##############################################################################
#- 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�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"