41 lines
2.0 KiB
Batchfile
41 lines
2.0 KiB
Batchfile
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#==============================================================================
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# addSS1Group.cmd
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#-
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#- !!!!!!!!!!!!! IMPORTANT !!!!!!!!!
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#- This plugin has _NO_ safety rated functionalities.
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#- The intended use of this plugin is only to handle interfacing with a safety PLC.
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#-
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#-------------- Information:
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#- Description: Create a SS1 motion group
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#-
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#- by Anders Sandström, Paul Scherrer Institute, 2023
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#- email: anders.sandstroem@psi.ch
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#-
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#-###############################################################################
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#-
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#- Arguments:
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#- NAME : Name of safety group
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#- EC_RAMP_DOWN_CMD : Ethercat entry for ramp down command, input to ecmc (command from safety PLC/system)
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#- EC_AXES_REST_STAT : Ethercat entry for signaling that all axes in group are at rest, output from ecmc (feedback to safety PLC/system)
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#- EC_AXES_LIM_VELO_CMD : Ethercat entry for reducing velocity, input to ecmc (command from safety PLC/system)
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#- DELAY_MS : Time between rampdown command and STO
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#-
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#################################################################################
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#-Use ecmcAddSS1SafetyGroup(<name>, <ec_rampdown_cmd>, <ec_standstill_status>,<time_delay_ms>)
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#- <name> : Name of group
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#- <ec_rampdown_cmd> : Ethercat entry input for rampdown cmd
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#- <ec_standstill_status> : Ethercat entry output for group standstill status
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#- <ec_red_velo_cmd> : Ethercat entry input for activation of maximum velo limitation (set to "empty" to disable)
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#- <time_delay_ms> : Time delay of STO [ms]
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ecmcAddSS1SafetyGroup("${NAME}","${EC_RAMP_DOWN_CMD}","${EC_AXES_AT_REST_STAT}","${EC_AXES_LIM_VELO_CMD=empty}",${DELAY_MS=0})
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ecmcEpicsEnvSetCalc(ECMC_PLG_SAFETY_GRP_CNT, "${ECMC_PLG_SAFETY_GRP_CNT=0}+1", "%02d")
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#- Load SS1 group records
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dbLoadRecords("ecmcSS1Group.template","P=${ECMC_PREFIX},NAME=${NAME},ID=${ECMC_PLG_SAFETY_GRP_CNT},COUNT=${ECMC_PLG_SAFETY_GRP_CNT},DELAY=${DELAY_MS=0}")
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