getting_started:tutorials:safetysystem
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getting_started:tutorials:safetysystem [2017/04/21 21:23] – graf | getting_started:tutorials:safetysystem [2020/12/03 08:51] (current) – removed ursgraf | ||
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- | ====== Create a Safety System ====== | ||
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- | In the EEROS library you will find a directory with examples. Open a shell in the build directory of your EEROS library and run '' | ||
- | < | ||
- | $ ./ | ||
- | </ | ||
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- | The example comprises a safety system with five different safety levels and six safety events. | ||
- | {{ : | ||
- | The levels and events are defined in the safety properties. The properties further include one critical input '' | ||
- | The following events are defined and used in the example: | ||
- | ^name^description^registered for safety level^type^when triggered^ | ||
- | |e1|start initializing|slOff|public event|triggered by the main program immediately after initialization of the safety system| | ||
- | |e2|initialization done|slIinitializing|public event|triggered by a periodic 5 seconds after the executor started| | ||
- | |e3|start running|slInitialized|private event|triggered by checking the critical input, this could be an enable button| | ||
- | |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| | ||
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- | The example shows a typical use of safety levels and safety events. In order to demonstrate how the system works in a very limited example the following assumptions have been taken: | ||
- | * 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 ===== | ||
- | The example demonstrates how the system should be stopped in a well controlled manner, see [[getting_started: | ||
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getting_started/tutorials/safetysystem.1492802636.txt.gz · Last modified: 2017/04/21 21:23 by graf