From 5aea41cb41f6681bdebc93663c97c6b29e8f35b7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= <anders.sandstroem@psi.ch>
Date: Thu, 7 Mar 2024 08:08:06 +0100
Subject: [PATCH 1/2] Add records for stooping and disabling motor

---
 db/core/ecmcMotorRecord.template | 30 ++++++++++++++++++++++++++++++
 1 file changed, 30 insertions(+)

diff --git a/db/core/ecmcMotorRecord.template b/db/core/ecmcMotorRecord.template
index e66d38ecc..d5aaa8ef9 100644
--- a/db/core/ecmcMotorRecord.template
+++ b/db/core/ecmcMotorRecord.template
@@ -325,3 +325,33 @@ record(ai,"$(PREFIX)$(MOTOR_NAME)-HomPos-RB") {
 record (asyn, "$(PREFIX)$(MOTOR_NAME)-$(MOTOR_PORT)-asyn")
 {
 }
+
+record(bi,"$(PREFIX)$(MOTOR_NAME)-TrgStpInp"){
+  #field(PINI, "1")
+  field(SCAN, "I/O Intr")
+  field(INP,  "@asyn($(MOTOR_PORT),$(AXIS_NO))TRIGG_STOPP")  
+  field(DTYP, "asynInt32")
+  field(FLNK, "$(PREFIX)$(MOTOR_NAME)-TrgStp")
+}
+
+record(bo,"$(PREFIX)$(MOTOR_NAME)-TrgStp"){
+  #field(PINI, "1")
+  field(SCAN, "Passive")
+  field(OUT,  "$(PREFIX)$(MOTOR_NAME).STOP")  
+  field(VAL,  "1")  
+}
+
+record(bi,"$(PREFIX)$(MOTOR_NAME)-TrgDisableInp"){
+  #field(PINI, "1")
+  field(SCAN, "I/O Intr")
+  field(DTYP, "asynInt32")
+  field(INP,  "@asyn($(MOTOR_PORT),$(AXIS_NO))TRIGG_DISABLE")
+  field(FLNK, "$(PREFIX)$(MOTOR_NAME)-TrgDisable")
+}
+
+record(bo,"$(PREFIX)$(MOTOR_NAME)-TrgDisable"){
+  #field(PINI, "1")
+  field(SCAN, "Passive")
+  field(OUT,  "$(PREFIX)$(MOTOR_NAME).CNEN")  
+  field(VAL,  "0")
+}

From b10234939c54269c237e03f8ce4e6603bec0733d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= <anders.sandstroem@psi.ch>
Date: Thu, 7 Mar 2024 14:16:30 +0100
Subject: [PATCH 2/2] Stop motorrecord on interlock

---
 db/core/ecmcMotorRecord.template | 36 +++++++++++++-------------------
 1 file changed, 15 insertions(+), 21 deletions(-)

diff --git a/db/core/ecmcMotorRecord.template b/db/core/ecmcMotorRecord.template
index d5aaa8ef9..12a46f5e3 100644
--- a/db/core/ecmcMotorRecord.template
+++ b/db/core/ecmcMotorRecord.template
@@ -326,32 +326,26 @@ record (asyn, "$(PREFIX)$(MOTOR_NAME)-$(MOTOR_PORT)-asyn")
 {
 }
 
-record(bi,"$(PREFIX)$(MOTOR_NAME)-TrgStpInp"){
-  #field(PINI, "1")
-  field(SCAN, "I/O Intr")
-  field(INP,  "@asyn($(MOTOR_PORT),$(AXIS_NO))TRIGG_STOPP")  
-  field(DTYP, "asynInt32")
-  field(FLNK, "$(PREFIX)$(MOTOR_NAME)-TrgStp")
-}
-
-record(bo,"$(PREFIX)$(MOTOR_NAME)-TrgStp"){
+#- If axis is in interlock then set motor STOP
+record(bo,"$(PREFIX)$(MOTOR_NAME)-TrgStpFwd"){
   #field(PINI, "1")
   field(SCAN, "Passive")
-  field(OUT,  "$(PREFIX)$(MOTOR_NAME).STOP")  
-  field(VAL,  "1")  
-}
+  field(OUT,  "$(PREFIX)$(MOTOR_NAME).STOP PP")
+  field(DOL,  "$(PREFIX)$(MOTOR_NAME)-SumIlockFwd CP")
+  field(ZSV,  "OK")
+  field(OSV,  "STOP")
+  field(VAL,  "1")
+  field(OMSL, "closed_loop")
 
-record(bi,"$(PREFIX)$(MOTOR_NAME)-TrgDisableInp"){
-  #field(PINI, "1")
-  field(SCAN, "I/O Intr")
-  field(DTYP, "asynInt32")
-  field(INP,  "@asyn($(MOTOR_PORT),$(AXIS_NO))TRIGG_DISABLE")
-  field(FLNK, "$(PREFIX)$(MOTOR_NAME)-TrgDisable")
 }
 
-record(bo,"$(PREFIX)$(MOTOR_NAME)-TrgDisable"){
+record(bo,"$(PREFIX)$(MOTOR_NAME)-TrgStpBwd"){
   #field(PINI, "1")
   field(SCAN, "Passive")
-  field(OUT,  "$(PREFIX)$(MOTOR_NAME).CNEN")  
-  field(VAL,  "0")
+  field(OUT,  "$(PREFIX)$(MOTOR_NAME).STOP PP")
+  field(DOL,  "$(PREFIX)$(MOTOR_NAME)-SumIlockBwd CP")
+  field(ZSV,  "OK")
+  field(OSV,  "STOP")
+  field(VAL,  "1")
+  field(OMSL, "closed_loop")
 }