#==============================================================================
# addAxisToSafetyGroup.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: add axis to group
#-
#- by Anders Sandström, Paul Scherrer Institute, 2023
#- email: anders.sandstroem@psi.ch
#-
#-###############################################################################
#-
#- Arguments:
#-   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 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_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},${VELO_REST_LIM=0},0,${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}")