Fix makefiel for deb12

Test

See merge request motion/ecmc_plugin_safety!1

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)
+}

Db/ecmcSS1Group.template

@@ -51,11 +51,11 @@ record(bi,"${P}SS1-${NAME}-AxsStndStllAct"){
   field(ONAM, "Standstill")
   field(ZSV,  "NO_ALARM")
   field(OSV,  "NO_ALARM")
-  field(FLNK, "${P}SS1-${NAME}-RedVeloAct.PROC")
+  field(FLNK, "${P}SS1-${NAME}-RedVeloCmdAct.PROC")
 }
 
 #  // bit 3 reduce velo active
-record(bi,"${P}SS1-${NAME}-RedVeloAct"){
+record(bi,"${P}SS1-${NAME}-RedVeloCmdAct"){
   field(DESC, "SS1-${NAME}: Reduce velo active")
   field(INP,  "${P}SS1-${NAME}-Stat_.B3")
   field(ZNAM, "Not Active")
@@ -63,3 +63,21 @@ record(bi,"${P}SS1-${NAME}-RedVeloAct"){
   field(ZSV,  "NO_ALARM")
   field(OSV,  "NO_ALARM")
 }
+
+record(ai,"$(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)")
+}

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")
+}

GNUmakefile

@@ -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 7.0.9
 
 IGNORE_MODULES += asynMotor
 IGNORE_MODULES += motorBase
@@ -15,18 +18,24 @@ USR_CXXFLAGS += -std=c++17
 OPT_CXXFLAGS_YES = -O3
 
 # dependencies
+ecmc_VERSION = 10.0
 ECmasterECMC_VERSION = v1.1.0
-ecmc_VERSION = 9.6
 
-################################################################################
-# THIS RELATES TO THE EtherCAT MASTER LIBRARY
-# IT IS OF PARAMOUNT IMPORTANCE TO LOAD THE PROPER KERNEL MODULE
-# ################################################################################
-USR_LDFLAGS += -lethercat
+# ethercat
+EC_BASE_PATH = /ioc/NeedfulThings/EtherCAT/4epics/
+USR_CXXFLAGS_deb12-x86_64 += -I${EC_BASE_PATH}${T_A}/include/
+USR_CXXFLAGS_deb12-x86_64 += -L${EC_BASE_PATH}${T_A}/lib/
 
+OPT_CXXFLAGS_YES = -O3
+
+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/
+
+USR_LDFLAGS_deb10-x86_64 += -lethercat
 EC_MASTER_LIB = ${EPICS_MODULES}/ECmasterECMC/${ECmasterECMC_VERSION}/R${EPICSVERSION}/lib/${T_A}
-USR_LDFLAGS += -Wl,-rpath=${EC_MASTER_LIB}
-USR_LDFLAGS +=         -L ${EC_MASTER_LIB}
+USR_LDFLAGS_deb10-x86_64 += -Wl,-rpath=${EC_MASTER_LIB}
+USR_LDFLAGS_deb10-x86_64 +=         -L ${EC_MASTER_LIB}
 
 BASE_DIR = .
 SRC_DIR = $(BASE_DIR)/src

iocsh/cfg/axis.yaml

@@ -1,189 +1,94 @@
 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: 'powerAutoOnOff=2;powerOffDelay=4;powerOnDelay=4;' # additional parameters     # Additional params to motor record driver
-  #healthOutput: ec0...                               # Ethercat entry for health output
-  # autoMode:                                         # Switch drive modes automaticaly for normal motion and homing (smaract for instance)
-  #   modeSet: ec0..                                  # Ethercat entry drive mode write (set CSV,CSP,homing)
-  #   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: 'TWV=1000' # Extra config for Motor record
+    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: 720                                      # 2mm Scaling numerator example 360 deg/rev
-  denominator: 8192                                   # Scaling denominator example 4096 ticks per 360 degree
-  # type: 0                                           # Type: 0=Incremental, 1=Absolute
-  bits: 16                                            # Total bit count of encoder raw data
-  # absBits: 0                                        # Absolute bit count (for absolute encoders) always least significant part of 'bits'
-  # absOffset: 0                                      # Encoder offset in eng units (for absolute encoders)
-  # mask: '0xFFF00'                                   # Mask applied to raw encoder value
-  position: ec0.s$(ENC_SLAVE).positionActual01        # Ethercat entry for actual position input (encoder)
-  control: ec0.s$(ENC_SLAVE).encoderControl01         # mandatory only if 'reset' is used
-  status: ec0.s$(ENC_SLAVE).encoderStatus01           # mandatory only if 'warning' or 'error' are used
-  # ready: 10                                         # Bit in encoder status word for encoder ready
-  # source: 0                                         # 0 = Encoder value from etehrcat hardware, 1 = Encoder value from PLC
-  # reset: 1                                          # Reset   (optional)
-  # 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
-  limits:
-    minIntegral: -10000
-    maxIntegral: 10000
-
-  # Kff: 1                                            # Feed forward gain
-  # deadband:
-  #   tol: 0.01                                       # Stop control if within this distance from target for the below time
-  #   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: 1200                       # 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: 10                                      # Allowed tolerance
-    time: 10                                          # Allowed time outside tolerance  target:
-  target:
-    enable: true                                     # Enable at target monitoring (needs to be enabled if using motor record)
     tolerance: 0.1                                    # Allowed tolerance
-    time: 10                                          # Filter time inside tolerance to be at target
+    time: 10                                          # Allowed time outside tolerance  target:
   velocity:
-    enable: true                                     # Enable velocity monitoring
-    max: 1000                                          # Allowed max velocity
+    enable: false                                     # Enable velocity monitoring
+    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
+  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

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)

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,MASTER_ID=1"
+require ecmccfg "ENG_MODE=1,MASTER_ID=0"
 
 ##############################################################################
 ## Load components lib
@@ -54,23 +53,22 @@ ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml"
 require ecmc_plugin_safety
 
 # 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)
-#-   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")
+#-   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_REST=${EC_AXES_REST},EC_AXES_MAX_VELO=${EC_AXES_MAX_VELO=empty},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
 #-   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]
+#-   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:
 #

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"

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>

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>

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
+```

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>

scripts/addAxisToSafetyGroup.cmd

@@ -18,7 +18,7 @@
 #-   NAME               :   Name of safety group
 #-   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]
+#-   VELO_MAX_LIM       :   Velocity maximum limit when EC_RED_VEL_CMD, set to -1 to disable [unit same as EGU of axis]
 #-
 #################################################################################
 
@@ -26,7 +26,10 @@
 #-           <name>                     : Name of safety group to add axis to.
 #-           <Axis id>                  : Axis index to add (ecmc axis index).
 #-           <velo_rest_limit>          : Axis at rest velo limit [unit of axis].
-#-           <velo_max_limit>           : Axis max 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},${VELO_REST_LIM=0},0,${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}")

scripts/addSS1Group.cmd

@@ -15,11 +15,11 @@
 #-###############################################################################
 #-
 #- Arguments:
-#-   NAME               :   Name of safety 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)
-#-   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
 #-
 #################################################################################
 
@@ -27,10 +27,14 @@
 #-   <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)
+#-   <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}","${EC_AXES_REST}","${EC_AXES_MAX_VELO=empty}",${DELAY_MS=0})
+
+ecmcAddSS1SafetyGroup("${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}")
+

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..
 };
 

src/ecmcSS1SafetyGroup.cpp

@@ -94,6 +94,7 @@ ecmcSS1SafetyGroup::ecmcSS1SafetyGroup(const char *name,
   limitVeloCmd_             = 0;
   axesDisabled_             = 0;
   cfgDbgMode_               = 0;
+  oldStop_                  = 0;
   memset(&status_,0,sizeof(status_));
 
   parseConfigStr(cfg_string);
@@ -621,8 +622,24 @@ 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,

src/ecmcSS1SafetyGroup.h

@@ -162,8 +162,9 @@ class ecmcSS1SafetyGroup : public asynPortDriver {
   ecmcEcEntry          *ecEntryRampDown_;
   ecmcEcEntry          *ecEntryStandstill_;
   ecmcEcEntry          *ecEntryLimitVelo_;
-  
+  bool                  oldStop_;
   static std::string    to_string(int value);
+
 };
 
 #endif  /* ECMC_SAFETY_GROUP_PLG_H_ */

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_ */

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();

startup.cmd

@@ -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}")