34 lines
1.5 KiB
Batchfile
34 lines
1.5 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 : Ethercat entry for rampd down command (cmd from safety PLC/system)
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#- EC_AXES_STANDSTILL : Ethercat entry for axes at standstill status (feedback to 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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#- 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> : Ethercat entry input for rampdown cmd.
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#- <ec_standstill> : Ethercat entry output for group standstill status.
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#- <time_delay_ms> : Time delay of STO [ms].
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ecmcAddSS1SafetyGroup("${NAME}","${EC_RAMP_DOWN}","${EC_AXES_STANDSTILL}",${DELAY_MS=0})
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#- Load SS1 group records
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dbLoadRecords("ss1.template","P=${ECMC_PREFIX},NAME=${NAME}")
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