best practice

Scope

This page is the entry point for the public best-practice material in the manual.

Use best-practice pages when you want:

• a recommended starting point for a new configuration
• example-driven guidance rather than full reference material
• public examples that correspond to the manual text

By area

• General host setup, EtherCAT rate, and controller-side recommendations
• Motion axis, encoder, homing, motor-record, and motion example patterns
• PLC PLC structure, macros, debug handling, and EPICS variable exposure

Core recommendations

Some recurring recommendations apply across several sections:

• prefer the YAML-based motion workflow for new configurations
• keep SDO verification enabled so slave mismatches are caught at startup
• prefer native axis auto-enable and disable via axis.autoEnable
• use VAR ... END_VAR in PLC code for clearer structure
• use public best-practice examples as the reusable starting point, not examples/test or lab_setup