use ecmc 11.0

epics 7.0.9
update makefile
2025-10-13 11:56:58 +02:00 · 2025-04-22 12:20:57 +02:00 · 2025-03-28 09:17:41 +01:00 · 2025-03-21 10:49:47 +01:00 · 2025-03-03 14:34:29 +01:00 · 2025-02-26 17:15:38 +01:00
31 changed files with 1770 additions and 1250 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/ecmcSS1Axis.template
+++ b/Db/ecmcSS1Axis.template
@@ -0,0 +1,25 @@
+#- Will be a sub record to the axis object, example:
+#- AXIS_PREFIX=c6015a-02:M1
+record(stringin,"$(AXIS_PREFIX)-SS1-GrpNam") {
+    field(DESC, "Name of Saftey Grp ")
+    field(VAL,  "${NAME}")
+}
+
+record(bi,"${AXIS_PREFIX}-SS1-EnaAct"){
+  field(DESC, "Safety PLG active for this axis")
+  field(VAL,   1)
+  field(ONAM, "1")
+  field(ZNAM, "0")
+}
+
+record(ai,"${AXIS_PREFIX}-SS1-VelMaxLim"){
+  field(DESC, "Velocity max limit (not safety...)")
+  field(VAL,  ${VEL_MAX_LIM=-1})
+  field(PREC, 3)
+}
+
+record(ai,"${AXIS_PREFIX}-SS1-VelRestLim"){
+  field(DESC, "Velocity rest limit (not safety...)")
+  field(VAL,  ${VEL_REST_LIM=-1})
+  field(PREC, 3)
+}
--- a/Db/ecmcSS1Group.template
+++ b/Db/ecmcSS1Group.template
@@ -51,4 +51,33 @@ record(bi,"${P}SS1-${NAME}-AxsStndStllAct"){
  field(ONAM, "Standstill")
  field(ZSV,  "NO_ALARM")
  field(OSV,  "NO_ALARM")
+  field(FLNK, "${P}SS1-${NAME}-RedVeloCmdAct.PROC")
+}
+
+#  // bit 3 reduce velo active
+record(bi,"${P}SS1-${NAME}-RedVeloCmdAct"){
+  field(DESC, "SS1-${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")
+}
+
+record(ai,"$(P)SS1-${NAME}-Dly") {
+    field(DESC, "Power off delay [ms]")
+    field(EGU,  "ms")
+    field(VAL,  "$(DELAY=0)")
+    field(PREC, "0")
+}
+
+
+record(stringin,"$(P)SS1-Grp${ID=0}-Nam") {
+    field(DESC, "Name of Grp ${ID=0}")
+    field(VAL,  "${NAME}")
+}
+
+record(ai,"$(P)SS1-GrpCnt") {
+    field(DESC, "Group Count")
+    field(VAL,  "$(COUNT=0)")
 }
--- a/Db/ecmcSS1Main.template
+++ b/Db/ecmcSS1Main.template
@@ -0,0 +1,11 @@
+record(stringin,"$(P)SS1-PnlTyp") {
+    field(DESC, "Panel name")
+    field(VAL,  "ecmc_plugin_safety_main.ui")
+}
+
+record(bi,"${P}SS1-Loaded"){
+  field(DESC, "Plugin loaded")
+  field(VAL,   1)
+  field(ONAM, "1")
+  field(ZNAM, "0")
+}
--- a/42
+++ b/42
@@ -2,11 +2,14 @@ include /ioc/tools/driver.makefile

 MODULE = ecmc_plugin_safety

+# "Transfer" module name to plugin
+USR_CFLAGS +=-DECMC_PLUGIN_MODULE_NAME=${MODULE}
+
 BUILDCLASSES = Linux
-ARCH_FILTER = deb10%
+ARCH_FILTER = deb10% deb12%

 # Run 7.0.6 for now
-EXCLUDE_VERSIONS+=3 7.0.5 7.0.6
+EXCLUDE_VERSIONS+=3 7.0.5 7.0.6 7.0.7

 IGNORE_MODULES += asynMotor
 IGNORE_MODULES += motorBase
@@ -15,20 +18,29 @@ USR_CXXFLAGS += -std=c++17
 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 = 11.0

-################################################################################
-# THIS RELATES TO THE EtherCAT MASTER LIBRARY
-# IT IS OF PARAMOUNT IMPORTANCE TO LOAD THE PROPER KERNEL MODULE
-# ################################################################################
-USR_LDFLAGS += -lethercat
+# ethercat
+#   debian 12
+EC_MASTER_VER = 1.6.3
+EC_BASE_PATH = /ioc/NeedfulThings/EtherCAT/4epics/${EC_MASTER_VER}/
+USR_CXXFLAGS_deb12-x86_64 += -I${EC_BASE_PATH}${T_A}/include/
+USR_CXXFLAGS_deb12-x86_64 += -L${EC_BASE_PATH}${T_A}/lib/
+
+LIB_SYS_LIBS += ethercat
+USR_LDFLAGS_deb12-x86_64 += -Wl,-rpath=${EC_BASE_PATH}${T_A}/lib/
+USR_LDFLAGS_deb12-x86_64 +=         -L ${EC_BASE_PATH}${T_A}/lib/
+
+#   debian 10
+#   note: EC_MASTER LIB does not depend on epics version hence use the 7.0.8 build..
+USR_LDFLAGS_deb10-x86_64 += -lethercat
+EC_MASTER_LIB = /ioc/NeedfulThings/EtherCAT/4epics/v1.1.0/R7.0.8/
+USR_LDFLAGS_deb10-x86_64 += -Wl,-rpath=${EC_MASTER_LIB}lib/${T_A}
+USR_LDFLAGS_deb10-x86_64 +=  -L ${EC_MASTER_LIB}lib/${T_A}
+USR_CXXFLAGS_deb10-x86_64 += -I${EC_MASTER_LIB}/include/
+
+OPT_CXXFLAGS_YES = -O3

-EC_MASTER_LIB = ${EPICS_MODULES}/ECmasterECMC/${ECmasterECMC_VERSION}/R${EPICSVERSION}/lib/${T_A}
-USR_LDFLAGS += -Wl,-rpath=${EC_MASTER_LIB}
-USR_LDFLAGS +=         -L ${EC_MASTER_LIB}

 BASE_DIR = .
 SRC_DIR = $(BASE_DIR)/src
@@ -43,5 +55,5 @@ 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
@@ -10,38 +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).

@@ -50,632 +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:
-[sandst_a@pc15846 ~]$ camon -time c6025a:m0s006-BI08 c6025a:m0s005-BO07 c6025a:Axis1-EnaAct  c6025a:Axis1-VelAct
-11:44:41.998324 c6025a:m0s006-BI08 "True"
-11:44:30.378340 c6025a:m0s005-BO07 "One"
-11:44:42.008324 c6025a:Axis1-EnaAct "Disabled"
-11:44:30.388326 c6025a:Axis1-VelAct 0.000 mm/s
-11:44:55.428324 c6025a:Axis1-EnaAct "Enabled"
-11:45:00.958339 c6025a:Axis1-VelAct 0.281 mm/s
-11:45:00.958365 c6025a:m0s005-BO07 "Zero"
-11:45:00.978335 c6025a:Axis1-VelAct 0.844 mm/s
-11:45:00.988344 c6025a:Axis1-VelAct 1.406 mm/s
-11:45:00.998338 c6025a:Axis1-VelAct 2.250 mm/s
-11:45:01.008337 c6025a:Axis1-VelAct 3.375 mm/s
-11:45:01.018341 c6025a:Axis1-VelAct 4.500 mm/s
-11:45:01.028338 c6025a:Axis1-VelAct 5.906 mm/s
-11:45:01.038340 c6025a:Axis1-VelAct 7.594 mm/s
-11:45:01.048338 c6025a:Axis1-VelAct 9.562 mm/s
-11:45:01.058340 c6025a:Axis1-VelAct 11.250 mm/s
-11:45:01.068337 c6025a:Axis1-VelAct 13.500 mm/s
-11:45:01.078336 c6025a:Axis1-VelAct 15.469 mm/s
-11:45:01.088338 c6025a:Axis1-VelAct 17.438 mm/s
-11:45:01.098339 c6025a:Axis1-VelAct 19.406 mm/s
-11:45:01.108341 c6025a:Axis1-VelAct 21.375 mm/s
-11:45:01.118338 c6025a:Axis1-VelAct 23.625 mm/s
-11:45:01.128339 c6025a:Axis1-VelAct 25.594 mm/s
-11:45:01.138339 c6025a:Axis1-VelAct 27.562 mm/s
-11:45:01.148337 c6025a:Axis1-VelAct 29.531 mm/s
-11:45:01.158345 c6025a:Axis1-VelAct 31.500 mm/s
-11:45:01.168338 c6025a:Axis1-VelAct 33.469 mm/s
-11:45:01.178339 c6025a:Axis1-VelAct 35.437 mm/s
-11:45:01.188338 c6025a:Axis1-VelAct 37.687 mm/s
-11:45:01.198337 c6025a:Axis1-VelAct 39.656 mm/s
-11:45:01.208338 c6025a:Axis1-VelAct 41.625 mm/s
-11:45:01.218334 c6025a:Axis1-VelAct 43.594 mm/s
-11:45:01.228342 c6025a:Axis1-VelAct 45.844 mm/s
-11:45:01.238335 c6025a:Axis1-VelAct 47.812 mm/s
-11:45:01.248352 c6025a:Axis1-VelAct 49.781 mm/s
-11:45:01.258338 c6025a:Axis1-VelAct 51.750 mm/s
-11:45:01.268342 c6025a:Axis1-VelAct 54.000 mm/s
-11:45:01.278336 c6025a:Axis1-VelAct 55.969 mm/s
-11:45:01.288340 c6025a:Axis1-VelAct 57.938 mm/s
-11:45:01.298338 c6025a:Axis1-VelAct 59.906 mm/s
-11:45:01.308337 c6025a:Axis1-VelAct 62.156 mm/s
-11:45:01.318335 c6025a:Axis1-VelAct 63.844 mm/s
-11:45:01.328344 c6025a:Axis1-VelAct 65.812 mm/s
-11:45:01.338346 c6025a:Axis1-VelAct 68.063 mm/s
-11:45:01.348341 c6025a:Axis1-VelAct 70.031 mm/s
-11:45:01.358338 c6025a:Axis1-VelAct 72.281 mm/s
-11:45:01.368343 c6025a:Axis1-VelAct 74.250 mm/s
-11:45:01.378345 c6025a:Axis1-VelAct 76.219 mm/s
-11:45:01.388342 c6025a:Axis1-VelAct 78.187 mm/s
-11:45:01.398341 c6025a:Axis1-VelAct 80.438 mm/s
-11:45:01.408339 c6025a:Axis1-VelAct 82.125 mm/s
-11:45:01.418338 c6025a:Axis1-VelAct 84.375 mm/s
-11:45:01.428338 c6025a:Axis1-VelAct 86.344 mm/s
-11:45:01.438337 c6025a:Axis1-VelAct 88.312 mm/s
-11:45:01.448338 c6025a:Axis1-VelAct 90.281 mm/s
-11:45:01.458339 c6025a:Axis1-VelAct 92.250 mm/s
-11:45:01.468344 c6025a:Axis1-VelAct 94.219 mm/s
-11:45:01.478343 c6025a:Axis1-VelAct 96.469 mm/s
-11:45:01.488347 c6025a:Axis1-VelAct 98.438 mm/s
-11:45:01.498339 c6025a:Axis1-VelAct 100.406 mm/s
-11:45:01.508340 c6025a:Axis1-VelAct 102.656 mm/s
-11:45:01.518340 c6025a:Axis1-VelAct 104.625 mm/s
-11:45:01.528338 c6025a:Axis1-VelAct 106.594 mm/s
-11:45:01.538341 c6025a:Axis1-VelAct 108.563 mm/s
-11:45:01.548337 c6025a:Axis1-VelAct 110.813 mm/s
-11:45:01.558339 c6025a:Axis1-VelAct 112.781 mm/s
-11:45:01.568337 c6025a:Axis1-VelAct 114.750 mm/s
-11:45:01.578338 c6025a:Axis1-VelAct 116.437 mm/s
-11:45:01.588338 c6025a:Axis1-VelAct 118.688 mm/s
-11:45:01.598336 c6025a:Axis1-VelAct 120.656 mm/s
-11:45:01.608339 c6025a:Axis1-VelAct 122.625 mm/s
-11:45:01.618339 c6025a:Axis1-VelAct 124.594 mm/s
-11:45:01.628337 c6025a:Axis1-VelAct 126.562 mm/s
-11:45:01.638348 c6025a:Axis1-VelAct 128.531 mm/s
-11:45:01.648346 c6025a:Axis1-VelAct 130.500 mm/s
-11:45:01.658339 c6025a:Axis1-VelAct 132.469 mm/s
-11:45:01.668338 c6025a:Axis1-VelAct 134.437 mm/s
-11:45:01.678341 c6025a:Axis1-VelAct 136.688 mm/s
-11:45:01.688346 c6025a:Axis1-VelAct 138.656 mm/s
-11:45:01.698339 c6025a:Axis1-VelAct 140.625 mm/s
-11:45:01.708350 c6025a:Axis1-VelAct 142.594 mm/s
-11:45:01.718339 c6025a:Axis1-VelAct 144.844 mm/s
-11:45:01.728339 c6025a:Axis1-VelAct 146.813 mm/s
-11:45:01.738342 c6025a:Axis1-VelAct 148.781 mm/s
-11:45:01.748340 c6025a:Axis1-VelAct 150.469 mm/s
-11:45:01.758342 c6025a:Axis1-VelAct 152.719 mm/s
-11:45:01.768344 c6025a:Axis1-VelAct 154.688 mm/s
-11:45:01.778338 c6025a:Axis1-VelAct 156.656 mm/s
-11:45:01.788341 c6025a:Axis1-VelAct 158.625 mm/s
-11:45:01.798339 c6025a:Axis1-VelAct 160.594 mm/s
-11:45:01.808344 c6025a:Axis1-VelAct 162.562 mm/s
-11:45:01.818340 c6025a:Axis1-VelAct 164.531 mm/s
-11:45:01.828337 c6025a:Axis1-VelAct 166.500 mm/s
-11:45:01.838341 c6025a:Axis1-VelAct 168.187 mm/s
-11:45:01.848342 c6025a:Axis1-VelAct 170.438 mm/s
-11:45:01.858343 c6025a:Axis1-VelAct 172.406 mm/s
-11:45:01.868336 c6025a:Axis1-VelAct 174.375 mm/s
-11:45:01.878344 c6025a:Axis1-VelAct 176.344 mm/s
-11:45:01.888347 c6025a:Axis1-VelAct 178.313 mm/s
-11:45:01.898343 c6025a:Axis1-VelAct 180.281 mm/s
-11:45:01.908343 c6025a:Axis1-VelAct 182.250 mm/s
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-11:45:05.188335 c6025a:Axis1-VelAct 500.062 mm/s
-11:45:05.198336 c6025a:Axis1-VelAct 500.344 mm/s
-11:45:05.208339 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:05.228337 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:05.238337 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:05.248335 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:05.258335 c6025a:Axis1-VelAct 499.500 mm/s
-11:45:05.278335 c6025a:Axis1-VelAct 500.062 mm/s
-11:45:05.288342 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:05.298336 c6025a:Axis1-VelAct 499.219 mm/s
-11:45:05.308338 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:05.318336 c6025a:Axis1-VelAct 499.500 mm/s
-11:45:05.328336 c6025a:Axis1-VelAct 499.219 mm/s
-11:45:05.338336 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:05.348337 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:05.378335 c6025a:Axis1-VelAct 499.500 mm/s
-11:45:05.388335 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:05.398336 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:05.408342 c6025a:Axis1-VelAct 499.500 mm/s
-11:45:05.418335 c6025a:Axis1-VelAct 500.344 mm/s
-11:45:05.428345 c6025a:Axis1-VelAct 500.062 mm/s
-11:45:05.438336 c6025a:Axis1-VelAct 499.500 mm/s
-11:45:05.448340 c6025a:Axis1-VelAct 499.219 mm/s
-11:45:05.458337 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:05.478335 c6025a:Axis1-VelAct 500.062 mm/s
-11:45:05.488335 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:05.498337 c6025a:Axis1-VelAct 499.500 mm/s
-11:45:05.508337 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:05.518335 c6025a:Axis1-VelAct 499.219 mm/s
-11:45:05.528340 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:05.538338 c6025a:Axis1-VelAct 500.062 mm/s
-11:45:05.548336 c6025a:Axis1-VelAct 500.344 mm/s
-11:45:05.558337 c6025a:Axis1-VelAct 500.062 mm/s
-11:45:05.568338 c6025a:Axis1-VelAct 499.500 mm/s
-11:45:05.578335 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:05.588337 c6025a:Axis1-VelAct 499.500 mm/s
-11:45:05.598335 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:05.608335 c6025a:Axis1-VelAct 500.062 mm/s
-11:45:05.618338 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:05.638336 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:05.648340 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:05.658338 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:05.668343 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:05.678337 c6025a:Axis1-VelAct 499.500 mm/s
-11:45:05.688340 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:05.698336 c6025a:Axis1-VelAct 499.500 mm/s
-11:45:05.718335 c6025a:Axis1-VelAct 500.344 mm/s
-11:45:05.728339 c6025a:Axis1-VelAct 499.500 mm/s
-11:45:05.748335 c6025a:Axis1-VelAct 499.500 mm/s
-11:45:05.758341 c6025a:Axis1-VelAct 499.500 mm/s
-11:45:05.768337 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:05.778337 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:05.788335 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:05.798336 c6025a:Axis1-VelAct 500.062 mm/s
-11:45:05.808335 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:05.818336 c6025a:Axis1-VelAct 499.500 mm/s
-11:45:05.828338 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:05.848341 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:05.858337 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:05.868337 c6025a:Axis1-VelAct 500.062 mm/s
-11:45:05.878339 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:05.888336 c6025a:Axis1-VelAct 500.062 mm/s
-11:45:05.898343 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:05.908337 c6025a:Axis1-VelAct 500.062 mm/s
-11:45:05.918336 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:05.938337 c6025a:Axis1-VelAct 500.062 mm/s
-11:45:05.948341 c6025a:Axis1-VelAct 500.344 mm/s
-11:45:05.958337 c6025a:Axis1-VelAct 500.062 mm/s
-11:45:05.968345 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:05.978335 c6025a:Axis1-VelAct 500.062 mm/s
-11:45:05.988338 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:05.998336 c6025a:Axis1-VelAct 500.344 mm/s
-11:45:06.028337 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:06.038336 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:06.048341 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:06.058338 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:06.068342 c6025a:Axis1-VelAct 500.062 mm/s
-11:45:06.078339 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:06.088336 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:06.098336 c6025a:Axis1-VelAct 500.062 mm/s
-11:45:06.108335 c6025a:Axis1-VelAct 499.500 mm/s
-11:45:06.128336 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:06.138337 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:06.148340 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:06.158335 c6025a:Axis1-VelAct 500.625 mm/s
-11:45:06.168337 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:06.178335 c6025a:Axis1-VelAct 500.625 mm/s
-11:45:06.188340 c6025a:Axis1-VelAct 500.344 mm/s
-11:45:06.198335 c6025a:Axis1-VelAct 500.344 mm/s
-11:45:06.218335 c6025a:Axis1-VelAct 500.906 mm/s
-11:45:06.228340 c6025a:Axis1-VelAct 500.344 mm/s
-11:45:06.238339 c6025a:Axis1-VelAct 500.625 mm/s
-11:45:06.248335 c6025a:Axis1-VelAct 500.344 mm/s
-11:45:06.258336 c6025a:Axis1-VelAct 500.344 mm/s
-11:45:06.268341 c6025a:Axis1-VelAct 500.625 mm/s
-11:45:06.278335 c6025a:Axis1-VelAct 500.344 mm/s
-11:45:06.288340 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:06.298336 c6025a:Axis1-VelAct 500.344 mm/s
-11:45:06.308334 c6025a:Axis1-VelAct 500.906 mm/s
-11:45:06.318341 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:06.328339 c6025a:Axis1-VelAct 500.625 mm/s
-11:45:06.338340 c6025a:Axis1-VelAct 500.344 mm/s
-11:45:06.348341 c6025a:Axis1-VelAct 500.344 mm/s
-11:45:06.358344 c6025a:Axis1-VelAct 500.344 mm/s
-11:45:06.378342 c6025a:Axis1-VelAct 500.062 mm/s
-11:45:06.388337 c6025a:Axis1-VelAct 500.625 mm/s
-11:45:06.398346 c6025a:Axis1-VelAct 500.344 mm/s
-11:45:06.418339 c6025a:Axis1-VelAct 500.344 mm/s
-11:45:06.428338 c6025a:Axis1-VelAct 500.344 mm/s
-11:45:06.448336 c6025a:Axis1-VelAct 500.625 mm/s
-11:45:06.458336 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:06.468335 c6025a:Axis1-VelAct 500.062 mm/s
-11:45:06.478338 c6025a:Axis1-VelAct 500.625 mm/s
-11:45:06.488336 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:06.498338 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:06.508341 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:06.518337 c6025a:Axis1-VelAct 500.625 mm/s
-11:45:06.528336 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:06.538337 c6025a:Axis1-VelAct 500.344 mm/s
-11:45:06.548336 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:06.558337 c6025a:Axis1-VelAct 500.062 mm/s
-11:45:06.568338 c6025a:Axis1-VelAct 500.344 mm/s
-11:45:06.578338 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:06.588338 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:06.598340 c6025a:Axis1-VelAct 500.344 mm/s
-11:45:06.608335 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:06.618338 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:06.628336 c6025a:Axis1-VelAct 500.062 mm/s
-11:45:06.638336 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:06.658339 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:06.668336 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:06.678342 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:06.688342 c6025a:Axis1-VelAct 500.063 mm/s
-11:45:06.698330 c6025a:m0s006-BI08 "False"
-11:45:06.698343 c6025a:Axis1-VelAct 499.781 mm/s
-11:45:06.708341 c6025a:Axis1-VelAct 499.500 mm/s
-11:45:06.718341 c6025a:Axis1-VelAct 497.531 mm/s
-11:45:06.728341 c6025a:Axis1-VelAct 495.563 mm/s
-11:45:06.738345 c6025a:Axis1-VelAct 492.188 mm/s
-11:45:06.748339 c6025a:Axis1-VelAct 487.969 mm/s
-11:45:06.758344 c6025a:Axis1-VelAct 482.625 mm/s
-11:45:06.768339 c6025a:Axis1-VelAct 476.156 mm/s
-11:45:06.778343 c6025a:Axis1-VelAct 468.562 mm/s
-11:45:06.788337 c6025a:Axis1-VelAct 460.125 mm/s
-11:45:06.798343 c6025a:Axis1-VelAct 450.844 mm/s
-11:45:06.808345 c6025a:Axis1-VelAct 440.719 mm/s
-11:45:06.818337 c6025a:Axis1-VelAct 430.875 mm/s
-11:45:06.828340 c6025a:Axis1-VelAct 420.750 mm/s
-11:45:06.838345 c6025a:Axis1-VelAct 410.625 mm/s
-11:45:06.848340 c6025a:Axis1-VelAct 400.500 mm/s
-11:45:06.858337 c6025a:Axis1-VelAct 390.094 mm/s
-11:45:06.868339 c6025a:Axis1-VelAct 379.969 mm/s
-11:45:06.878343 c6025a:Axis1-VelAct 370.406 mm/s
-11:45:06.888341 c6025a:Axis1-VelAct 360.000 mm/s
-11:45:06.898345 c6025a:Axis1-VelAct 349.875 mm/s
-11:45:06.908343 c6025a:Axis1-VelAct 339.750 mm/s
-11:45:06.918337 c6025a:Axis1-VelAct 329.625 mm/s
-11:45:06.928339 c6025a:Axis1-VelAct 319.219 mm/s
-11:45:06.938336 c6025a:Axis1-VelAct 309.094 mm/s
-11:45:06.948342 c6025a:Axis1-VelAct 298.969 mm/s
-11:45:06.958339 c6025a:Axis1-VelAct 289.125 mm/s
-11:45:06.968348 c6025a:Axis1-VelAct 279.000 mm/s
-11:45:06.978337 c6025a:Axis1-VelAct 268.594 mm/s
-11:45:06.988338 c6025a:Axis1-VelAct 258.750 mm/s
-11:45:06.998340 c6025a:Axis1-VelAct 248.344 mm/s
-11:45:07.008347 c6025a:Axis1-VelAct 238.219 mm/s
-11:45:07.018340 c6025a:Axis1-VelAct 228.094 mm/s
-11:45:07.028341 c6025a:Axis1-VelAct 218.250 mm/s
-11:45:07.038341 c6025a:Axis1-VelAct 207.844 mm/s
-11:45:07.048345 c6025a:Axis1-VelAct 197.719 mm/s
-11:45:07.058341 c6025a:Axis1-VelAct 187.594 mm/s
-11:45:07.068342 c6025a:Axis1-VelAct 177.469 mm/s
-11:45:07.078337 c6025a:Axis1-VelAct 167.344 mm/s
-11:45:07.088339 c6025a:Axis1-VelAct 156.937 mm/s
-11:45:07.098337 c6025a:Axis1-VelAct 146.813 mm/s
-11:45:07.108338 c6025a:Axis1-VelAct 136.969 mm/s
-11:45:07.118338 c6025a:Axis1-VelAct 126.844 mm/s
-11:45:07.128345 c6025a:Axis1-VelAct 116.438 mm/s
-11:45:07.138338 c6025a:Axis1-VelAct 106.594 mm/s
-11:45:07.148346 c6025a:Axis1-VelAct 96.469 mm/s
-11:45:07.158336 c6025a:Axis1-VelAct 86.062 mm/s
-11:45:07.168337 c6025a:Axis1-VelAct 75.938 mm/s
-11:45:07.178344 c6025a:Axis1-VelAct 66.094 mm/s
-11:45:07.188342 c6025a:Axis1-VelAct 55.969 mm/s
-11:45:07.198335 c6025a:Axis1-VelAct 45.844 mm/s
-11:45:07.208334 c6025a:Axis1-VelAct 36.000 mm/s
-11:45:07.218331 c6025a:Axis1-VelAct 27.844 mm/s
-11:45:07.228327 c6025a:Axis1-VelAct 20.813 mm/s
-11:45:07.238326 c6025a:Axis1-VelAct 14.625 mm/s
-11:45:07.248327 c6025a:Axis1-VelAct 9.563 mm/s
-11:45:07.258326 c6025a:Axis1-VelAct 5.625 mm/s
-11:45:07.268326 c6025a:Axis1-VelAct 2.531 mm/s
-11:45:07.278327 c6025a:Axis1-VelAct 0.281 mm/s
-11:45:07.278336 c6025a:Axis1-EnaAct "Disabled"
-11:45:07.278368 c6025a:m0s005-BO07 "One"
-11:45:07.288333 c6025a:Axis1-VelAct -0.562 mm/s
-11:45:07.308329 c6025a:Axis1-VelAct 0.000 mm/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/iocsh/data_log.txt
+++ b/iocsh/data_log.txt
--- a/iocsh/digital.png
+++ b/iocsh/digital.png
--- a/iocsh/velo.png
+++ b/iocsh/velo.png
--- a/iocsh/cfg/axis.yaml
+++ b/iocsh/cfg/axis.yaml
@@ -1,204 +1,94 @@
-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
-  #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)
-  #   modeAct: ec0..                                  # Ethercat entry drive mode reading (set CSV,CSP,homing)
-  #   modeCmdMotion: 9                                # Drive mode value for normal motion (written to axis.drvMode.modeSet when normal motion)
-  #   modeCmdHome: 10                                 # Drive mode value for when homing (written to axis.drvMode.modeSet when homing)
-  # features:
-  #   blockCom: false                                 # Block communication to axis
-  #   allowedFunctions:
-  #     homing: true                                  # Allow homing
-  #     constantVelocity: true                        # Allow constant velocity
-  #     positioning: true                             # Allow positioning
+  id: ${AXIS_ID=1}                                    # Axis id
+  parameters: 'powerAutoOnOff=2;powerOffDelay=-1;'
+#  feedSwitchesOutput: ec0.s${BO_SID}.binaryOutput${BO_CH=01} # Ethercat entry for feed switches

 epics:
-  name: Axis1                                         # Axis anme
+  name: ${AX_NAME=M1}                                 # Axis anme
  precision: 3                                        # Decimal count
-  description: very important motor axis              # Axis description
+  description: Test cfg                               # Axis description
  unit: mm                                            # Unit
-  # motorRecord:
-  #   enable: true
-  #   description: This is MR
-  #   fieldInit: 'RRES=1.0,RTRY=2,RMOD=1,UEIP=0,RDBD=0.1,URIP=1,RDBL=$(IOC):$(ECMC_MOTOR_NAME)-PosActSim' # Extra config for Motor record
+  motorRecord:
+    fieldInit: 'RTRY=0,FOFF=Frozen'                   # Extra config for Motor record

 drive:
-  numerator: 3600                                     # Fastest speed in engineering units
-  denominator: 32768                                  # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET
-  # type: 0                                           # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
-  control: ec0.s$(DRV_SLAVE).driveControl01           # Control word ethercat entry
+  numerator: 10                                       # Fastest speed in eng. units (2000 Fullsteps/s==10mm/s)
+  denominator: 32768                                  # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET (normally +-16bit)
+  type: 0                                             # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
+  setpoint: ec0.s$(DRV_SID).velocitySetpoint01        # Velocity setpoint if CSV. Position setpoint if CSP
+  control: ec0.s$(DRV_SID).driveControl01             # Control word ethercat entry
  enable: 0                                           # Enable bit index in control word (not used if DS402)
-  enabled: 1                                          # Enabled bit index in status word (not used if DS402)
-  status: ec0.s$(DRV_SLAVE).driveStatus01             # Status word ethercat entry
-  setpoint: ec0.s$(DRV_SLAVE).velocitySetpoint01      # Velocity setpoint if CSV. Position setpoint if CSP
-#  reduceTorque: 2                                    # Reduce torque bit in drive control word
-#  reduceTorqueEnable: True                           # Enable reduce torque functionality
-#  brake:
-#    enable: true                                     # Enable brake
-#    output: ec0...                                   # Ethercat link to brake output
-#    openDelay: 0                                     # Brake timing parameter in cycles (default 1kHz)
-#    closeAhead: 0                                    # Brake timing parameter in cycles (default 1kHz)
-#  reset: 1                                           # Reset   (if no drive reset bit then leave empty)
-#  warning: 2                                         # Warning (if no drive warning bit then leave empty)
-#  error:                                             # max 3
-#    - 3                                              # Error 0 (if no drive error bit then leave empty)
-#    - 7                                              # Error 1 (if no drive error bit then leave empty)
-#    - 14                                             # Error 2 (if no drive error bit then leave empty)
+  reset: 1                                            # Reset bit in control word (if no drive reset bit then leave empty)
+  reduceTorque: 2                                     # Reduce torque bit in drive control word
+  reduceTorqueEnable: True                            # Enable reduce torque functionality
+  status: ec0.s$(DRV_SID).driveStatus01               # Status word ethercat entry
+  enabled: 1                                          # Enabled bit index in status word (not used if DS402)  
+  warning: 2                                          # Warning bit in status word (if no drive warning bit then leave empty)
+  error:                                              # max 3 error bits in status word
+    - 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
-  # 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
-  # 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)
-  # warning: 2                                        # Warning (optional)
-  # error:                                            # max 3 (optional)
-  #   - 5                                             # Error 0
-  #   - 9                                             # Error 1
-  #   - 11                                            # Error 2
-  # filter:
-  #   velocity:
-  #     size: 100                                     # Filter size for velocity
-  #     enable: true                                  # enable velocity filter
-  #   position:
-  #     size: 100                                     # Filter size for encoder value
-  #     enable: true                                  # enable encoder value filter
-  #  latch:
-  #    position: ''                                   # Link to latched value. Used for some homing seqs
-  #    control: 0                                     # Bit in encoder control word to arm latch. Used for some homing seqs
-  #    status: 0                                      # Bit in encoder status word for latch triggered status. Used for some homing seqs
-  #  primary: 1                                       # Use this encoder as primary (for control)
-  #  homing:
-  #    type: 3                                        # Homing sequence type
-  #    position: -30                                  # Position to reference encoder to
-  #    velocity:
-  #      to: 10                                       # Velocity to cam/sensor (used for some homing seqs)
-  #      from: 5                                      # Velocity from cam/sensor (used for some homing seqs)
-  #    acceleration: 20                               # Acceleration during homing
-  #    deceleration: 100                              # Deceleration during homing
-  #    refToEncIDAtStartup: 1                         # At startup then set the start value of this encoder to actpos of this encoder id
-  #    refAtHome: 1                                   # If homing is executed then set position of this encoder
-  #    tolToPrim: 0                                   # If set then this is the max allowed tolerance between prim encoder and this encoder
-  #    postMoveEnable: yes                            # Enable move after successfull homing
-  #    postMovePosition: 10                           # Position to move to after successfull homing
-  #    trigg: ec0..                                   # Ethercat entry for triggering drive internal homing seq (seq id 26)
-  #    ready: ec0..                                   # Ethercat entry for readinf drive internal homing seq ready (seq id 26)
+  desc: BISS-C
+  numerator: 1                                        # Scaling numerator example 1 mm/rev
+  denominator: 4096                                   # Scaling denominator example 4096 ticks per 360 degree
+  type: 1                                             # Type: 0=Incremental, 1=Absolute
+  bits: 32                                            # Total bit count of encoder raw data
+  absBits: 26                                         # Absolute bit count (for absolute encoders) always least significant part of 'bits'
+  absOffset: -15615                                   # Encoder offset in eng units (for absolute encoders)
+  position: ec0.s$(ENC_SID).positionActual${ENC_CH=01}  # Ethercat entry for actual position input (encoder)
+  status: ec0.s$(ENC_SID).encoderStatus${ENC_CH=01}     # mandatory only if 'warning' or 'error' are used
+  ready: 2                                            # Bit in encoder status word for encoder ready
+  warning: 0                                          # Warning (optional)
+  error:                                              # max 3 (optional)
+    - 1                                               # Error 0
+  delayComp:                                          # Delay compensation for time between application of setpoint to reading of encoder (normally atleast 2 cycles)
+    time: 0                                           # Delay time between set and act [cycles]
+    enable: true                                        # enable (defaults to 1 if not set)
+  

 controller:
-  Kp: 1                                              # Kp proportinal gain
-  Ki: 0.02                                          # Ki integral gain
-  Kd: 0                                             # Kd derivative gain
-  # Kff: 1                                            # Feed forward gain
-  # deadband:
-  #   tol: 0.01                                       # Stop control if within this distance from target for the below time
-  #   time: 100
-  # limits:
-  #   minOutput: -100                                 # Minimum controller output
-  #   maxOutput: 100                                  # Maximum controller output
-  #   minIntegral: -100                               # Minimum integral output
-  #   maxIntegral: 100                                # Maximum integral output
-  # inner:
-  #   Kp: 0.1                                         # Kp for when close to target
-  #   Ki: 0.1                                         # Ki for when close to target
-  #   Kd: 0.1                                         # Kd for when close to target
-  #   tol: 0.1                                        # Distance from target for when inner PID params will be used, defaults to atTarget tol
+  Kp: 10                                              # Kp proportinal gain
+  Ki: 0                                               # Ki integral gain
+  Kd: 0                                               # Kd derivative gain

 trajectory:
-  # type: 1                                           # Default 0 = trapetz, 1 = S-curve (ruckig)
  axis:
-    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
+    velocity: 2                                       # Default velo for axis
+    acceleration: 2                                   # Default acc for axis
+    deceleration: 2                                   # Default dec for axis
+    emergencyDeceleration: 5                          # Deceleration when axis in error state
    jerk: 10                                          # Default jerk for axis
  jog:
-    velocity: 5                                       # Default velo fro JOG (motor record)
-#  modulo:
-#    range: 360                                       # Modulo range 0..360
-#    type: 0                                          # Modulo type
+    velocity: 1                                       # Default velo fro JOG (motor record)

 input:
  limit:
-    forward: ec0.s$(DRV_SLAVE).driveStatus01.12       # Ethercat entry for low limit switch input
-  #  forwardPolarity: 0                               # Polarity of forward limit switch
-    backward: ec0.s$(DRV_SLAVE).driveStatus01.11       # Ethercat entry for high limit switch input
-  #  backwardPolarity: 0                              # Polarity of forward limit switch
-  home: 'ec0.s$(DRV_SLAVE).ONE.0'                     # Ethercat entry for home switch
-  # homePolarity: 0                                   # Polarity of home switch
-  interlock: 'ec0.s$(DRV_SLAVE).ONE.0'                # Ethercat entry for interlock switch input
-  # interlockPolarity: 0                              # Polarity of interlock switch
-
-# homing:
-#   type: 3                                           # Homing sequence type
-#   position: -30                                     # Position to reference encoder to
-#   velocity:
-#     to: 10                                          # Velocity to cam/sensor (used for some homing seqs)
-#     from: 5                                         # Velocity from cam/sensor (used for some homing seqs)
-#   acc: 20                                           # Acceleration during homing
-#   dec: 100                                          # Deceleration during homing
-#   refToEncIDAtStartup: 1                            # At startup then set the start value of this encoder to actpos of this encoder id
-#   refAtHome: 1                                      # If homing is executed then set position of this encoder
-#   tolToPrim: 0                                      # If set then this is the max allowed tolerance between prim encoder and this encoder
-#   postMoveEnable: yes                               # Enable move after successfull homing
-#   postMovePosition: 10                              # Position to move to after successfull homing
-#   timeout: 100                                      # Sequence timeout
+    forward: ec0.s$(DRV_SID).driveStatus01.12         # Ethercat entry for low limit switch input
+    backward: ec0.s$(DRV_SID).driveStatus01.11        # Ethercat entry for high limit switch input
+  home: 'ec0.s$(DRV_SID).ONE.0'                       # Ethercat entry for home switch
+  interlock: 'ec0.s-1.ONE.0'                  # Ethercat entry for interlock switch input

 softlimits:
-  enable: false                                       # Enable soft limits
-  forward: 100                                        # Soft limit position fwd
-  forwardEnable: false                                # Soft limit position fwd enable
-  backward: -100                                      # Soft limit position bwd
-  backwardEnable: false                               # Soft limit position bwd enable
+  enable: true                                       # Enable soft limits
+  forward: 30                                        # Soft limit position fwd
+  forwardEnable: true                                # Soft limit position fwd enable
+  backward: -30                                      # Soft limit position bwd
+  backwardEnable: true                               # Soft limit position bwd enable

 monitoring:
  lag:
    enable: true                                      # Enable position lag monitoring (following error)
-    tolerance: 2                                      # Allowed tolerance
+    tolerance: 0.1                                    # 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
-    time: 10                                          # Filter time inside tolerance to be at target
  velocity:
    enable: false                                     # Enable velocity monitoring
-    max: 100                                          # Allowed max velocity
+    max: 8                                            # 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
-  # velocityDifference:
-  #   enable: true                                    # Enable velocity diff monitoring (velo set vs velo act)
-  #   max: 100                                        # Allowed max difference
-  #   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$(DRV_SLAVE).ZERO > 1; # calculate set pos for physical axis
-#   velocity_filter:                                    # Filter used to smother velocity feedforward
-#    encoder:                                          # Filter plc enc velo
-#      enable: false                                   # Filter enable
-#      size: 100                                       # Filter size
-#    trajectory:                                       # Filter plc traj velo
-#      enable: false                                   # Filter enable
-#      size: 100                                       # Filter size
+  target:
+    enable: true                                      # Enable at target monitoring (needs to be enabled if using motor record)
+    tolerance: 0.01                                   # Allowed tolerance
+    time: 10                                          # Filter time inside tolerance to be at target
--- a/iocsh/cfg/enc_open_loop.yaml
+++ b/iocsh/cfg/enc_open_loop.yaml
@@ -0,0 +1,12 @@
+encoder:
+  desc: 'Open loop'
+  unit: mm
+  numerator: 1                                # Scaling numerator
+  denominator: 12800                          # Scaling denominator
+  type: 0                                     # Type: 0=Incremental, 1=Absolute
+  bits: 16                                    # Total bit count of encoder raw data
+  absBits: 0                                  # Absolute bit count (for absolute encoders)
+  absOffset: 0                                # Encoder offset in eng units (for absolute encoders)
+  position: ec0.s$(ENC_SID).positionActual01  # Ethercat entry for actual position input (encoder)
+  homing:
+    refToEncIDAtStartup: 1                    # Ref encoder at startup (to BISS value)
--- 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
@@ -7,10 +7,13 @@ sudo iocsh test_4ax_box.script
 ```
 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

--- a/iocsh/test.script
+++ b/iocsh/test.script
@@ -1,74 +0,0 @@
-##############################################################################
-## test config for ecmc_plugin_safety
-##
-## In this config the interface to safety system is liked to simulated ethercat entries:
-## * To allow motion: 
-##      caput c6025a:m0s013-Zero 3 
-## * To simulate interlock from safety system:
-##      caput c6025a:m0s013-Zero 0
-##
-## Monitor status with:
-##       camon c6025a:SS1-first-Err c6025a:SS1-first-RmpDwnCmdAct c6025a:SS1-first-AxsStndStllAct
-##
-
-epicsEnvSet(IOC,c6025a)
-require ecmccfg "ENG_MODE=1"
-
-##############################################################################
-## Load components lib
-#
-require ecmccomp
-
-##############################################################################
-## Configure hardware
-
-epicsEnvSet("DRV_SLAVE",              "13")
-${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(DRV_SLAVE), HW_DESC=EL7041-0052"
-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_STDBY_MA=200,I_MAX_MA=1000,R_COIL_MOHM=1700'"
-
-epicsEnvSet("ENC_SLAVE",              "14")
-${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ENC_SLAVE), HW_DESC=EL5042"
-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-24bit-BISS-C"
-
-#Apply hardware configuration
-ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
-
-##############################################################################
-## AXIS 1
-#
-epicsEnvSet("DEV",      "$(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} ${ECMC_CONFIG_ROOT}loadYamlPlc.cmd, "FILE=./plc/plc_cfg.yaml,LIMIT=5000,TYPE=1"
-
-##############################################################################
-## Load safety plugin
-#
-require ecmc_plugin_safety
-
-# Create SS1 group
-epicsEnvSet(EC_RAMP_DOWN,"ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.0")
-epicsEnvSet(EC_AXES_STANDSTILL,"ec${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} ${ecmc_plugin_safety_DIR}addAxisToGroup.cmd "NAME=first,AX_ID=1,VELO_LIM=1"
-
-##############################################################################
-## Configure diagnostics:
-#
-ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)"
-ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)"
-ecmcConfigOrDie "Cfg.EcSetDomainFailedCyclesLimit(100)"
-ecmcConfigOrDie "Cfg.SetDiagAxisIndex(1)"
-ecmcConfigOrDie "Cfg.SetDiagAxisFreq(2)"
-ecmcConfigOrDie "Cfg.SetDiagAxisEnable(0)"
-
-##############################################################################
-## go active
-#
-$(SCRIPTEXEC) ($(ecmccfg_DIR)setAppMode.cmd)
--- a/iocsh/test_4ax_box.script
+++ b/iocsh/test_4ax_box.script
@@ -11,8 +11,7 @@
 ##       camon c6025a:SS1-first-Err c6025a:SS1-first-RmpDwnCmdAct c6025a:SS1-first-AxsStndStllAct
 ##

-epicsEnvSet(IOC,c6025a)
-require ecmccfg "ENG_MODE=1"
+require ecmccfg "ENG_MODE=1,MASTER_ID=0"

 ##############################################################################
 ## Load components lib
@@ -28,7 +27,8 @@ ${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepp

 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"
@@ -45,22 +45,29 @@ 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"

 ##############################################################################
 ## Load safety plugin
 #
-require ecmc_plugin_safety sandst_a
+require ecmc_plugin_safety

 # 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")
+#-   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
+epicsEnvSet(EC_RAMP_DOWN_CMD,"ec${ECMC_EC_MASTER_ID}.s${BI_SLAVE}.binaryInput08.0")
+epicsEnvSet(EC_REST_STAT,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.binaryOutput07.0")
+epicsEnvSet(EC_RED_VEL_CMD,"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_STANDSTILL=${EC_AXES_STANDSTILL},DELAY_MS=${SAFETY_TIMEOUT}"
+${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN_CMD=${EC_RAMP_DOWN_CMD},EC_REST_STAT=${EC_REST_STAT},EC_RED_VEL_CMD=${EC_RED_VEL_CMD=empty},DELAY_MS=${SAFETY_TIMEOUT}"

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

 ##############################################################################
 ## Configure diagnostics:
--- a/iocsh/test_lab_rack.script
+++ b/iocsh/test_lab_rack.script
@@ -0,0 +1,77 @@
+##############################################################################
+#- test config for ecmc_plugin_safety
+#-
+#- In this config the interface to safety system is liked to simulated ethercat entries:
+#- * To allow motion: 
+#-      caput c6025a:m0s013-Zero 3 
+#- * To simulate interlock from safety system:
+#-      caput c6025a:m0s013-Zero 0
+#-
+#- Monitor status with:
+#-       camon c6025a:SS1-first-Err c6025a:SS1-first-RmpDwnCmdAct c6025a:SS1-first-AxsStndStllAct
+#-
+#- ethercat slaves
+#-  0  0:0   PREOP  +  EK1100 EtherCAT Coupler (2A E-Bus)
+#-  1  0:1   PREOP  +  EL2068 8Ch. Dig Output 24V, 0.5A
+#-  2  0:2   PREOP  +  EL2819 16K. Dig. Ausgang 24V, 0,5A, Diagnose
+#-  3  0:3   PREOP  +  EL5001 1K. SSI Encoder
+#-  4  0:4   PREOP  +  EL6224 (IO Link Master)
+#-  5  0:5   PREOP  +  EL2008 8K. Dig. Ausgang 24V, 0.5A
+#-  6  0:6   PREOP  +  EL2522 2K. Pulse Train Ausgang
+#-  7  0:7   PREOP  +  EL5072 2Ch. Inductive sensor interface (LVDT, Half Bridge)
+#-  8  0:8   PREOP  +  EL1008 8K. Dig. Eingang 24V, 3ms
+#-  9  0:9   PREOP  +  EL5042 2Ch. BiSS-C Encoder
+#- 10  0:10  PREOP  +  EL6692 EtherCAT Bridge-Klemme (Prim<69>r)
+#- 11  0:11  PREOP  +  EK1100 EtherCAT-Koppler (2A E-Bus)
+#- 12  0:12  PREOP  +  EL7031 1K. Schrittmotor-Endstufe (24V, 1.5A)
+#- 13  0:13  PREOP  +  EL7201 1K. MDP742 Servo-Motor-Endstufe (50V, 4A)
+#- 14  0:14  PREOP  +  EL7041-0052 1Ch. Stepper motor output stage (50V, 5A)
+#- 15  0:15  PREOP  +  EL7342 2Ch. DC motor output stage (50V, 3.5A)
+#- 16  0:16  PREOP  +  EL7411 BLDC Terminal with incremental encoder/Hall, 50 V DC, 4.
+#- 17  0:17  PREOP  +  EL7211-9014 1K. MDP742 Servo-Motor-Endstufe mit OCT (50V, 4,5A 
+#- 18  0:18  PREOP  +  EL9576 Bremschopper Klemme
+
+require ecmccfg v10.0.0_RC1 "ENG_MODE=1,MASTER_ID=0,ECMC_VER=v10.0.0_RC1"
+
+# 0:14 - EL7041    1Ch Stepper
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "SLAVE_ID=14,HW_DESC=EL7041-0052"
+${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd  "COMP=Motor-Generic-2Phase-Stepper,  MACROS='I_MAX_MA=1500, I_STDBY_MA=1000, U_NOM_MV=48000, R_COIL_MOHM=1230'"
+epicsEnvSet(DRV_SID,${ECMC_EC_SLAVE_NUM})
+
+# 0:9  - EL5042    2Ch BiSS-C Encoder, RLS-LA11
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "SLAVE_ID=9,HW_DESC=EL5042"
+${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd  "COMP=Encoder-RLS-LA11-26bit-BISS-C,CH_ID=1"
+${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd  "COMP=Encoder-RLS-LA11-26bit-BISS-C,CH_ID=2"
+epicsEnvSet(ENC_SID,${ECMC_EC_SLAVE_NUM})
+
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,   "FILE=./cfg/axis.yaml,          DEV=${IOC}, AX_NAME=M1, AXIS_ID=1, DRV_SID=${DRV_SID}, ENC_SID=${ENC_SID}, ENC_CH=01"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlEnc.cmd,    "FILE=./cfg/enc_open_loop.yaml, DEV=${IOC}, ENC_SID=${DRV_SID}"
+
+
+##############################################################################
+## Load safety plugin
+require ecmc_plugin_safety v10.0.0_RC1
+
+# simulate inputs and outputs in drive "ZERO" and ONE dummy-entry
+epicsEnvSet(BI_SLAVE,${DRV_SID})
+epicsEnvSet(BO_SLAVE,${DRV_SID})
+
+# Create SS1 group
+#-   EC_RAMP_DOWN_CMD      :   Digital Input:  Ethercat entry for ramp down command, input to ecmc (command from safety PLC/system)
+#-   EC_AXES_AT_REST_STAT  :   Digital Output: Ethercat entry for signaling that all axes in group are at rest, output from ecmc (feedback to safety PLC/system)
+#-   EC_AXES_LIM_VELO_CMD  :   Digital Input:  Ethercat entry for reducing velocity, input to ecmc (command from safety PLC/system)
+#-   DELAY_MS              :   Time between rampdown command and STO
+epicsEnvSet(EC_RAMP_DOWN_CMD,"ec${ECMC_EC_MASTER_ID}.s${BI_SLAVE}.ONE.0")
+epicsEnvSet(EC_AXES_AT_REST_STAT,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.ZERO.0")
+epicsEnvSet(EC_AXES_LIM_VELO_CMD,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.ONE.1")
+epicsEnvSet(SAFETY_TIMEOUT,500)
+${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN_CMD=${EC_RAMP_DOWN_CMD},EC_AXES_AT_REST_STAT=${EC_AXES_AT_REST_STAT},EC_AXES_LIM_VELO_CMD=${EC_AXES_LIM_VELO_CMD=empty},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} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd "NAME=first,AX_ID=1,VELO_REST_LIM=0.01,VELO_MAX_LIM=1"
+
+ecmcEpicsEnvSetCalc(S_ID, "${DRV_SID}", "%03d")
+afterInit "dbpf ${IOC}:m${ECMC_EC_MASTER_ID=0}s${S_ID}-One 0"
--- a/qt/ecmc_plugin_safety_group.ui
+++ b/qt/ecmc_plugin_safety_group.ui
@@ -0,0 +1,271 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Form</class>
+ <widget class="QWidget" name="Form">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>311</width>
+    <height>269</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <widget class="QGroupBox" name="groupBox">
+   <property name="geometry">
+    <rect>
+     <x>5</x>
+     <y>35</y>
+     <width>296</width>
+     <height>151</height>
+    </rect>
+   </property>
+   <property name="title">
+    <string>Diagnostics</string>
+   </property>
+   <widget class="caLabel" name="calabel_6">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>60</y>
+      <width>206</width>
+      <height>28</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Reduced velo cmd active:</string>
+    </property>
+    <property name="alignment">
+     <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+    </property>
+   </widget>
+   <widget class="caLed" name="caled_2">
+    <property name="geometry">
+     <rect>
+      <x>245</x>
+      <y>30</y>
+      <width>30</width>
+      <height>30</height>
+     </rect>
+    </property>
+    <property name="channel" stdset="0">
+     <string notr="true">$(IOC):SS1-$(SAFETY_GRP)-RmpDwnCmdAct</string>
+    </property>
+    <property name="falseColor">
+     <color>
+      <red>0</red>
+      <green>85</green>
+      <blue>0</blue>
+     </color>
+    </property>
+    <property name="trueColor">
+     <color>
+      <red>255</red>
+      <green>0</green>
+      <blue>0</blue>
+     </color>
+    </property>
+   </widget>
+   <widget class="caLed" name="caled_3">
+    <property name="geometry">
+     <rect>
+      <x>245</x>
+      <y>60</y>
+      <width>30</width>
+      <height>30</height>
+     </rect>
+    </property>
+    <property name="channel" stdset="0">
+     <string notr="true">$(IOC):SS1-$(SAFETY_GRP)-RedVeloCmdAct</string>
+    </property>
+    <property name="falseColor">
+     <color>
+      <red>0</red>
+      <green>85</green>
+      <blue>0</blue>
+     </color>
+    </property>
+    <property name="trueColor">
+     <color>
+      <red>255</red>
+      <green>0</green>
+      <blue>0</blue>
+     </color>
+    </property>
+   </widget>
+   <widget class="caLabel" name="calabel_5">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>30</y>
+      <width>246</width>
+      <height>28</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>E-Stop (rampdown cmd active):</string>
+    </property>
+    <property name="alignment">
+     <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+    </property>
+   </widget>
+   <widget class="caLabel" name="calabel_4">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>85</y>
+      <width>251</width>
+      <height>26</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Axes at rest:</string>
+    </property>
+    <property name="alignment">
+     <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+    </property>
+   </widget>
+   <widget class="caLed" name="caled">
+    <property name="geometry">
+     <rect>
+      <x>245</x>
+      <y>88</y>
+      <width>30</width>
+      <height>30</height>
+     </rect>
+    </property>
+    <property name="channel" stdset="0">
+     <string notr="true">$(IOC):SS1-$(SAFETY_GRP)-AxsStndStllAct</string>
+    </property>
+    <property name="falseColor">
+     <color>
+      <red>255</red>
+      <green>0</green>
+      <blue>0</blue>
+     </color>
+    </property>
+    <property name="trueColor">
+     <color>
+      <red>0</red>
+      <green>85</green>
+      <blue>0</blue>
+     </color>
+    </property>
+   </widget>
+   <widget class="caLineEdit" name="calineedit_47">
+    <property name="geometry">
+     <rect>
+      <x>225</x>
+      <y>120</y>
+      <width>61</width>
+      <height>16</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string/>
+    </property>
+    <property name="alignment">
+     <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+    </property>
+    <property name="channel" stdset="0">
+     <string notr="true">$(IOC):SS1-$(SAFETY_GRP)-Dly</string>
+    </property>
+    <property name="colorMode">
+     <enum>caLineEdit::Default</enum>
+    </property>
+    <property name="alarmHandling">
+     <enum>caLineEdit::onBackground</enum>
+    </property>
+    <property name="precisionMode">
+     <enum>caLineEdit::Channel</enum>
+    </property>
+   </widget>
+   <widget class="caLabel" name="calabel_7">
+    <property name="geometry">
+     <rect>
+      <x>10</x>
+      <y>115</y>
+      <width>206</width>
+      <height>26</height>
+     </rect>
+    </property>
+    <property name="text">
+     <string>Power off delay [ms]:</string>
+    </property>
+    <property name="alignment">
+     <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+    </property>
+   </widget>
+  </widget>
+  <widget class="caLabel" name="calabel">
+   <property name="geometry">
+    <rect>
+     <x>50</x>
+     <y>5</y>
+     <width>221</width>
+     <height>28</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>SS1 group: $(SAFETY_GRP=)</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+   </property>
+  </widget>
+  <widget class="caMultiLineString" name="camultilinestring">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>195</y>
+     <width>291</width>
+     <height>61</height>
+    </rect>
+   </property>
+   <property name="font">
+    <font>
+     <family>Lucida Sans Typewriter</family>
+     <pointsize>8</pointsize>
+    </font>
+   </property>
+   <property name="sizeAdjustPolicy">
+    <enum>QAbstractScrollArea::AdjustToContents</enum>
+   </property>
+   <property name="plainText">
+    <string>NOTE:
+ecmc_plugin_safety has NO safety rated
+features. It only acts as an interface to a
+dedicated safety system.</string>
+   </property>
+   <property name="fontScaleMode" stdset="0">
+    <enum>caMultiLineString::None</enum>
+   </property>
+  </widget>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>caLabel</class>
+   <extends>QLabel</extends>
+   <header>caLabel</header>
+  </customwidget>
+  <customwidget>
+   <class>caLed</class>
+   <extends>QWidget</extends>
+   <header>caLed</header>
+  </customwidget>
+  <customwidget>
+   <class>caLineEdit</class>
+   <extends>QLineEdit</extends>
+   <header>caLineEdit</header>
+  </customwidget>
+  <customwidget>
+   <class>caMultiLineString</class>
+   <extends>QPlainTextEdit</extends>
+   <header>caMultiLineString</header>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>
--- a/qt/ecmc_plugin_safety_main.ui
+++ b/qt/ecmc_plugin_safety_main.ui
@@ -0,0 +1,458 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Form</class>
+ <widget class="QWidget" name="Form">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>146</width>
+    <height>315</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <widget class="caLabel" name="calabel">
+   <property name="geometry">
+    <rect>
+     <x>5</x>
+     <y>0</y>
+     <width>136</width>
+     <height>36</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string> Safety plugin</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+   </property>
+  </widget>
+  <widget class="QGroupBox" name="groupBox_6">
+   <property name="geometry">
+    <rect>
+     <x>5</x>
+     <y>35</y>
+     <width>136</width>
+     <height>241</height>
+    </rect>
+   </property>
+   <property name="title">
+    <string>Group:</string>
+   </property>
+   <widget class="caFrame" name="caframe_11">
+    <property name="geometry">
+     <rect>
+      <x>5</x>
+      <y>30</y>
+      <width>120</width>
+      <height>30</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">GRP_ID=01,IOC=$(IOC)</string>
+    </property>
+    <property name="visibility">
+     <enum>caFrame::Calc</enum>
+    </property>
+    <property name="visibilityCalc">
+     <string notr="true">A&gt;=1</string>
+    </property>
+    <property name="channel" stdset="0">
+     <string notr="true">$(IOC):SS1-GrpCnt</string>
+    </property>
+    <widget class="caShellCommand" name="cashellcommand">
+     <property name="geometry">
+      <rect>
+       <x>15</x>
+       <y>5</y>
+       <width>100</width>
+       <height>21</height>
+      </rect>
+     </property>
+     <property name="label">
+      <string notr="true">$(GRP_ID)</string>
+     </property>
+     <property name="labels">
+      <string>$(GRP_ID)</string>
+     </property>
+     <property name="files">
+      <string>bash /ioc/modules/qt/ecmcOpenObject.sh</string>
+     </property>
+     <property name="args">
+      <string>PLG_SAFETY_GRP $(IOC) $(GRP_ID);</string>
+     </property>
+    </widget>
+   </widget>
+   <widget class="caFrame" name="caframe_13">
+    <property name="geometry">
+     <rect>
+      <x>5</x>
+      <y>80</y>
+      <width>120</width>
+      <height>30</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">GRP_ID=03,IOC=$(IOC)</string>
+    </property>
+    <property name="visibility">
+     <enum>caFrame::Calc</enum>
+    </property>
+    <property name="visibilityCalc">
+     <string notr="true">A&gt;=3</string>
+    </property>
+    <property name="channel" stdset="0">
+     <string notr="true">$(IOC):SS1-GrpCnt</string>
+    </property>
+    <widget class="caShellCommand" name="cashellcommand_4">
+     <property name="geometry">
+      <rect>
+       <x>15</x>
+       <y>5</y>
+       <width>100</width>
+       <height>21</height>
+      </rect>
+     </property>
+     <property name="label">
+      <string notr="true">$(GRP_ID)</string>
+     </property>
+     <property name="labels">
+      <string>$(GRP_ID)</string>
+     </property>
+     <property name="files">
+      <string>bash /ioc/modules/qt/ecmcOpenObject.sh</string>
+     </property>
+     <property name="args">
+      <string>PLG_SAFETY_GRP $(IOC) $(GRP_ID);</string>
+     </property>
+    </widget>
+   </widget>
+   <widget class="caFrame" name="caframe_14">
+    <property name="geometry">
+     <rect>
+      <x>5</x>
+      <y>105</y>
+      <width>120</width>
+      <height>30</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">GRP_ID=04,IOC=$(IOC)</string>
+    </property>
+    <property name="visibility">
+     <enum>caFrame::Calc</enum>
+    </property>
+    <property name="visibilityCalc">
+     <string notr="true">A&gt;=4</string>
+    </property>
+    <property name="channel" stdset="0">
+     <string notr="true">$(IOC):SS1-GrpCnt</string>
+    </property>
+    <widget class="caShellCommand" name="cashellcommand_6">
+     <property name="geometry">
+      <rect>
+       <x>15</x>
+       <y>5</y>
+       <width>100</width>
+       <height>21</height>
+      </rect>
+     </property>
+     <property name="label">
+      <string notr="true">$(GRP_ID)</string>
+     </property>
+     <property name="labels">
+      <string>$(GRP_ID)</string>
+     </property>
+     <property name="files">
+      <string>bash /ioc/modules/qt/ecmcOpenObject.sh</string>
+     </property>
+     <property name="args">
+      <string>PLG_SAFETY_GRP $(IOC) $(GRP_ID);</string>
+     </property>
+    </widget>
+   </widget>
+   <widget class="caFrame" name="caframe_15">
+    <property name="geometry">
+     <rect>
+      <x>5</x>
+      <y>130</y>
+      <width>120</width>
+      <height>30</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">GRP_ID=05,IOC=$(IOC)</string>
+    </property>
+    <property name="visibility">
+     <enum>caFrame::Calc</enum>
+    </property>
+    <property name="visibilityCalc">
+     <string notr="true">A&gt;=5</string>
+    </property>
+    <property name="channel" stdset="0">
+     <string notr="true">$(IOC):SS1-GrpCnt</string>
+    </property>
+    <widget class="caShellCommand" name="cashellcommand_7">
+     <property name="geometry">
+      <rect>
+       <x>15</x>
+       <y>5</y>
+       <width>100</width>
+       <height>21</height>
+      </rect>
+     </property>
+     <property name="label">
+      <string notr="true">$(GRP_ID)</string>
+     </property>
+     <property name="labels">
+      <string>$(GRP_ID)</string>
+     </property>
+     <property name="files">
+      <string>bash /ioc/modules/qt/ecmcOpenObject.sh</string>
+     </property>
+     <property name="args">
+      <string>PLG_SAFETY_GRP $(IOC) $(GRP_ID);</string>
+     </property>
+    </widget>
+   </widget>
+   <widget class="caFrame" name="caframe_16">
+    <property name="geometry">
+     <rect>
+      <x>5</x>
+      <y>155</y>
+      <width>120</width>
+      <height>30</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">GRP_ID=06,IOC=$(IOC)</string>
+    </property>
+    <property name="visibility">
+     <enum>caFrame::Calc</enum>
+    </property>
+    <property name="visibilityCalc">
+     <string notr="true">A&gt;=6</string>
+    </property>
+    <property name="channel" stdset="0">
+     <string notr="true">$(IOC):SS1-GrpCnt</string>
+    </property>
+    <widget class="caShellCommand" name="cashellcommand_9">
+     <property name="geometry">
+      <rect>
+       <x>15</x>
+       <y>5</y>
+       <width>100</width>
+       <height>21</height>
+      </rect>
+     </property>
+     <property name="label">
+      <string notr="true">$(GRP_ID)</string>
+     </property>
+     <property name="labels">
+      <string>$(GRP_ID)</string>
+     </property>
+     <property name="files">
+      <string>bash /ioc/modules/qt/ecmcOpenObject.sh</string>
+     </property>
+     <property name="args">
+      <string>PLG_SAFETY_GRP $(IOC) $(GRP_ID);</string>
+     </property>
+    </widget>
+   </widget>
+   <widget class="caFrame" name="caframe_17">
+    <property name="geometry">
+     <rect>
+      <x>5</x>
+      <y>180</y>
+      <width>120</width>
+      <height>30</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">GRP_ID=07,IOC=$(IOC)</string>
+    </property>
+    <property name="visibility">
+     <enum>caFrame::Calc</enum>
+    </property>
+    <property name="visibilityCalc">
+     <string notr="true">A&gt;=7</string>
+    </property>
+    <property name="channel" stdset="0">
+     <string notr="true">$(IOC):SS1-GrpCnt</string>
+    </property>
+    <widget class="caShellCommand" name="cashellcommand_12">
+     <property name="geometry">
+      <rect>
+       <x>15</x>
+       <y>5</y>
+       <width>100</width>
+       <height>21</height>
+      </rect>
+     </property>
+     <property name="label">
+      <string notr="true">$(GRP_ID)</string>
+     </property>
+     <property name="labels">
+      <string>$(GRP_ID)</string>
+     </property>
+     <property name="files">
+      <string>bash /ioc/modules/qt/ecmcOpenObject.sh</string>
+     </property>
+     <property name="args">
+      <string>PLG_SAFETY_GRP $(IOC) $(GRP_ID);</string>
+     </property>
+    </widget>
+   </widget>
+   <widget class="caFrame" name="caframe_18">
+    <property name="geometry">
+     <rect>
+      <x>5</x>
+      <y>205</y>
+      <width>120</width>
+      <height>30</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">GRP_ID=08,IOC=$(IOC)</string>
+    </property>
+    <property name="visibility">
+     <enum>caFrame::Calc</enum>
+    </property>
+    <property name="visibilityCalc">
+     <string notr="true">A&gt;=8</string>
+    </property>
+    <property name="channel" stdset="0">
+     <string notr="true">$(IOC):SS1-GrpCnt</string>
+    </property>
+    <widget class="caShellCommand" name="cashellcommand_13">
+     <property name="geometry">
+      <rect>
+       <x>15</x>
+       <y>5</y>
+       <width>100</width>
+       <height>21</height>
+      </rect>
+     </property>
+     <property name="label">
+      <string notr="true">$(GRP_ID)</string>
+     </property>
+     <property name="labels">
+      <string>$(GRP_ID)</string>
+     </property>
+     <property name="files">
+      <string>bash /ioc/modules/qt/ecmcOpenObject.sh</string>
+     </property>
+     <property name="args">
+      <string>PLG_SAFETY_GRP $(IOC) $(GRP_ID);</string>
+     </property>
+    </widget>
+   </widget>
+   <widget class="caFrame" name="caframe_12">
+    <property name="geometry">
+     <rect>
+      <x>5</x>
+      <y>55</y>
+      <width>120</width>
+      <height>30</height>
+     </rect>
+    </property>
+    <property name="macro">
+     <string notr="true">GRP_ID=02,IOC=$(IOC)</string>
+    </property>
+    <property name="visibility">
+     <enum>caFrame::Calc</enum>
+    </property>
+    <property name="visibilityCalc">
+     <string notr="true">A&gt;=2</string>
+    </property>
+    <property name="channel" stdset="0">
+     <string notr="true">$(IOC):SS1-GrpCnt</string>
+    </property>
+    <widget class="caShellCommand" name="cashellcommand_3">
+     <property name="geometry">
+      <rect>
+       <x>15</x>
+       <y>5</y>
+       <width>100</width>
+       <height>21</height>
+      </rect>
+     </property>
+     <property name="label">
+      <string notr="true">$(GRP_ID)</string>
+     </property>
+     <property name="labels">
+      <string>$(GRP_ID)</string>
+     </property>
+     <property name="files">
+      <string>bash /ioc/modules/qt/ecmcOpenObject.sh</string>
+     </property>
+     <property name="args">
+      <string>PLG_SAFETY_GRP $(IOC) $(GRP_ID);</string>
+     </property>
+    </widget>
+   </widget>
+  </widget>
+  <widget class="caLineEdit" name="calineedit">
+   <property name="geometry">
+    <rect>
+     <x>95</x>
+     <y>285</y>
+     <width>41</width>
+     <height>20</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string/>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+   </property>
+   <property name="channel" stdset="0">
+    <string notr="true">$(IOC):SS1-GrpCnt</string>
+   </property>
+  </widget>
+  <widget class="caLabel" name="calabel_2">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>285</y>
+     <width>91</width>
+     <height>21</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Group cnt:</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+   </property>
+  </widget>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>caFrame</class>
+   <extends>QFrame</extends>
+   <header>caFrame</header>
+   <container>1</container>
+  </customwidget>
+  <customwidget>
+   <class>caLabel</class>
+   <extends>QLabel</extends>
+   <header>caLabel</header>
+  </customwidget>
+  <customwidget>
+   <class>caLineEdit</class>
+   <extends>QLineEdit</extends>
+   <header>caLineEdit</header>
+  </customwidget>
+  <customwidget>
+   <class>caShellCommand</class>
+   <extends>QWidget</extends>
+   <header>caShellCommand</header>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>
--- a/qt/readme.md
+++ b/qt/readme.md
@@ -0,0 +1,10 @@
+# Panel for plugin
+```
+caqtdm -macro "IOC=c6015a-02,SAFETY_GRP=first" ecmc_plugin_safety_main.ui 
+```
+
+# Panel to simulate motion safety box
+To be used together with the test scripts in the iocsh dir
+```
+caqtdm -macro "IOC=c6015a-02,BI_S_ID=014,BO_S_ID=014" sim_motion_safety_box.ui
+```
--- a/qt/sim_motion_safety_box.ui
+++ b/qt/sim_motion_safety_box.ui
@@ -0,0 +1,247 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Form</class>
+ <widget class="QWidget" name="Form">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>341</width>
+    <height>312</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <widget class="caByteController" name="cabytecontroller">
+   <property name="geometry">
+    <rect>
+     <x>55</x>
+     <y>40</y>
+     <width>40</width>
+     <height>70</height>
+    </rect>
+   </property>
+   <property name="channel" stdset="0">
+    <string notr="true">$(IOC):m$(M_ID=0)s$(BI_S_ID)-One</string>
+   </property>
+   <property name="endBit">
+    <number>0</number>
+   </property>
+   <property name="foreground" stdset="0">
+    <color>
+     <red>78</red>
+     <green>154</green>
+     <blue>6</blue>
+    </color>
+   </property>
+   <property name="background" stdset="0">
+    <color>
+     <red>255</red>
+     <green>0</green>
+     <blue>0</blue>
+    </color>
+   </property>
+   <property name="fontScaleMode" stdset="0">
+    <enum>EPushButton::None</enum>
+   </property>
+  </widget>
+  <widget class="caByte" name="cabyte">
+   <property name="geometry">
+    <rect>
+     <x>55</x>
+     <y>200</y>
+     <width>40</width>
+     <height>70</height>
+    </rect>
+   </property>
+   <property name="channel" stdset="0">
+    <string notr="true">$(IOC):m$(M_ID=0)s$(BO_S_ID)-Zero</string>
+   </property>
+   <property name="endBit">
+    <number>0</number>
+   </property>
+   <property name="foreground" stdset="0">
+    <color>
+     <red>78</red>
+     <green>154</green>
+     <blue>6</blue>
+    </color>
+   </property>
+  </widget>
+  <widget class="caLabel" name="calabel">
+   <property name="geometry">
+    <rect>
+     <x>125</x>
+     <y>65</y>
+     <width>171</width>
+     <height>28</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>E-Stop command</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+   </property>
+  </widget>
+  <widget class="caLabel" name="calabel_2">
+   <property name="geometry">
+    <rect>
+     <x>125</x>
+     <y>140</y>
+     <width>186</width>
+     <height>28</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Reduce velo command</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+   </property>
+  </widget>
+  <widget class="caLabel" name="calabel_3">
+   <property name="geometry">
+    <rect>
+     <x>125</x>
+     <y>225</y>
+     <width>161</width>
+     <height>28</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Axes at rest status</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+   </property>
+  </widget>
+  <widget class="caTextEntry" name="catextentry">
+   <property name="geometry">
+    <rect>
+     <x>54</x>
+     <y>280</y>
+     <width>41</width>
+     <height>22</height>
+    </rect>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+   </property>
+   <property name="channel" stdset="0">
+    <string notr="true">$(IOC):m$(M_ID=0)s$(BI_S_ID)-One</string>
+   </property>
+  </widget>
+  <widget class="caLabel" name="calabel_4">
+   <property name="geometry">
+    <rect>
+     <x>20</x>
+     <y>10</y>
+     <width>301</width>
+     <height>28</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Simulation of motion safety box</string>
+   </property>
+  </widget>
+  <widget class="caByteController" name="cabytecontroller_2">
+   <property name="geometry">
+    <rect>
+     <x>55</x>
+     <y>120</y>
+     <width>40</width>
+     <height>70</height>
+    </rect>
+   </property>
+   <property name="channel" stdset="0">
+    <string notr="true">$(IOC):m$(M_ID=0)s$(BI_S_ID)-One</string>
+   </property>
+   <property name="startBit">
+    <number>1</number>
+   </property>
+   <property name="endBit">
+    <number>1</number>
+   </property>
+   <property name="foreground" stdset="0">
+    <color>
+     <red>78</red>
+     <green>154</green>
+     <blue>6</blue>
+    </color>
+   </property>
+   <property name="background" stdset="0">
+    <color>
+     <red>255</red>
+     <green>0</green>
+     <blue>0</blue>
+    </color>
+   </property>
+   <property name="fontScaleMode" stdset="0">
+    <enum>EPushButton::None</enum>
+   </property>
+  </widget>
+  <widget class="caLabel" name="calabel_5">
+   <property name="geometry">
+    <rect>
+     <x>135</x>
+     <y>85</y>
+     <width>131</width>
+     <height>28</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>(Ramp down command)</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+   </property>
+  </widget>
+  <widget class="caLabel" name="calabel_6">
+   <property name="geometry">
+    <rect>
+     <x>120</x>
+     <y>275</y>
+     <width>171</width>
+     <height>28</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Command PV (ONE)</string>
+   </property>
+   <property name="alignment">
+    <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+   </property>
+  </widget>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>caTextEntry</class>
+   <extends>caLineEdit</extends>
+   <header>caTextEntry</header>
+  </customwidget>
+  <customwidget>
+   <class>caByteController</class>
+   <extends>QWidget</extends>
+   <header>caByteController</header>
+  </customwidget>
+  <customwidget>
+   <class>caLabel</class>
+   <extends>QLabel</extends>
+   <header>caLabel</header>
+  </customwidget>
+  <customwidget>
+   <class>caLineEdit</class>
+   <extends>QLineEdit</extends>
+   <header>caLineEdit</header>
+  </customwidget>
+  <customwidget>
+   <class>caByte</class>
+   <extends>QWidget</extends>
+   <header>caByte</header>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>
--- 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 +17,19 @@
 #- 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 when EC_RED_VEL_CMD, set to -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>           : Velocity maximum limit when EC_RED_VEL_CMD, set to -1 to disable [unit same as EGU 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,${VELO_MAX_LIM=0.0})
+
+#- Load SS1 axis records
+dbLoadRecords("ecmcSS1Axis.template","AXIS_PREFIX=${ECMC_MOTOR_${AX_ID}_FULL_NAME=},NAME=${NAME},VEL_MAX_LIM=${VELO_MAX_LIM=0.0},VEL_REST_LIM=${VELO_REST_LIM=0.0}")
--- a/scripts/addSS1Group.cmd
+++ b/scripts/addSS1Group.cmd
@@ -15,19 +15,26 @@
 #-###############################################################################
 #-
 #- 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)
-#-   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
 #-
 #################################################################################

-#- 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_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}","${EC_AXES_AT_REST_STAT}","${EC_AXES_LIM_VELO_CMD=empty}",${DELAY_MS=0})
+
+ecmcEpicsEnvSetCalc(ECMC_PLG_SAFETY_GRP_CNT, "${ECMC_PLG_SAFETY_GRP_CNT=0}+1", "%02d")

 #- Load SS1 group records
-dbLoadRecords("ss1.template","P=${ECMC_PREFIX},NAME=${NAME}")
+dbLoadRecords("ecmcSS1Group.template","P=${ECMC_PREFIX},NAME=${NAME},ID=${ECMC_PLG_SAFETY_GRP_CNT},COUNT=${ECMC_PLG_SAFETY_GRP_CNT},DELAY=${DELAY_MS=0}")
+
--- a/src/ecmcPluginSafety.c
+++ b/src/ecmcPluginSafety.c
@@ -8,11 +8,14 @@
 *  Created on: jan 29, 2024
 *      Author: anderssandstrom
 *
+* Instructions:
+*   - IMPORTANT: Add "USR_CFLAGS +=-DECMC_PLUGIN_MODULE_NAME=${MODULE}" to GNUMakefile
+*   - All functions and ecmcPluginData struct must be declared static
 \*************************************************************************/

 // Needed to get headers in ecmc right...
 #define ECMC_IS_PLUGIN
-#define ECMC_PLUGIN_VERSION 0
+#define ECMC_PLUGIN_VERSION 1

 #ifdef __cplusplus
 extern "C" {
@@ -31,11 +34,11 @@ static int alreadyLoaded = 0;
 static int destructs_ = 0;

 /** Optional. 
- *  Will be called once after successfull load into ecmc.
+ *  Will be called once after successful load into ecmc.
 *  Return value other than 0 will be considered error.
 *  configStr can be used for configuration parameters.
 **/
-int safetyConstruct(char *configStr)
+static int construct(char *configStr)
 {
  
  if(alreadyLoaded) {
@@ -50,19 +53,19 @@ int safetyConstruct(char *configStr)
 /** Optional function.
 *  Will be called once at unload.
 **/
-void safetyDestruct(void)
+static void safetyDestruct(void)
 {
  destructs_ = 1;
  deleteAllSafetyGroups();
 }

 /** Optional function.
- *  Will be called each realtime cycle if definded
- *  ecmcError: Error code of ecmc. Makes it posible for 
+ *  Will be called each realtime cycle if defined
+ *  ecmcError: Error code of ecmc. Makes it possible for 
 *  this plugin to react on ecmc errors
 *  Return value other than 0 will be considered to be an error code in ecmc.
 **/
-int safetyRealtime(int ecmcError)
+static int safetyRealtime(int ecmcError)
 { 
  if(destructs_) return 0;
  
@@ -71,10 +74,10 @@ int safetyRealtime(int ecmcError)
  return 0;
 }

-/** Link to data source here since all sources should be availabe at this stage
+/** Link to data source here since all sources should be available at this stage
 *  (for example ecmc PLC variables are defined only at enter of realtime)
 **/
-int safetyEnterRT(){
+static int safetyEnterRT(){
  return validate();
 }

@@ -82,37 +85,12 @@ int safetyEnterRT(){
 *  Will be called once just before leaving realtime mode
 *  Return value other than 0 will be considered error.
 **/
-int safetyExitRT(void){
+static int safetyExitRT(void){
  return 0;
 }

-//// Plc function for clear of buffers
-//double fft_clear(double index) {
-//  return (double)clearFFT((int)index);
-//}
-//
-//// Plc function for enable
-//double fft_enable(double index, double enable) {
-//  return (double)enableFFT((int)index, (int)enable);
-//}
-//
-//// Plc function for trigg new measurement (will clear buffers)
-//double fft_trigg(double index) {
-//  return (double)triggFFT((int)index);
-//}
-//
-//// Plc function for enable
-//double fft_mode(double index, double mode) {
-//  return (double)modeFFT((int)index, (FFT_MODE)((int)mode));
-//}
-//
-//// Plc function for enable
-//double fft_stat(double index) {
-//  return (double)statFFT((int)index);
-//}
-
 // Register data for plugin so ecmc know what to use
-struct ecmcPluginData pluginDataDef = {
+static struct ecmcPluginData pluginDataDef = {
  // Allways use ECMC_PLUG_VERSION_MAGIC
  .ifVersion = ECMC_PLUG_VERSION_MAGIC, 
  // Name 
@@ -124,170 +102,19 @@ struct ecmcPluginData pluginDataDef = {
                ,
  // Plugin version
  .version = ECMC_PLUGIN_VERSION,
-  // Optional construct func, called once at load. NULL if not definded.
-  .constructFnc = safetyConstruct,
-  // Optional destruct func, called once at unload. NULL if not definded.
+  // Optional construct func, called once at load. NULL if not defined.
+  .constructFnc = construct,
+  // Optional destruct func, called once at unload. NULL if not defined.
  .destructFnc = safetyDestruct,
-  // Optional func that will be called each rt cycle. NULL if not definded.
+  // Optional func that will be called each rt cycle. NULL if not defined.
  .realtimeFnc = safetyRealtime,
  // Optional func that will be called once just before enter realtime mode
  .realtimeEnterFnc = safetyEnterRT,
  // Optional func that will be called once just before exit realtime mode
  .realtimeExitFnc = safetyExitRT,
  // PLC funcs
-//  .funcs[0] =
-//      { /*----fft_clear----*/
-//        // Function name (this is the name you use in ecmc plc-code)
-//        .funcName = "fft_clear",
-//        // Function description
-//        .funcDesc = "double fft_clear(index) : Clear/reset fft[index].",
-//        /**
-//        * 7 different prototypes allowed (only doubles since reg in plc).
-//        * Only funcArg${argCount} func shall be assigned the rest set to NULL.
-//        **/
-//        .funcArg0 = NULL,
-//        .funcArg1 = fft_clear,
-//        .funcArg2 = NULL,
-//        .funcArg3 = NULL,
-//        .funcArg4 = NULL,
-//        .funcArg5 = NULL,
-//        .funcArg6 = NULL,
-//        .funcArg7 = NULL,
-//        .funcArg8 = NULL,
-//        .funcArg9 = NULL,
-//        .funcArg10 = NULL,
-//        .funcGenericObj = NULL,
-//      },
-//  .funcs[1] =
-//      { /*----fft_enable----*/
-//        // Function name (this is the name you use in ecmc plc-code)
-//        .funcName = "fft_enable",
-//        // Function description
-//        .funcDesc = "double fft_enable(index, enable) : Set enable for fft[index].",
-//        /**
-//        * 7 different prototypes allowed (only doubles since reg in plc).
-//        * Only funcArg${argCount} func shall be assigned the rest set to NULL.
-//        **/
-//        .funcArg0 = NULL,
-//        .funcArg1 = NULL,
-//        .funcArg2 = fft_enable,
-//        .funcArg3 = NULL,
-//        .funcArg4 = NULL,
-//        .funcArg5 = NULL,
-//        .funcArg6 = NULL,
-//        .funcArg7 = NULL,
-//        .funcArg8 = NULL,
-//        .funcArg9 = NULL,
-//        .funcArg10 = NULL,
-//        .funcGenericObj = NULL,
-//      },
-//    .funcs[2] =
-//      { /*----fft_trigg----*/
-//        // Function name (this is the name you use in ecmc plc-code)
-//        .funcName = "fft_trigg",
-//        // Function description
-//        .funcDesc = "double fft_trigg(index) : Trigg new measurement for fft[index]. Will clear buffers.",
-//        /**
-//        * 7 different prototypes allowed (only doubles since reg in plc).
-//        * Only funcArg${argCount} func shall be assigned the rest set to NULL.
-//        **/
-//        .funcArg0 = NULL,
-//        .funcArg1 = fft_trigg,
-//        .funcArg2 = NULL,
-//        .funcArg3 = NULL,
-//        .funcArg4 = NULL,
-//        .funcArg5 = NULL,
-//        .funcArg6 = NULL,
-//        .funcArg7 = NULL,
-//        .funcArg8 = NULL,
-//        .funcArg9 = NULL,
-//        .funcArg10 = NULL,
-//        .funcGenericObj = NULL,
-//      },
-//    .funcs[3] =
-//      { /*----fft_mode----*/
-//        // Function name (this is the name you use in ecmc plc-code)
-//        .funcName = "fft_mode",
-//        // Function description
-//        .funcDesc = "double fft_mode(index, mode) : Set mode Cont(1)/Trigg(2) for fft[index].",
-//        /**
-//        * 7 different prototypes allowed (only doubles since reg in plc).
-//        * Only funcArg${argCount} func shall be assigned the rest set to NULL.
-//        **/
-//        .funcArg0 = NULL,
-//        .funcArg1 = NULL,
-//        .funcArg2 = fft_mode,
-//        .funcArg3 = NULL,
-//        .funcArg4 = NULL,
-//        .funcArg5 = NULL,
-//        .funcArg6 = NULL,
-//        .funcArg7 = NULL,
-//        .funcArg8 = NULL,
-//        .funcArg9 = NULL,
-//        .funcArg10 = NULL,
-//        .funcGenericObj = NULL,
-//      },
-//    .funcs[4] =
-//      { /*----fft_stat----*/
-//        // Function name (this is the name you use in ecmc plc-code)
-//        .funcName = "fft_stat",
-//        // Function description
-//        .funcDesc = "double fft_stat(index) : Get status of fft (NO_STAT, IDLE, ACQ, CALC) for fft[index].",
-//        /**
-//        * 7 different prototypes allowed (only doubles since reg in plc).
-//        * Only funcArg${argCount} func shall be assigned the rest set to NULL.
-//        **/
-//        .funcArg0 = NULL,
-//        .funcArg1 = fft_stat,
-//        .funcArg2 = NULL,
-//        .funcArg3 = NULL,
-//        .funcArg4 = NULL,
-//        .funcArg5 = NULL,
-//        .funcArg6 = NULL,
-//        .funcArg7 = NULL,
-//        .funcArg8 = NULL,
-//        .funcArg9 = NULL,
-//        .funcArg10 = NULL,
-//        .funcGenericObj = NULL,
-//      },
  .funcs[0] = {0},  // last element set all to zero..
  // PLC consts
-  /* CONTINIOUS MODE = 1 */
-//  .consts[0] = {
-//        .constName = "fft_CONT",
-//        .constDesc = "FFT Mode: Continious",
-//        .constValue = CONT
-//      },
-//  /* TRIGGERED MODE = 2 */
-//  .consts[1] = {
-//        .constName = "fft_TRIGG",
-//        .constDesc = "FFT Mode :Triggered",
-//        .constValue = TRIGG
-//      },
-//  /* TRIGGERED MODE = 2 */
-//  .consts[2] = {
-//        .constName = "fft_NO_STAT",
-//        .constDesc = "FFT Status: Invalid state",
-//        .constValue = NO_STAT,
-//      },
-//  /* TRIGGERED MODE = 2 */
-//  .consts[3] = {
-//        .constName = "fft_IDLE",
-//        .constDesc = "FFT Status: Idle state (waiting for trigger)",
-//        .constValue = IDLE
-//      },
-//  /* TRIGGERED MODE = 2 */
-//  .consts[4] = {
-//        .constName = "fft_ACQ",
-//        .constDesc = "FFT Status: Acquiring data",
-//        .constValue = ACQ
-//      },
-//  /* TRIGGERED MODE = 2 */
-//  .consts[5] = {
-//        .constName = "fft_CALC",
-//        .constDesc = "FFT Status: Calculating result",
-//        .constValue = CALC
-//      },
  .consts[0] = {0}, // last element set all to zero..
 };

--- 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 +56,62 @@ 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;
+  oldStop_                  = 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 +123,8 @@ ecmcSS1SafetyGroup::~ecmcSS1SafetyGroup() {
  free(sName_);
  free(sEcRampDownCmdNameOrg_);
  free(sEcAxesStandStillStatOrg_);
-  free(sEcRampDownCmdNameStrip_);
-  free(sEcAxesStandStillStatStrip_);
  free(sConfig_);
+  free(sEcLimitVeloOrg_);
 }

 void ecmcSS1SafetyGroup::parseConfigStr(const char *configStr) {
@@ -167,8 +180,20 @@ 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 +205,10 @@ 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 +255,22 @@ 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 +292,10 @@ 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 +304,32 @@ 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 +369,8 @@ 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 +383,7 @@ void ecmcSS1SafetyGroup::execute() {
  }

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

  if(rampDownCmdOld_ != rampDownCmd_) {
    
@@ -353,8 +403,12 @@ 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 +419,56 @@ 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 +488,10 @@ 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;
@@ -396,11 +501,66 @@ 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 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;
+  }
+
+  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;
@@ -416,7 +576,7 @@ bool ecmcSS1SafetyGroup::checkAxisStandstill(safetyAxis* axis) {
    return 0;
  }

-  return std::abs(traj) <= axis->veloLimit_ && std::abs(enc) <= axis->veloLimit_;
+  return std::abs(traj) <= axis->veloStandstillLimit_ && std::abs(enc) <= axis->veloStandstillLimit_;
 }

 // Check standstill and disable
@@ -447,7 +607,7 @@ void ecmcSS1SafetyGroup::setAxesDisable() {
    if(!*saxis) {
      throw std::runtime_error("Safety: Axis object NULL.");
    }
-    setAxisEnable((*saxis)->axisId_,0);    
+    setAxisEnable((*saxis)->axisId_,0);
  }

  if(printEnableStatus_ && cfgDbgMode_) {
@@ -462,23 +622,46 @@ void ecmcSS1SafetyGroup::setAxesSafetyInterlocks(int stop) {
    if(!*saxis) {
      throw std::runtime_error( "Safety: Axis object NULL.");
    }
-    setAxisEmergencyStopInterlock((*saxis)->axisId_,stop);    
+
+    setAxisEmergencyStopInterlock((*saxis)->axisId_,stop);
+
+    if(!oldStop_ && stop) {
+      //Calcualte new deceleration if delay is defined and abs(velo) > 0
+      if(delayMs_ > 0) {
+        double velo = 0;
+        getAxisTrajVelo((*saxis)->axisId_,&velo);
+        velo = std::abs(velo);        
+        if(velo > 0) {          
+          double newEmergDec = velo / (ECMC_PLUGIN_RAMP_DOWN_TIME_RATIO * delayMs_ / 1000.0);
+          setAxisEmergDeceleration((*saxis)->axisId_,newEmergDec);
+          printf("Safety %s: Set new emergency deceleration %lf \n",sName_,newEmergDec);
+        }
+      }
+    } 
  }
+  oldStop_ = 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 (velo limit = %lf, standstill filter : %d)\n"
-    ,sName_,axisId,veloLimit,standStillTimeMs);
+    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_;
@@ -115,18 +145,26 @@ 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_;
+  bool                  oldStop_;
  static std::string    to_string(int value);
+
 };

 #endif  /* ECMC_SAFETY_GROUP_PLG_H_ */
--- a/src/ecmcSafetyPlgDefs.h
+++ b/src/ecmcSafetyPlgDefs.h
@@ -25,4 +25,7 @@
 #define ECMC_PLUGIN_SAFETY_ERROR_CODE 1
 #define ECMC_PLUGIN_ALREADY_LOADED_ERROR_CODE 2

+// How big part of delay is used for rampdown
+#define ECMC_PLUGIN_RAMP_DOWN_TIME_RATIO 0.9
+
 #endif  /* ECMC_MOTION_PLG_DEFS_H_ */
--- 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/src/ecmcSafetyPlgWrap.h
+++ b/src/ecmcSafetyPlgWrap.h
@@ -25,11 +25,11 @@ int setCfgString(const char* cfgString);
 *  \param[in] name      Name of safety group.\n
 *  \param[in] ec_rampdown_cmd Name of ethercat entry for ramp down command\n
 *  \param[in] ec_standstill_status Name of ethercat entry all axis standstill status\n
- *  \param[in] time_delay_ms Timedelay between ec_rampdown_cmd going high untill STO is triggered by safety relay.\n
+ *  \param[in] time_delay_ms Timedelay between ec_ramp-down_cmd going high until STO is triggered by safety relay.\n
 *
 *  \return 0 if success or otherwise an error code.\n
 */
-//int createSafetyGroup(name,ec_rampdown_cmd,ec_standstill_status, time_delay_ms);
+//int createSafetyGroup(name,ec_ramp-down_cmd,ec_standstill_status, time_delay_ms);

 /** \brief Deletes all created objects\n
 *
@@ -41,8 +41,8 @@ void deleteAllSafetyGroups();
 *
 *  This tells the safety lib to connect to ecmc to find it's data sources.\n
 *  This function should be called just before entering realtime since then all\n
- *  data sources in ecmc will be definded (plc sources are compiled just before runtime\n
- *  so are only fist accesible now).\n
+ *  data sources in ecmc will be defined (plc sources are compiled just before runtime\n
+ *  so are only fist accessible now).\n
 *  \return 0 if success or otherwise an error code.\n
 */
 int  validate();
--- a/startup.cmd
+++ b/startup.cmd
@@ -13,7 +13,7 @@
 #-
 #################################################################################

-#- Print discalimer
+#- Print disclaimer
 #
 # !!!!!!!!!!!!!  IMPORTANT  !!!!!!!!! 
 # This plugin has _NO_ safety rated functionalities.
@@ -24,3 +24,6 @@
 epicsEnvSet(ECMC_PLUGIN_FILNAME,"$(ecmc_plugin_safety_DIR)/lib/${EPICS_HOST_ARCH=linux-x86_64}/libecmc_plugin_safety.so")
 epicsEnvSet(ECMC_PLUGIN_CONFIG,"DBG_PRINT=1;")
 ecmcConfigOrDie "Cfg.LoadSafetyPlugin(${ECMC_PLUGIN_FILNAME},${ECMC_PLUGIN_CONFIG=""})"
+
+#- Load SS1 group records
+dbLoadRecords("ecmcSS1Main.template","P=${ECMC_PREFIX}")
Author	SHA1	Message	Date
Anders Sandström	5125c4a861	use ecmc 11.0	2025-10-13 11:56:58 +02:00
Anders Sandström	7782df0049	epics 7.0.9	2025-04-22 12:20:57 +02:00
Anders Sandström	93648e1e02	update makefile	2025-03-28 09:17:41 +01:00
Anders Sandström	4b97b5a53c	Fix makefiel for deb12	2025-03-21 10:49:47 +01:00
Anders Sandström	81b0013a57	Use ecmc 10.0	2025-03-03 14:34:29 +01:00
Anders Sandström	e43935510e	Update panels	2025-02-26 17:15:38 +01:00
Anders Sandström	bddba4be91	Add more data to db	2025-02-26 14:51:27 +01:00
Anders Sandström	4df2642299	Add axis template	2025-02-26 09:54:39 +01:00
Anders Sandström	261f93ed43	WIP	2025-02-25 12:34:35 +01:00
Anders Sandström	8f68bc021d	Calc emerg decelartion depending on actual traj velo	2025-02-25 09:18:12 +01:00
Anders Sandström	07acbe990e	Cleanup panels	2025-02-24 16:53:44 +01:00
Anders Sandström	ece0240a5d	Update readme	2025-02-24 16:43:14 +01:00
Anders Sandström	7583975ab2	Update readme	2025-02-24 16:41:32 +01:00
Anders Sandström	6e4d9e2933	Merge branch 'new_plg_concept' of git.psi.ch:motion/ecmc_plugin_safety into new_plg_concept	2025-02-24 16:39:39 +01:00
Anders Sandström	3d0896a290	WIP	2025-02-24 16:37:43 +01:00
Anders Sandström	0b9d22b327	Add simple panles	2025-02-24 16:37:10 +01:00
Anders Sandström	9f0147c83e	WIP	2025-02-24 16:20:41 +01:00
Anders Sandström	f85f010d06	Merge branch 'new_plg_concept' of git.psi.ch:motion/ecmc_plugin_safety into new_plg_concept	2025-02-24 14:05:05 +01:00
Anders Sandström	fa77ffb099	Merge branch 'master' of git.psi.ch:motion/ecmc_plugin_safety into new_plg_concept	2025-02-24 14:03:29 +01:00
sandst_a	7893207cb6	Merge branch 'test' into 'master' Test See merge request motion/ecmc_plugin_safety!1	2025-02-24 14:02:20 +01:00
sandst_a	7431834bd3	Test	2025-02-24 14:02:20 +01:00
Anders Sandström	980aeeecdc	WIP	2025-02-11 16:55:21 +01:00
Anders Sandström	9042a39a1b	WIP	2025-02-11 16:42:26 +01:00
Anders Sandström	1fb017ac64	Add test script	2025-02-11 16:40:58 +01:00
Anders Sandström	e0d93179a8	Update test script	2025-02-11 15:50:43 +01:00
Anders Sandström	18e4821a83	Prep for ecmc v10	2024-12-16 10:43:29 +01:00
Anders Sandström	eeaffaad96	Update naming in scripts	2024-12-16 09:45:06 +01:00
Anders Sandström	31fd9d8851	New plugin concept and cleanup	2024-12-13 16:06:19 +01:00
Anders Sandström	adc421ba42	depend on ecmc 9.6	2024-09-13 09:20:12 +02:00
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