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README.md

ecmc_plugin_safety

IMPORTANT: This plugin or ecmc does NOT offer any safety certified functionality. This plugin only offers a standard interface to an external safety system / safety PLC / safety relay!!!!

This plugin is designed for interfacing safety systems, see example in below picture, to ecmc motion axes.

Safety system

SS1-t

The plugin supports stopping axes according to a concept described as SS1-t, see below picture. In SS1-t the STO (or removal of power) from the axes are delayed for a certain defined time allowing a controlled rampdown of velocity. The rampdown of the axis is handled by the non-safe motion controller while the removal of power (or triggering of STO) after the time delay is handled by a safety system, . This makes it possible to stop moving axes in a controlled way and disable the drives before the power is interrupted (or STO triggered). This will result in a safer system and less harware failures and error messages.

After the time delay expires, hopfully all axes are at standstill and power is already removed from the drives.

SS1-t

Interface

Basically the safey system is interfaced with two binary signals (ethercat I/O):

  • Ramp down command (from safety system to ecmc)
  • Axis stand still status (to safety system from ecmc)

If, for instance, an safety event is triggerd by the safety system, it will immediately command this plugin to rampdown velocity of all axes (that a configured to stop). When all axes, that are configured to rampdown, have stopped then this plugin will disable the axes and set an ethercat output informing the safety system that the axes are standstill. After a certain timout the safety system will make sure power is removed from the motion axes by triggering an STO or removing power. The removal of power or triggering of STO will made regardless if the axes are at rest or not. A reset of the safety system, allowing power to the drives, will only be possible once the safety system gets a confirmation that all axes are at rest.

The configuration is made by two commands:

  1. ecmcAddSS1SafetyGroup() wrapped into addSS1Group.cmd
  2. ecmcAddAxisToSafetyGroup() wrapped in snippet addAxisToSafetyGroup.cmd

ecmcAddSS1SafetyGroup()

The ecmcAddSS1SafetyGroup() adds a SS1 safety group. The command takes the following parameters:

ecmcAddSS1SafetyGroup(<name>, <ec_rampdown_cmd>, <ec_standstill_status>,<time_delay_ms>)
          <name>                     : Name of group.
          <ec_rampdown>              : Ethercat entry input for rampdown cmd.
          <ec_axes_at_rest>          : Ethercat entry output for group standstill status.
          <time_delay_ms>            : Time delay of STO [ms].

Each group is interfacing the safety system through the same I/O (ethercat). Axes that needs the SS1 fucntionality can be added to this group with the ecmcAddAxisToSafetyGroup() command.

This command is also wrapped in a snippet addSS1Group.cmd with the follwoing parameters:

  • NAME : Name of group
  • EC_RAMP_DOWN : Ethercat input of ramp down signal from safety PLC
  • EC_AXES_STANDSTILL : Ethercat output for signaling safetysystem that all axes are at rest.
  • DELAY_MS : Safety system delay time of STO or removal of power

Example:

# Create SS1 group
epicsEnvSet(EC_RAMP_DOWN,"ec${ECMC_EC_MASTER_ID}.s${BI_SLAVE}.binaryInput08.0")
epicsEnvSet(EC_AXES_STANDSTILL,"ec${ECMC_EC_MASTER_ID}.s${BO_SLAVE}.binaryOutput07.0")
epicsEnvSet(SAFETY_TIMEOUT,500)
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN=${EC_RAMP_DOWN},EC_AXES_STANDSTILL=${EC_AXES_STANDSTILL},DELAY_MS=${SAFETY_TIMEOUT}"

ecmcAddAxisToSafetyGroup()

With the "ecmcAddAxisToSafetyGroup()" command an ecmc axis can be added to a safety group. All axes linked to a certain group will act on command from the safety system (initiation of velocity rampdown).

The ecmcAddAxisToSafetyGroup() command takes the following parameters:

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 limit>               : Axis standstill velo limit [unit of axis].
          <filter_time>              : NOT USED (for future implemenation). Time for axis to be below velo limit [ms].

Note: The "filter_time" parameter is not used right now. As soon as the axis is below teh velo_limit it will be considered to stand still and will then be disabled.

Note: The plugin checks the trajectory generated velocity setpoint and not the actual velocity.

This command is also wrapped in a snippet addAxisToSafetyGroup.cmd with the following parameters:

  • NAME : Name of group to add axis to (group must be created first with addSS1Group.cmd)
  • AX_ID : ecmc axis index of axis to add
  • VELO_LIM : Velocity limit [EGU of axis], default 0. If setpoint and actual velocity is lower or equal than VELO_LIM the axis is considered to be at rest

Example:

${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd "NAME=first,AX_ID=1,VELO_LIM=1"

Example of startup script:

##############################################################################
## Load safety plugin
#
require ecmc_plugin_safety sandst_a

# Create SS1 group
epicsEnvSet(RAMP_DOWN_CMD,"ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.0")
epicsEnvSet(STANDSTILL_STAT,"ec${ECMC_EC_MASTER_ID}.s${DRV_SLAVE}.ZERO.1")
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addSS1Group.cmd "NAME=first,EC_RAMP_DOWN_CMD=${RAMP_DOWN_CMD},EC_STANDSTILL_STAT=${STANDSTILL_STAT},DELAY_MS=500"

# Add axes to group "first"
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd.cmd "NAME=first,AX_ID=1,VELO_LIM=1"
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd.cmd "NAME=first,AX_ID=2,VELO_LIM=1"
${SCRIPTEXEC} ${ecmc_plugin_safety_DIR}addAxisToSafetyGroup.cmd.cmd "NAME=first,AX_ID=3,VELO_LIM=1"
....

Test data:

[sandst_a@pc15846 ~]$ camon -time c6025a:m0s006-BI08 c6025a:m0s005-BO07 c6025a:Axis1-EnaAct c6025a:Axis1-VelAct 11:44:41.998324 c6025a:m0s006-BI08 "True" 11:44:30.378340 c6025a:m0s005-BO07 "One" 11:44:42.008324 c6025a:Axis1-EnaAct "Disabled" 11:44:30.388326 c6025a:Axis1-VelAct 0.000 mm/s 11:44:55.428324 c6025a:Axis1-EnaAct "Enabled" 11:45:00.958339 c6025a:Axis1-VelAct 0.281 mm/s 11:45:00.958365 c6025a:m0s005-BO07 "Zero" 11:45:00.978335 c6025a:Axis1-VelAct 0.844 mm/s 11:45:00.988344 c6025a:Axis1-VelAct 1.406 mm/s 11:45:00.998338 c6025a:Axis1-VelAct 2.250 mm/s 11:45:01.008337 c6025a:Axis1-VelAct 3.375 mm/s 11:45:01.018341 c6025a:Axis1-VelAct 4.500 mm/s 11:45:01.028338 c6025a:Axis1-VelAct 5.906 mm/s 11:45:01.038340 c6025a:Axis1-VelAct 7.594 mm/s 11:45:01.048338 c6025a:Axis1-VelAct 9.562 mm/s 11:45:01.058340 c6025a:Axis1-VelAct 11.250 mm/s 11:45:01.068337 c6025a:Axis1-VelAct 13.500 mm/s 11:45:01.078336 c6025a:Axis1-VelAct 15.469 mm/s 11:45:01.088338 c6025a:Axis1-VelAct 17.438 mm/s 11:45:01.098339 c6025a:Axis1-VelAct 19.406 mm/s 11:45:01.108341 c6025a:Axis1-VelAct 21.375 mm/s 11:45:01.118338 c6025a:Axis1-VelAct 23.625 mm/s 11:45:01.128339 c6025a:Axis1-VelAct 25.594 mm/s 11:45:01.138339 c6025a:Axis1-VelAct 27.562 mm/s 11:45:01.148337 c6025a:Axis1-VelAct 29.531 mm/s 11:45:01.158345 c6025a:Axis1-VelAct 31.500 mm/s 11:45:01.168338 c6025a:Axis1-VelAct 33.469 mm/s 11:45:01.178339 c6025a:Axis1-VelAct 35.437 mm/s 11:45:01.188338 c6025a:Axis1-VelAct 37.687 mm/s 11:45:01.198337 c6025a:Axis1-VelAct 39.656 mm/s 11:45:01.208338 c6025a:Axis1-VelAct 41.625 mm/s 11:45:01.218334 c6025a:Axis1-VelAct 43.594 mm/s 11:45:01.228342 c6025a:Axis1-VelAct 45.844 mm/s 11:45:01.238335 c6025a:Axis1-VelAct 47.812 mm/s 11:45:01.248352 c6025a:Axis1-VelAct 49.781 mm/s 11:45:01.258338 c6025a:Axis1-VelAct 51.750 mm/s 11:45:01.268342 c6025a:Axis1-VelAct 54.000 mm/s 11:45:01.278336 c6025a:Axis1-VelAct 55.969 mm/s 11:45:01.288340 c6025a:Axis1-VelAct 57.938 mm/s 11:45:01.298338 c6025a:Axis1-VelAct 59.906 mm/s 11:45:01.308337 c6025a:Axis1-VelAct 62.156 mm/s 11:45:01.318335 c6025a:Axis1-VelAct 63.844 mm/s 11:45:01.328344 c6025a:Axis1-VelAct 65.812 mm/s 11:45:01.338346 c6025a:Axis1-VelAct 68.063 mm/s 11:45:01.348341 c6025a:Axis1-VelAct 70.031 mm/s 11:45:01.358338 c6025a:Axis1-VelAct 72.281 mm/s 11:45:01.368343 c6025a:Axis1-VelAct 74.250 mm/s 11:45:01.378345 c6025a:Axis1-VelAct 76.219 mm/s 11:45:01.388342 c6025a:Axis1-VelAct 78.187 mm/s 11:45:01.398341 c6025a:Axis1-VelAct 80.438 mm/s 11:45:01.408339 c6025a:Axis1-VelAct 82.125 mm/s 11:45:01.418338 c6025a:Axis1-VelAct 84.375 mm/s 11:45:01.428338 c6025a:Axis1-VelAct 86.344 mm/s 11:45:01.438337 c6025a:Axis1-VelAct 88.312 mm/s 11:45:01.448338 c6025a:Axis1-VelAct 90.281 mm/s 11:45:01.458339 c6025a:Axis1-VelAct 92.250 mm/s 11:45:01.468344 c6025a:Axis1-VelAct 94.219 mm/s 11:45:01.478343 c6025a:Axis1-VelAct 96.469 mm/s 11:45:01.488347 c6025a:Axis1-VelAct 98.438 mm/s 11:45:01.498339 c6025a:Axis1-VelAct 100.406 mm/s 11:45:01.508340 c6025a:Axis1-VelAct 102.656 mm/s 11:45:01.518340 c6025a:Axis1-VelAct 104.625 mm/s 11:45:01.528338 c6025a:Axis1-VelAct 106.594 mm/s 11:45:01.538341 c6025a:Axis1-VelAct 108.563 mm/s 11:45:01.548337 c6025a:Axis1-VelAct 110.813 mm/s 11:45:01.558339 c6025a:Axis1-VelAct 112.781 mm/s 11:45:01.568337 c6025a:Axis1-VelAct 114.750 mm/s 11:45:01.578338 c6025a:Axis1-VelAct 116.437 mm/s 11:45:01.588338 c6025a:Axis1-VelAct 118.688 mm/s 11:45:01.598336 c6025a:Axis1-VelAct 120.656 mm/s 11:45:01.608339 c6025a:Axis1-VelAct 122.625 mm/s 11:45:01.618339 c6025a:Axis1-VelAct 124.594 mm/s 11:45:01.628337 c6025a:Axis1-VelAct 126.562 mm/s 11:45:01.638348 c6025a:Axis1-VelAct 128.531 mm/s 11:45:01.648346 c6025a:Axis1-VelAct 130.500 mm/s 11:45:01.658339 c6025a:Axis1-VelAct 132.469 mm/s 11:45:01.668338 c6025a:Axis1-VelAct 134.437 mm/s 11:45:01.678341 c6025a:Axis1-VelAct 136.688 mm/s 11:45:01.688346 c6025a:Axis1-VelAct 138.656 mm/s 11:45:01.698339 c6025a:Axis1-VelAct 140.625 mm/s 11:45:01.708350 c6025a:Axis1-VelAct 142.594 mm/s 11:45:01.718339 c6025a:Axis1-VelAct 144.844 mm/s 11:45:01.728339 c6025a:Axis1-VelAct 146.813 mm/s 11:45:01.738342 c6025a:Axis1-VelAct 148.781 mm/s 11:45:01.748340 c6025a:Axis1-VelAct 150.469 mm/s 11:45:01.758342 c6025a:Axis1-VelAct 152.719 mm/s 11:45:01.768344 c6025a:Axis1-VelAct 154.688 mm/s 11:45:01.778338 c6025a:Axis1-VelAct 156.656 mm/s 11:45:01.788341 c6025a:Axis1-VelAct 158.625 mm/s 11:45:01.798339 c6025a:Axis1-VelAct 160.594 mm/s 11:45:01.808344 c6025a:Axis1-VelAct 162.562 mm/s 11:45:01.818340 c6025a:Axis1-VelAct 164.531 mm/s 11:45:01.828337 c6025a:Axis1-VelAct 166.500 mm/s 11:45:01.838341 c6025a:Axis1-VelAct 168.187 mm/s 11:45:01.848342 c6025a:Axis1-VelAct 170.438 mm/s 11:45:01.858343 c6025a:Axis1-VelAct 172.406 mm/s 11:45:01.868336 c6025a:Axis1-VelAct 174.375 mm/s 11:45:01.878344 c6025a:Axis1-VelAct 176.344 mm/s 11:45:01.888347 c6025a:Axis1-VelAct 178.313 mm/s 11:45:01.898343 c6025a:Axis1-VelAct 180.281 mm/s 11:45:01.908343 c6025a:Axis1-VelAct 182.250 mm/s 11:45:01.918337 c6025a:Axis1-VelAct 183.937 mm/s 11:45:01.928340 c6025a:Axis1-VelAct 186.188 mm/s 11:45:01.938341 c6025a:Axis1-VelAct 188.438 mm/s 11:45:01.948339 c6025a:Axis1-VelAct 190.406 mm/s 11:45:01.958338 c6025a:Axis1-VelAct 192.094 mm/s 11:45:01.968337 c6025a:Axis1-VelAct 194.344 mm/s 11:45:01.978338 c6025a:Axis1-VelAct 196.312 mm/s 11:45:01.988340 c6025a:Axis1-VelAct 198.281 mm/s 11:45:01.998339 c6025a:Axis1-VelAct 200.250 mm/s 11:45:02.008339 c6025a:Axis1-VelAct 202.219 mm/s 11:45:02.018339 c6025a:Axis1-VelAct 204.469 mm/s 11:45:02.028341 c6025a:Axis1-VelAct 206.156 mm/s 11:45:02.038341 c6025a:Axis1-VelAct 208.406 mm/s 11:45:02.048342 c6025a:Axis1-VelAct 210.094 mm/s 11:45:02.058338 c6025a:Axis1-VelAct 212.344 mm/s 11:45:02.068337 c6025a:Axis1-VelAct 214.313 mm/s 11:45:02.078341 c6025a:Axis1-VelAct 216.000 mm/s 11:45:02.088339 c6025a:Axis1-VelAct 217.969 mm/s 11:45:02.098339 c6025a:Axis1-VelAct 219.937 mm/s 11:45:02.108341 c6025a:Axis1-VelAct 222.188 mm/s 11:45:02.118345 c6025a:Axis1-VelAct 224.156 mm/s 11:45:02.128344 c6025a:Axis1-VelAct 226.406 mm/s 11:45:02.138340 c6025a:Axis1-VelAct 227.812 mm/s 11:45:02.148344 c6025a:Axis1-VelAct 230.344 mm/s 11:45:02.158337 c6025a:Axis1-VelAct 232.031 mm/s 11:45:02.168339 c6025a:Axis1-VelAct 233.719 mm/s 11:45:02.178349 c6025a:Axis1-VelAct 236.250 mm/s 11:45:02.188339 c6025a:Axis1-VelAct 238.219 mm/s 11:45:02.198337 c6025a:Axis1-VelAct 240.188 mm/s 11:45:02.208340 c6025a:Axis1-VelAct 241.875 mm/s 11:45:02.218339 c6025a:Axis1-VelAct 243.844 mm/s 11:45:02.228343 c6025a:Axis1-VelAct 245.531 mm/s 11:45:02.238338 c6025a:Axis1-VelAct 248.062 mm/s 11:45:02.248339 c6025a:Axis1-VelAct 249.750 mm/s 11:45:02.258338 c6025a:Axis1-VelAct 251.719 mm/s 11:45:02.268338 c6025a:Axis1-VelAct 253.969 mm/s 11:45:02.278338 c6025a:Axis1-VelAct 255.937 mm/s 11:45:02.288343 c6025a:Axis1-VelAct 257.625 mm/s 11:45:02.298343 c6025a:Axis1-VelAct 259.594 mm/s 11:45:02.308340 c6025a:Axis1-VelAct 261.844 mm/s 11:45:02.318337 c6025a:Axis1-VelAct 263.812 mm/s 11:45:02.328342 c6025a:Axis1-VelAct 265.781 mm/s 11:45:02.338352 c6025a:Axis1-VelAct 267.750 mm/s 11:45:02.348340 c6025a:Axis1-VelAct 269.719 mm/s 11:45:02.358341 c6025a:Axis1-VelAct 271.969 mm/s 11:45:02.368340 c6025a:Axis1-VelAct 273.656 mm/s 11:45:02.378341 c6025a:Axis1-VelAct 275.625 mm/s 11:45:02.388340 c6025a:Axis1-VelAct 277.594 mm/s 11:45:02.398344 c6025a:Axis1-VelAct 279.844 mm/s 11:45:02.408340 c6025a:Axis1-VelAct 281.531 mm/s 11:45:02.418341 c6025a:Axis1-VelAct 283.500 mm/s 11:45:02.428344 c6025a:Axis1-VelAct 285.750 mm/s 11:45:02.438351 c6025a:Axis1-VelAct 288.000 mm/s 11:45:02.448342 c6025a:Axis1-VelAct 289.688 mm/s 11:45:02.458345 c6025a:Axis1-VelAct 291.656 mm/s 11:45:02.468351 c6025a:Axis1-VelAct 293.906 mm/s 11:45:02.478339 c6025a:Axis1-VelAct 295.312 mm/s 11:45:02.488339 c6025a:Axis1-VelAct 297.844 mm/s 11:45:02.498340 c6025a:Axis1-VelAct 299.531 mm/s 11:45:02.508340 c6025a:Axis1-VelAct 302.063 mm/s 11:45:02.518351 c6025a:Axis1-VelAct 304.031 mm/s 11:45:02.528340 c6025a:Axis1-VelAct 305.719 mm/s 11:45:02.538344 c6025a:Axis1-VelAct 307.406 mm/s 11:45:02.548338 c6025a:Axis1-VelAct 309.938 mm/s 11:45:02.558343 c6025a:Axis1-VelAct 311.906 mm/s 11:45:02.568340 c6025a:Axis1-VelAct 313.594 mm/s 11:45:02.578338 c6025a:Axis1-VelAct 316.125 mm/s 11:45:02.588339 c6025a:Axis1-VelAct 317.812 mm/s 11:45:02.598336 c6025a:Axis1-VelAct 320.062 mm/s 11:45:02.608346 c6025a:Axis1-VelAct 321.750 mm/s 11:45:02.618339 c6025a:Axis1-VelAct 323.719 mm/s 11:45:02.628345 c6025a:Axis1-VelAct 325.969 mm/s 11:45:02.638337 c6025a:Axis1-VelAct 327.937 mm/s 11:45:02.648337 c6025a:Axis1-VelAct 329.625 mm/s 11:45:02.658338 c6025a:Axis1-VelAct 331.875 mm/s 11:45:02.668340 c6025a:Axis1-VelAct 334.125 mm/s 11:45:02.678340 c6025a:Axis1-VelAct 336.094 mm/s 11:45:02.688345 c6025a:Axis1-VelAct 338.062 mm/s 11:45:02.698340 c6025a:Axis1-VelAct 339.750 mm/s 11:45:02.708339 c6025a:Axis1-VelAct 341.719 mm/s 11:45:02.718338 c6025a:Axis1-VelAct 343.969 mm/s 11:45:02.728337 c6025a:Axis1-VelAct 346.219 mm/s 11:45:02.738337 c6025a:Axis1-VelAct 348.188 mm/s 11:45:02.748340 c6025a:Axis1-VelAct 350.156 mm/s 11:45:02.758339 c6025a:Axis1-VelAct 351.844 mm/s 11:45:02.768342 c6025a:Axis1-VelAct 354.094 mm/s 11:45:02.778337 c6025a:Axis1-VelAct 355.781 mm/s 11:45:02.788340 c6025a:Axis1-VelAct 358.031 mm/s 11:45:02.798344 c6025a:Axis1-VelAct 360.281 mm/s 11:45:02.808336 c6025a:Axis1-VelAct 362.531 mm/s 11:45:02.818336 c6025a:Axis1-VelAct 363.938 mm/s 11:45:02.828338 c6025a:Axis1-VelAct 365.906 mm/s 11:45:02.838336 c6025a:Axis1-VelAct 367.875 mm/s 11:45:02.848338 c6025a:Axis1-VelAct 370.406 mm/s 11:45:02.858342 c6025a:Axis1-VelAct 372.094 mm/s 11:45:02.868341 c6025a:Axis1-VelAct 374.062 mm/s 11:45:02.878344 c6025a:Axis1-VelAct 376.312 mm/s 11:45:02.888336 c6025a:Axis1-VelAct 378.000 mm/s 11:45:02.898336 c6025a:Axis1-VelAct 380.250 mm/s 11:45:02.908340 c6025a:Axis1-VelAct 382.219 mm/s 11:45:02.918340 c6025a:Axis1-VelAct 384.469 mm/s 11:45:02.928337 c6025a:Axis1-VelAct 386.156 mm/s 11:45:02.938341 c6025a:Axis1-VelAct 388.406 mm/s 11:45:02.948338 c6025a:Axis1-VelAct 390.094 mm/s 11:45:02.958344 c6025a:Axis1-VelAct 392.344 mm/s 11:45:02.968342 c6025a:Axis1-VelAct 394.312 mm/s 11:45:02.978339 c6025a:Axis1-VelAct 396.281 mm/s 11:45:02.988337 c6025a:Axis1-VelAct 398.531 mm/s 11:45:02.998338 c6025a:Axis1-VelAct 400.219 mm/s 11:45:03.008341 c6025a:Axis1-VelAct 401.906 mm/s 11:45:03.018337 c6025a:Axis1-VelAct 404.156 mm/s 11:45:03.028343 c6025a:Axis1-VelAct 406.406 mm/s 11:45:03.038338 c6025a:Axis1-VelAct 408.094 mm/s 11:45:03.048342 c6025a:Axis1-VelAct 410.625 mm/s 11:45:03.058336 c6025a:Axis1-VelAct 412.312 mm/s 11:45:03.068338 c6025a:Axis1-VelAct 414.281 mm/s 11:45:03.078344 c6025a:Axis1-VelAct 416.250 mm/s 11:45:03.088342 c6025a:Axis1-VelAct 418.219 mm/s 11:45:03.098337 c6025a:Axis1-VelAct 420.188 mm/s 11:45:03.108343 c6025a:Axis1-VelAct 422.438 mm/s 11:45:03.118338 c6025a:Axis1-VelAct 424.406 mm/s 11:45:03.128345 c6025a:Axis1-VelAct 426.094 mm/s 11:45:03.138337 c6025a:Axis1-VelAct 428.625 mm/s 11:45:03.148340 c6025a:Axis1-VelAct 430.031 mm/s 11:45:03.158348 c6025a:Axis1-VelAct 432.562 mm/s 11:45:03.168340 c6025a:Axis1-VelAct 434.250 mm/s 11:45:03.178344 c6025a:Axis1-VelAct 436.500 mm/s 11:45:03.188340 c6025a:Axis1-VelAct 438.187 mm/s 11:45:03.198342 c6025a:Axis1-VelAct 440.437 mm/s 11:45:03.208341 c6025a:Axis1-VelAct 442.406 mm/s 11:45:03.218336 c6025a:Axis1-VelAct 444.375 mm/s 11:45:03.228338 c6025a:Axis1-VelAct 446.344 mm/s 11:45:03.238339 c6025a:Axis1-VelAct 448.313 mm/s 11:45:03.248344 c6025a:Axis1-VelAct 450.281 mm/s 11:45:03.258341 c6025a:Axis1-VelAct 452.250 mm/s 11:45:03.268340 c6025a:Axis1-VelAct 454.500 mm/s 11:45:03.278345 c6025a:Axis1-VelAct 455.906 mm/s 11:45:03.288342 c6025a:Axis1-VelAct 458.719 mm/s 11:45:03.298340 c6025a:Axis1-VelAct 460.406 mm/s 11:45:03.308345 c6025a:Axis1-VelAct 462.094 mm/s 11:45:03.318339 c6025a:Axis1-VelAct 464.062 mm/s 11:45:03.328338 c6025a:Axis1-VelAct 466.594 mm/s 11:45:03.338343 c6025a:Axis1-VelAct 468.000 mm/s 11:45:03.348339 c6025a:Axis1-VelAct 470.250 mm/s 11:45:03.358338 c6025a:Axis1-VelAct 472.500 mm/s 11:45:03.368340 c6025a:Axis1-VelAct 473.906 mm/s 11:45:03.378343 c6025a:Axis1-VelAct 476.719 mm/s 11:45:03.388343 c6025a:Axis1-VelAct 478.125 mm/s 11:45:03.398336 c6025a:Axis1-VelAct 480.094 mm/s 11:45:03.408338 c6025a:Axis1-VelAct 482.344 mm/s 11:45:03.418343 c6025a:Axis1-VelAct 484.313 mm/s 11:45:03.428343 c6025a:Axis1-VelAct 486.281 mm/s 11:45:03.438343 c6025a:Axis1-VelAct 488.250 mm/s 11:45:03.448340 c6025a:Axis1-VelAct 490.219 mm/s 11:45:03.458350 c6025a:Axis1-VelAct 491.906 mm/s 11:45:03.468345 c6025a:Axis1-VelAct 493.875 mm/s 11:45:03.478342 c6025a:Axis1-VelAct 495.000 mm/s 11:45:03.488338 c6025a:Axis1-VelAct 496.688 mm/s 11:45:03.498342 c6025a:Axis1-VelAct 498.375 mm/s 11:45:03.508339 c6025a:Axis1-VelAct 499.219 mm/s 11:45:03.518336 c6025a:Axis1-VelAct 499.781 mm/s 11:45:03.528338 c6025a:Axis1-VelAct 500.344 mm/s 11:45:03.538336 c6025a:Axis1-VelAct 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c6025a:Axis1-VelAct 500.344 mm/s 11:45:06.218335 c6025a:Axis1-VelAct 500.906 mm/s 11:45:06.228340 c6025a:Axis1-VelAct 500.344 mm/s 11:45:06.238339 c6025a:Axis1-VelAct 500.625 mm/s 11:45:06.248335 c6025a:Axis1-VelAct 500.344 mm/s 11:45:06.258336 c6025a:Axis1-VelAct 500.344 mm/s 11:45:06.268341 c6025a:Axis1-VelAct 500.625 mm/s 11:45:06.278335 c6025a:Axis1-VelAct 500.344 mm/s 11:45:06.288340 c6025a:Axis1-VelAct 500.063 mm/s 11:45:06.298336 c6025a:Axis1-VelAct 500.344 mm/s 11:45:06.308334 c6025a:Axis1-VelAct 500.906 mm/s 11:45:06.318341 c6025a:Axis1-VelAct 499.781 mm/s 11:45:06.328339 c6025a:Axis1-VelAct 500.625 mm/s 11:45:06.338340 c6025a:Axis1-VelAct 500.344 mm/s 11:45:06.348341 c6025a:Axis1-VelAct 500.344 mm/s 11:45:06.358344 c6025a:Axis1-VelAct 500.344 mm/s 11:45:06.378342 c6025a:Axis1-VelAct 500.062 mm/s 11:45:06.388337 c6025a:Axis1-VelAct 500.625 mm/s 11:45:06.398346 c6025a:Axis1-VelAct 500.344 mm/s 11:45:06.418339 c6025a:Axis1-VelAct 500.344 mm/s 11:45:06.428338 c6025a:Axis1-VelAct 500.344 mm/s 11:45:06.448336 c6025a:Axis1-VelAct 500.625 mm/s 11:45:06.458336 c6025a:Axis1-VelAct 500.063 mm/s 11:45:06.468335 c6025a:Axis1-VelAct 500.062 mm/s 11:45:06.478338 c6025a:Axis1-VelAct 500.625 mm/s 11:45:06.488336 c6025a:Axis1-VelAct 500.063 mm/s 11:45:06.498338 c6025a:Axis1-VelAct 499.781 mm/s 11:45:06.508341 c6025a:Axis1-VelAct 500.063 mm/s 11:45:06.518337 c6025a:Axis1-VelAct 500.625 mm/s 11:45:06.528336 c6025a:Axis1-VelAct 500.063 mm/s 11:45:06.538337 c6025a:Axis1-VelAct 500.344 mm/s 11:45:06.548336 c6025a:Axis1-VelAct 500.063 mm/s 11:45:06.558337 c6025a:Axis1-VelAct 500.062 mm/s 11:45:06.568338 c6025a:Axis1-VelAct 500.344 mm/s 11:45:06.578338 c6025a:Axis1-VelAct 499.781 mm/s 11:45:06.588338 c6025a:Axis1-VelAct 499.781 mm/s 11:45:06.598340 c6025a:Axis1-VelAct 500.344 mm/s 11:45:06.608335 c6025a:Axis1-VelAct 499.781 mm/s 11:45:06.618338 c6025a:Axis1-VelAct 500.063 mm/s 11:45:06.628336 c6025a:Axis1-VelAct 500.062 mm/s 11:45:06.638336 c6025a:Axis1-VelAct 499.781 mm/s 11:45:06.658339 c6025a:Axis1-VelAct 500.063 mm/s 11:45:06.668336 c6025a:Axis1-VelAct 499.781 mm/s 11:45:06.678342 c6025a:Axis1-VelAct 499.781 mm/s 11:45:06.688342 c6025a:Axis1-VelAct 500.063 mm/s 11:45:06.698330 c6025a:m0s006-BI08 "False" 11:45:06.698343 c6025a:Axis1-VelAct 499.781 mm/s 11:45:06.708341 c6025a:Axis1-VelAct 499.500 mm/s 11:45:06.718341 c6025a:Axis1-VelAct 497.531 mm/s 11:45:06.728341 c6025a:Axis1-VelAct 495.563 mm/s 11:45:06.738345 c6025a:Axis1-VelAct 492.188 mm/s 11:45:06.748339 c6025a:Axis1-VelAct 487.969 mm/s 11:45:06.758344 c6025a:Axis1-VelAct 482.625 mm/s 11:45:06.768339 c6025a:Axis1-VelAct 476.156 mm/s 11:45:06.778343 c6025a:Axis1-VelAct 468.562 mm/s 11:45:06.788337 c6025a:Axis1-VelAct 460.125 mm/s 11:45:06.798343 c6025a:Axis1-VelAct 450.844 mm/s 11:45:06.808345 c6025a:Axis1-VelAct 440.719 mm/s 11:45:06.818337 c6025a:Axis1-VelAct 430.875 mm/s 11:45:06.828340 c6025a:Axis1-VelAct 420.750 mm/s 11:45:06.838345 c6025a:Axis1-VelAct 410.625 mm/s 11:45:06.848340 c6025a:Axis1-VelAct 400.500 mm/s 11:45:06.858337 c6025a:Axis1-VelAct 390.094 mm/s 11:45:06.868339 c6025a:Axis1-VelAct 379.969 mm/s 11:45:06.878343 c6025a:Axis1-VelAct 370.406 mm/s 11:45:06.888341 c6025a:Axis1-VelAct 360.000 mm/s 11:45:06.898345 c6025a:Axis1-VelAct 349.875 mm/s 11:45:06.908343 c6025a:Axis1-VelAct 339.750 mm/s 11:45:06.918337 c6025a:Axis1-VelAct 329.625 mm/s 11:45:06.928339 c6025a:Axis1-VelAct 319.219 mm/s 11:45:06.938336 c6025a:Axis1-VelAct 309.094 mm/s 11:45:06.948342 c6025a:Axis1-VelAct 298.969 mm/s 11:45:06.958339 c6025a:Axis1-VelAct 289.125 mm/s 11:45:06.968348 c6025a:Axis1-VelAct 279.000 mm/s 11:45:06.978337 c6025a:Axis1-VelAct 268.594 mm/s 11:45:06.988338 c6025a:Axis1-VelAct 258.750 mm/s 11:45:06.998340 c6025a:Axis1-VelAct 248.344 mm/s 11:45:07.008347 c6025a:Axis1-VelAct 238.219 mm/s 11:45:07.018340 c6025a:Axis1-VelAct 228.094 mm/s 11:45:07.028341 c6025a:Axis1-VelAct 218.250 mm/s 11:45:07.038341 c6025a:Axis1-VelAct 207.844 mm/s 11:45:07.048345 c6025a:Axis1-VelAct 197.719 mm/s 11:45:07.058341 c6025a:Axis1-VelAct 187.594 mm/s 11:45:07.068342 c6025a:Axis1-VelAct 177.469 mm/s 11:45:07.078337 c6025a:Axis1-VelAct 167.344 mm/s 11:45:07.088339 c6025a:Axis1-VelAct 156.937 mm/s 11:45:07.098337 c6025a:Axis1-VelAct 146.813 mm/s 11:45:07.108338 c6025a:Axis1-VelAct 136.969 mm/s 11:45:07.118338 c6025a:Axis1-VelAct 126.844 mm/s 11:45:07.128345 c6025a:Axis1-VelAct 116.438 mm/s 11:45:07.138338 c6025a:Axis1-VelAct 106.594 mm/s 11:45:07.148346 c6025a:Axis1-VelAct 96.469 mm/s 11:45:07.158336 c6025a:Axis1-VelAct 86.062 mm/s 11:45:07.168337 c6025a:Axis1-VelAct 75.938 mm/s 11:45:07.178344 c6025a:Axis1-VelAct 66.094 mm/s 11:45:07.188342 c6025a:Axis1-VelAct 55.969 mm/s 11:45:07.198335 c6025a:Axis1-VelAct 45.844 mm/s 11:45:07.208334 c6025a:Axis1-VelAct 36.000 mm/s 11:45:07.218331 c6025a:Axis1-VelAct 27.844 mm/s 11:45:07.228327 c6025a:Axis1-VelAct 20.813 mm/s 11:45:07.238326 c6025a:Axis1-VelAct 14.625 mm/s 11:45:07.248327 c6025a:Axis1-VelAct 9.563 mm/s 11:45:07.258326 c6025a:Axis1-VelAct 5.625 mm/s 11:45:07.268326 c6025a:Axis1-VelAct 2.531 mm/s 11:45:07.278327 c6025a:Axis1-VelAct 0.281 mm/s 11:45:07.278336 c6025a:Axis1-EnaAct "Disabled" 11:45:07.278368 c6025a:m0s005-BO07 "One" 11:45:07.288333 c6025a:Axis1-VelAct -0.562 mm/s 11:45:07.308329 c6025a:Axis1-VelAct 0.000 mm/s

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