SYNOPSIS
loadrt safety_latch [count=N|names=name1[,name2…]]
DESCRIPTION
HAL component that implements a safety latch for error signals with customizable harm, healing and latching features.
When the component is not enabled the error input value is forwarded to output without further modififactions.
If error-in is true the error count is increased by harm. If error-in is false the error count is decreased by heal. When the error count exceeds the threscold value error-out is set to true. If latching is false the error-out pin will only return to false when reset is set to true.
The inputs pin min and max clamp the error count value to a specified range.
FUNCTIONS
- safety-latch.N
PINS
- safety-latch.N.error-in bool in (default: false)
-
Error Input
- safety-latch.N.heal sint in (default: 1)
-
Heal when ok per tick
- safety-latch.N.harm sint in (default: 1)
-
Harm when error per tick
- safety-latch.N.latching bool in (default: true)
-
If a reset is necessary to heal an error
- safety-latch.N.reset bool in (default: false)
-
Reset input
- safety-latch.N.threshold sint in (default: 100)
-
Error output threshold
- safety-latch.N.min- sint in (default: 0)
-
Minimum count
- safety-latch.N.max- sint in (default: 1000)
-
Maximum count
- safety-latch.N.enable bool in (default: true)
-
If not enabled the error count is passed to the output
- safety-latch.N.count sint out (default: 0)
-
Current count
- safety-latch.N.error-out bool out (default: false)
-
Error output
- safety-latch.N.ok-out bool out (default: true)
-
Ok output
AUTHOR
Alexander Rössler
LICENSE
GPL