getting_started:tutorials:safetysystem
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====== Create a Safety System ====== | ====== Create a Safety System ====== | ||
- | In the EEROS library you will find a directory with examples. Open a shell in the build directory of your EEROS library and run '' | + | In the EEROS library you will find a directory with examples. Open a shell in the build directory of your EEROS library and run '' |
+ | < | ||
+ | $ ./ | ||
+ | </ | ||
The example comprises a safety system with five different safety levels and six safety events. | The example comprises a safety system with five different safety levels and six safety events. | ||
{{ : | {{ : | ||
- | This examples defines | + | The levels and events are defined in the safety properties. The properties further include one critical input '' |
- | * Creates a | + | |
- | + | ||
The following events are defined and used in the example: | The following events are defined and used in the example: | ||
- | ^name^description^ | + | ^name^description^registered for safety level^type^when triggered^ |
- | |e1|start initializing|triggered immediately after initializtion | + | |e1|start initializing|slOff|public event|triggered |
- | |e2|initialization done|triggered by a periodic |private | + | |e2|initialization done|slIinitializing|public event|triggered by a periodic |
+ | |e3|start running|slInitialized|private | ||
+ | |e4|start shutting down|slRunning, | ||
+ | |e5|stop running|slRunning|private event|triggered by checking the critical input, this could be an enable button| | ||
+ | |e6|switching off|slShuttingDown|private event|triggered by a level action| | ||
- | The central attribute | + | The example shows a typical use of safety |
+ | * The end of the initialization phase is triggered by a periodic which is run by the executor. In general this would be signalled by the sequencer after a initializing sequence has finished or by the control system as soon as a certain condition arises. | ||
+ | * To start and stop running might be triggered by pressing or releasing a button connected to the critical input. In our simple example we do not have real hardware. We therefore use the simulator which connects the output named '' | ||
+ | * When pressing '' | ||
===== How to shut down ===== | ===== How to shut down ===== | ||
- | The example demonstrates how the system should be stopped in a well controlled manner, see [[getting_started: | + | The example demonstrates how the system should be stopped in a well controlled manner, see [[getting_started: |