#==============================================================================
# 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       :   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
#-
#################################################################################

#- 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})

#- Load SS1 group records
dbLoadRecords("ss1.template","P=${ECMC_PREFIX},NAME=${NAME}")