#==============================================================================
# addSS1Group.cmd
#-
#- !!!!!!!!!!!!!  IMPORTANT  !!!!!!!!! 
#- This plugin has _NO_ safety rated functionalities.
#- The intended use of this plugin is only to handle interfacing with a safety PLC.
#-
#-------------- Information:
#- Description: Create a SS1 motion group
#-
#- by Anders Sandström, Paul Scherrer Institute, 2023
#- email: anders.sandstroem@psi.ch
#-
#-###############################################################################
#-
#- Arguments:
#-   NAME                 :   Name of safety group
#-   EC_RAMP_DOWN_CMD     :   Ethercat entry for ramp down command, input to ecmc (command from safety PLC/system)
#-   EC_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
#-
#################################################################################

#-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("ecmcSS1Group.template","P=${ECMC_PREFIX},NAME=${NAME},ID=${ECMC_PLG_SAFETY_GRP_CNT},COUNT=${ECMC_PLG_SAFETY_GRP_CNT},DELAY=${DELAY_MS=0}")