAxisTrajVelo(axis->axisId_, &traj);
  if(err) {
    return 0;
  }
-  return std::abs(velo) <= axis->veloLimit_;
+
+  double enc = 1;
+  err = getAxisEncVelo(axis->axisId_, &enc);
+  if(err) {
+    return 0;
+  }
+
+  return std::abs(traj) >= axis->veloMaxLimit_ || std::abs(enc) >= axis->veloMaxLimit_;
+}
+
+// Check standstill axis
+bool ecmcSS1SafetyGroup::checkAxisStandstill(safetyAxis* axis) {
+  double traj = 1;
+
+  int err = getAxisTrajVelo(axis->axisId_, &traj);
+  if(err) {
+    return 0;
+  }
+
+  double enc = 1;
+  err = getAxisEncVelo(axis->axisId_, &enc);
+  if(err) {
+    return 0;
+  }
+
+  return std::abs(traj) <= axis->veloStandstillLimit_ && std::abs(enc) <= axis->veloStandstillLimit_;
 }

 // Check standstill and disable
@@ -439,7 +606,7 @@ void ecmcSS1SafetyGroup::setAxesDisable() {
    if(!*saxis) {
      throw std::runtime_error("Safety: Axis object NULL.");
    }
-    setAxisEnable((*saxis)->axisId_,0);    
+    setAxisEnable((*saxis)->axisId_,0);
  }

  if(printEnableStatus_ && cfgDbgMode_) {
@@ -458,18 +625,26 @@ void ecmcSS1SafetyGroup::setAxesSafetyInterlocks(int stop) {
  }
 }

-void ecmcSS1SafetyGroup::addAxis(int axisId, double veloLimit,int standStillTimeMs) {
+void ecmcSS1SafetyGroup::addAxis(int axisId,
+                                 double veloStandstillLimit,
+                                 int standStillTimeMs,
+                                 double veloMaxLimit) {

  if(!getAxisValid(axisId)) {  
    throw std::out_of_range("Safety: Invalid axis id");
  }
  
-  axes_.push_back(new safetyAxis(axisId, veloLimit, standStillTimeMs));  
+  axes_.push_back(new safetyAxis(axisId, veloStandstillLimit, 
+                                 standStillTimeMs, veloMaxLimit));
  axesCounter_++;
-  
-  
+
  if(cfgDbgMode_) {
-    printf("Safety %s: Added axis %d to safety group\n",sName_,axisId);
+    printf("Safety %s: Added axis %d to safety group.\n"
+           "    Velo stand still limit: %lf\n"
+           "    velo max limit:         %lf (%s)\n"
+           "    standstill filter time: %d\n"
+    ,sName_,axisId,veloStandstillLimit,veloMaxLimit,
+    veloMaxLimit>0 ? "enabled" : "disabled", standStillTimeMs);
  }

  return;
--- a/src/ecmcSS1SafetyGroup.h
+++ b/src/ecmcSS1SafetyGroup.h
@@ -25,26 +25,45 @@ typedef struct {
  bool               error              : 1;
  bool               rampDownCmdActive  : 1;
  bool               axesAtStandstill   : 1;
-  int                dummy              : 29;
+  bool               limitVeloCmdActive : 1;
+  int                dummy              : 28;
 } ecmcSafetyStatusWd;

 class safetyAxis {
  public:
  safetyAxis(int axisId,
-             double veloLimit,
-             int standStillTimeMs) {
-    veloLimit_        = veloLimit;
-    axisId_           = axisId;    
-    standStillTimeMs_ = standStillTimeMs;
-    printEnableStat_  = 1;
+             double velostandstillLimit,             
+             int standStillTimeMs,
+             double veloMaxLimit) {
+    veloStandstillLimit_ = velostandstillLimit;
+    axisId_              = axisId;    
+    standStillTimeMs_    = standStillTimeMs;
+    veloMaxLimit_        = veloMaxLimit;
+    veloMaxLimitEnabled_ = veloMaxLimit > 0;
+    printEnableStat_     = 1;
  }

-  double  veloLimit_;
+  safetyAxis(int axisId,
+             double velostandstillLimit,             
+             int standStillTimeMs) {
+    veloStandstillLimit_ = velostandstillLimit;
+    axisId_              = axisId;    
+    standStillTimeMs_    = standStillTimeMs;
+    veloMaxLimit_        = -1;
+    veloMaxLimitEnabled_ = 0;
+    printEnableStat_     = 1;
+  }
+
+  double  veloStandstillLimit_;
+  double  veloMaxLimit_;  // disable with -1
  int     axisId_;
  int     standStillTimeMs_;
  int     printEnableStat_;
+  int     veloMaxLimitEnabled_;
 };

+
+
 class ecmcSS1SafetyGroup : public asynPortDriver {
 public:

@@ -54,17 +73,21 @@ class ecmcSS1SafetyGroup : public asynPortDriver {
   *    - out_of_range
  */
  ecmcSS1SafetyGroup(const char *name,
-                  const char *ec_rampdown_cmd,
-                  const char *ec_standstill_status,
-                  int time_delay_ms,
-                  const char *cfg_string,
-                  char* portName);
+                     const char *ec_rampdown_cmd,
+                     const char *ec_standstill_status,
+                     const char *ec_limit_velo,
+                     int time_delay_ms,
+                     const char *cfg_string,
+                     char* portName);
                      
  ~ecmcSS1SafetyGroup();  

  // Call just before realtime because then all data sources should be available
  void                  validate();
-  void                  addAxis(int axisId, double veloLimit,int standStillTimeMs);
+  void                  addAxis(int axisId,
+                                double veloLimit,
+                                int standStillTimeMs,
+                                double veloMaxLimit);
  void                  execute();
  virtual asynStatus    readInt32(asynUser *pasynUser, epicsInt32 *value);
  std::string           getName();
@@ -77,19 +100,27 @@ class ecmcSS1SafetyGroup : public asynPortDriver {
  void                  setAxesDisable();
  void                  setAxesStandstillStatus(int standstill);
  bool                  checkAxesStandstill();
+  bool                  checkAxesDisabled();
  bool                  checkAxisStandstill(safetyAxis* axis);
  bool                  checkAxisStandstillAndDisableIfNeeded(safetyAxis* axis);
  bool                  checkAxesStandstillAndDisableIfNeeded();
+  void                  checkAxesMaxVeloAndDisableIfNeeded();
+  void                  setAxesMaxVelo();
+  bool                  checkAxisMaxVelo(safetyAxis* axis);
  void                  resetPrintoutStatus();
  void                  parseConfigStr(const char *configStr);
  void                  initAsyn();
  void                  refreshAsyn();
+  void                  exeRampDown();
+  void                  exeLimitVelo();
  double                ecmcSampleRateHz_;
  int                   dataSourcesLinked_;  // To avoid link several times
  int                   objectId_;           // Unique object id
  int                   cycleCounter_;
  int                   rampDownCmd_;
  int                   rampDownCmdOld_;
+  int                   limitVeloCmdOld_;
+  int                   limitVeloCmd_;

  // Config options
  int                   cfgDbgMode_;         // Config: allow dbg printouts
@@ -105,8 +136,7 @@ class ecmcSS1SafetyGroup : public asynPortDriver {
  char*                 sName_;
  char*                 sEcRampDownCmdNameOrg_;
  char*                 sEcAxesStandStillStatOrg_;
-  char*                 sEcRampDownCmdNameStrip_;
-  char*                 sEcAxesStandStillStatStrip_;
+  char*                 sEcLimitVeloOrg_;
  char*                 sConfig_;
  
  int                   delayMs_;
@@ -115,16 +145,23 @@ class ecmcSS1SafetyGroup : public asynPortDriver {
  int                   bitRampDown_;
  int                   slaveIdStandStill_;
  int                   bitStandStill_;
+  int                   slaveIdLimitVelo_;
+  int                   bitLimitVelo_;
+
+  int                   limitMaxVeloEnable_;
+  int                   axesDisabled_;
  int                   axesAreStandstill_;
  int                   axesAreStandstillOld_;
  int                   printEnableStatus_;

  char                  aliasRampDown_[EC_MAX_OBJECT_PATH_CHAR_LENGTH];
  char                  aliasStandStill_[EC_MAX_OBJECT_PATH_CHAR_LENGTH];
-  
+  char                  aliasLimitVelo_[EC_MAX_OBJECT_PATH_CHAR_LENGTH];
+
  ecmcEc               *ecMaster_;
  ecmcEcEntry          *ecEntryRampDown_;
  ecmcEcEntry          *ecEntryStandstill_;
+  ecmcEcEntry          *ecEntryLimitVelo_;
  
  static std::string    to_string(int value);
 };
--- a/src/ecmcSafetyPlgWrap.cpp
+++ b/src/ecmcSafetyPlgWrap.cpp
@@ -51,6 +51,7 @@ ecmcSS1SafetyGroup* getGroupFromName(const char *name) {
 int createSafetyGroup(const char *name,
                      const char *ec_rampdown_cmd,
                      const char *ec_standstill_status,
+                      const char *ec_max_velo_cmd,
                      int time_delay_ms) {

  // ensure group does not already exist
@@ -71,6 +72,7 @@ int createSafetyGroup(const char *name,
    safetyGroup = new ecmcSS1SafetyGroup(name,
                                      ec_rampdown_cmd,
                                      ec_standstill_status,
+                                      ec_max_velo_cmd,
                                      time_delay_ms,
                                      configString,
                                      portNameBuffer);
@@ -90,7 +92,8 @@ int createSafetyGroup(const char *name,
 int addAxisToSafetyGroup(const char *groupName, 
                         int axisId,
                         double veloLimit,
-                         int standStillTimeMs) {
+                         int standStillTimeMs,
+                         double maxVeloLimit) {
  
  ecmcSS1SafetyGroup* grp = getGroupFromName(groupName);

@@ -99,7 +102,7 @@ int addAxisToSafetyGroup(const char *groupName,
    throw std::runtime_error( "Safety: Error, group not found.");
  }

-  grp->addAxis(axisId,veloLimit,standStillTimeMs);
+  grp->addAxis(axisId,veloLimit,standStillTimeMs,maxVeloLimit);
  
  return asynSuccess;
 }
@@ -160,15 +163,20 @@ int executeSafetyGroups() {
 */
 void ecmcAddSS1SafetyGroupPrintHelp() {
  printf("\n");
-  printf("       Use ecmcAddSS1SafetyGroup(<name>, <ec_rampdown_cmd>, <ec_standstill_status>,<time_delay_ms>)\n");
+  printf("       Use ecmcAddSS1SafetyGroup(<name>, <ec_rampdown_cmd>, <ec_standstill_status>,<ec_max_velo_cmd>,<time_delay_ms>)\n");
  printf("          <name>                     : Name of group.\n");
  printf("          <ec_rampdown_cmd>          : Ethercat entry input for rampdown cmd.\n");
  printf("          <ec_standstill_status>     : Ethercat entry output for group standstill status.\n");
+  printf("          <ec_max_velo_cmd>          : Ethercat entry input for activation of maximum velo limitation (set to \"empty\" to disable).\n");
  printf("          <time_delay_ms>            : Time delay of STO [ms].\n");
  printf("\n");
 }

-int ecmcAddSS1SafetyGroup(const char* name, const char* ec_rampdown_cmd,const char* ec_standstill_status,int time_delay_ms) {
+int ecmcAddSS1SafetyGroup(const char* name,
+                          const char* ec_rampdown_cmd,
+                          const char* ec_standstill_status,
+                          const char* ec_max_velo_cmd,
+                          int         time_delay_ms) {
  if(!name) {
    ecmcAddSS1SafetyGroupPrintHelp();
    return asynError;
@@ -190,13 +198,20 @@ int ecmcAddSS1SafetyGroup(const char* name, const char* ec_rampdown_cmd,const ch
    ecmcAddSS1SafetyGroupPrintHelp();
    return asynError;
  }
+
+  if(!ec_max_velo_cmd) {
+    printf("Error: ec_max_velo_cmd ethercat entry not defined.\n");
+    ecmcAddSS1SafetyGroupPrintHelp();
+    return asynError;
+  }
+  
  if(time_delay_ms <= 0) {
    printf("Error: time_delay invalid.\n");
    exit (EXIT_FAILURE);
  }

  try {
-    createSafetyGroup(name,ec_rampdown_cmd,ec_standstill_status, time_delay_ms);
+    createSafetyGroup(name,ec_rampdown_cmd,ec_standstill_status,ec_max_velo_cmd,time_delay_ms);
  }
  catch(std::exception& e) {
    printf("Exception: %s. Add safety group failed.\n",e.what());
@@ -213,16 +228,19 @@ static const iocshArg initArg1_1 =
 static const iocshArg initArg2_1 =
 { "ec entry output axes standstill status", iocshArgString };
 static const iocshArg initArg3_1 =
+{ "ec entry input activate max velo", iocshArgString };
+static const iocshArg initArg4_1 =
 { "STO delay [ms]", iocshArgInt };

 static const iocshArg *const initArgs_1[]  = { &initArg0_1, 
                                               &initArg1_1,
                                               &initArg2_1,
-                                               &initArg3_1};
+                                               &initArg3_1,
+                                               &initArg4_1,};

-static const iocshFuncDef    initFuncDef_1 = { "ecmcAddSS1SafetyGroup", 4, initArgs_1 };
+static const iocshFuncDef    initFuncDef_1 = { "ecmcAddSS1SafetyGroup", 5, initArgs_1 };
 static void initCallFunc_1(const iocshArgBuf *args) {
-  ecmcAddSS1SafetyGroup(args[0].sval, args[1].sval, args[2].sval, args[3].ival);
+  ecmcAddSS1SafetyGroup(args[0].sval, args[1].sval, args[2].sval, args[3].sval, args[4].ival);
 }

 /** 
@@ -231,14 +249,19 @@ static void initCallFunc_1(const iocshArgBuf *args) {
 void ecmcAddAxisToSafetyGroupPrintHelp() {
  printf("\n");
  printf("       Use ecmcAddAxisToSafetyGroup(<group_name>, <axis_index>)\n");
-  printf("          <name>         : Name of safety group.\n");
-  printf("          <Axis id>      : Axis index to add.\n");
-  printf("          <velo limit>   : Axis standstill velo limit [unit of axis].\n");
-  printf("          <time>         : Time for axis to be below velo limit [ms].\n");
+  printf("          <name>                    : Name of safety group.\n");
+  printf("          <Axis id>                 : Axis index to add.\n");
+  printf("          <standstill_velo_limit>   : Axis standstill velo limit [unit of axis].\n");
+  printf("          <standstill_time>         : Time for axis to be below standstill_velo_limit [ms].\n");
+  printf("          <max_velo_limit>          : Axis max velo limit [unit of axis] (0 to disable).\n");
  printf("\n");
 }

-int ecmcAddAxisToSafetyGroup(const char* name, int axis_id, double velo_lim, int stand_still_time) {
+int ecmcAddAxisToSafetyGroup(const char* name, 
+                             int axis_id,
+                             double standstill_velo_limit,
+                             int stand_still_time,
+                             double max_velo_limit) {
  if(!name) {    
    ecmcAddAxisToSafetyGroupPrintHelp();
    return asynError;
@@ -254,17 +277,26 @@ int ecmcAddAxisToSafetyGroup(const char* name, int axis_id, double velo_lim, int
    exit(EXIT_FAILURE);
  }

-  if(velo_lim < 0) {
-    printf("Error: Invalid velocity limit.\n");
+  if(standstill_velo_limit < 0) {
+    printf("Error: Invalid standstill velocity limit.\n");
    exit(EXIT_FAILURE);
  }

  if(stand_still_time < 0) {
-    printf("Error: Invalid stand still filter time.\n");
+    printf("Error: Invalid standstill filter time.\n");
    exit(EXIT_FAILURE);
  }
+
+  if(max_velo_limit < 0) {
+    printf("Error: Invalid maximum velocity limit.\n");
+    exit(EXIT_FAILURE);
+  }
+  
  try {
-    return addAxisToSafetyGroup(name,axis_id, velo_lim, stand_still_time);
+    return addAxisToSafetyGroup(name,axis_id,
+                                standstill_velo_limit,
+                                stand_still_time,
+                                max_velo_limit);
  }
  catch(std::exception& e) {
    printf("Exception: %s. Add axis to safety group failed.\n",e.what());
@@ -279,18 +311,21 @@ static const iocshArg initArg0_2 =
 static const iocshArg initArg1_2 =
 { "Axis id []", iocshArgInt };
 static const iocshArg initArg2_2 =
-{ "Velo limit [unit same as axis cfg]", iocshArgDouble };
+{ "Velo stand still limit [unit same as axis cfg]", iocshArgDouble };
 static const iocshArg initArg3_2 =
 { "Velo stand still filter time [ms]", iocshArgInt };
+static const iocshArg initArg4_2 =
+{ "Velo max limit [unit same as axis cfg]", iocshArgDouble };

 static const iocshArg *const initArgs_2[]  = { &initArg0_2, 
                                               &initArg1_2,
                                               &initArg2_2,
-                                               &initArg3_2};
+                                               &initArg3_2,
+                                               &initArg4_2};

-static const iocshFuncDef    initFuncDef_2 = { "ecmcAddAxisToSafetyGroup", 4, initArgs_2};
+static const iocshFuncDef    initFuncDef_2 = { "ecmcAddAxisToSafetyGroup", 5, initArgs_2};
 static void initCallFunc_2(const iocshArgBuf *args) {
-  ecmcAddAxisToSafetyGroup(args[0].sval, args[1].ival, args[2].dval, args[3].ival);
+  ecmcAddAxisToSafetyGroup(args[0].sval, args[1].ival, args[2].dval, args[3].ival, args[4].dval);
 }

 void ecmcSafetyPlgRegister(void) {
--- a/startup.cmd
+++ b/startup.cmd
@@ -13,7 +13,7 @@
 #-
 #################################################################################

-#- Print discalimer
+#- Print disclaimer
 #
 # !!!!!!!!!!!!!  IMPORTANT  !!!!!!!!! 
 # This plugin has _NO_ safety rated functionalities.
Author	SHA1	Message	Date
Anders Sandström	a1110a3aa4	depend on ecmc 9	2024-09-13 09:02:15 +02:00
Anders Sandström	4930b2bfeb	Use ecmc 9.5.0	2024-05-01 10:32:16 +02:00
Anders Sandström	eea8ea48e9	Update test script	2024-03-20 09:54:37 +01:00
Anders Sandström	817b1a2b8d	Update test script	2024-03-20 09:51:21 +01:00
Anders Sandström	876ddb1d4a	Merge branch 'master' of git.psi.ch:epics_ioc_modules/ecmc_plugin_safety	2024-03-20 09:50:18 +01:00
Anders Sandström	7550551cc4	Merge branch 'master' of git.psi.ch:epics_ioc_modules/ecmc_plugin_safety	2024-03-20 09:29:59 +01:00
Anders Sandström	0c5f9a4091	Add check of bit id	2024-03-20 09:29:40 +01:00
Anders Sandström	28c25a4345	Update test script	2024-03-18 09:40:26 +01:00
Anders Sandström	5d1ff4fc99	Valdiate bit index of ethercat entries	2024-03-18 09:38:55 +01:00
Anders Sandström	a1b4ec01b8	Cleanup	2024-03-18 09:26:32 +01:00
Anders Sandström	05654f8917	Update testscript	2024-03-18 09:23:25 +01:00
Anders Sandström	694be265d0	Merge branch 'master' of git.psi.ch:epics_ioc_modules/ecmc_plugin_safety	2024-03-13 08:58:01 +01:00
Anders Sandström	aade802526	Update test script	2024-03-13 08:57:49 +01:00
Anders Sandström	ae7697bd08	Update readme	2024-03-13 08:57:03 +01:00
Anders Sandström	bedf777537	Merge branch 'master' of git.psi.ch:epics_ioc_modules/ecmc_plugin_safety	2024-03-13 08:55:40 +01:00
Anders Sandström	ad8dd2cc36	Added and tested velo limitation	2024-03-13 08:55:22 +01:00
Anders Sandström	50ce0d45ca	Merge branch 'master' of git.psi.ch:epics_ioc_modules/ecmc_plugin_safety	2024-03-12 16:47:55 +01:00
Anders Sandström	b8da66f0a5	Use test versions safety3	2024-03-12 16:47:38 +01:00
Anders Sandström	d6f04bfa4d	Remove obsolete test script	2024-03-12 16:24:58 +01:00
Anders Sandström	4bc5bf475f	Merge branch 'master' of git.psi.ch:epics_ioc_modules/ecmc_plugin_safety	2024-03-12 16:23:12 +01:00
Anders Sandström	940d2c5a71	Update etst scripts	2024-03-12 16:23:03 +01:00
Anders Sandström	de10cade0f	Add max velo feature	2024-03-12 16:22:13 +01:00
Anders Sandström	3272fd62ed	Start add velo lim cmd	2024-03-12 11:02:50 +01:00
Anders Sandström	a5c2b5a4b3	Merge branch 'master' of git.psi.ch:epics_ioc_modules/ecmc_plugin_safety into safety	2024-03-11 10:03:20 +01:00
Anders Sandström	fec9293520	Use ecmc 9.2.0	2024-03-11 10:02:27 +01:00
Anders Sandström	1c051995c3	Update testscript	2024-03-11 09:38:31 +01:00
Anders Sandström	c02541c711	Update max velo in test script	2024-03-07 14:20:21 +01:00
Anders Sandström	67f6c739e0	Merge branch 'master' of git.psi.ch:epics_ioc_modules/ecmc_plugin_safety	2024-03-07 14:18:14 +01:00
Anders Sandström	ea4d26fd31	Update testscript	2024-03-07 14:17:53 +01:00
Anders Sandström	9bd3a2b124	Test safety branch of ecmc	2024-03-06 19:17:19 +01:00
Anders Sandström	48c6070a62	Fix paths to pics	2024-02-28 14:06:14 +01:00
Anders Sandström	dd1b229322	Add comment	2024-02-28 14:04:48 +01:00
Anders Sandström	10d5b1deb7	Add test pics to REDAME.md	2024-02-28 14:03:31 +01:00
Anders Sandström	f68a2602d5	Rename addAxisToGroup.cmd to addAxisToSafetyGroup.cmd	2024-02-28 13:54:40 +01:00
Anders Sandström	ed84fa26e3	Rename addAxisToGroup.cmd to addAxisToSafetyGroup.cmd WIP	2024-02-28 13:47:17 +01:00
Anders Sandström	8f3a9d5b59	Adapt emerg decelration to ensure ramp down before the 500ms sto delay	2024-02-28 12:24:27 +01:00
Anders Sandström	0eb4a8032e	Merge branch 'master' of git.psi.ch:epics_ioc_modules/ecmc_plugin_safety	2024-02-28 12:21:37 +01:00
Anders Sandström	f9cf3e1fe2	Use default version of plugin	2024-02-28 12:21:15 +01:00
Anders Sandström	68210c6e40	Merge branch 'master' of git.psi.ch:epics_ioc_modules/ecmc_plugin_safety	2024-02-28 12:18:25 +01:00
Anders Sandström	c7a147b219	Also check act velo	2024-02-28 12:18:15 +01:00
Anders Sandström	7f28d95db4	Merge branch 'master' of git.psi.ch:epics_ioc_modules/ecmc_plugin_safety	2024-02-28 12:17:33 +01:00
Anders Sandström	0d22b4f935	Add test with 4 ax box and safety relay	2024-02-28 12:17:04 +01:00
sandst_a	19a46aa738	Update README.md	2024-02-23 20:59:43 +01:00
Anders Sandström	added6a7cd	Merge branch 'master' of git.psi.ch:epics_ioc_modules/ecmc_plugin_safety	2024-02-21 16:10:11 +01:00
Anders Sandström	611dce9c7a	Use default versions in test script	2024-02-21 16:09:53 +01:00
Anders Sandström	72c4bf0697	Update test.script	2024-02-21 16:01:47 +01:00