Examples

How to use this page

Prefer examples/PSI/best_practice/ as the public, reusable starting point for new configurations. Pick the example that is closest to your hardware or use case, copy it into your IOC area, and then adapt the macros, component selection, and YAML files.

Start from these first

• I want a minimal axis example: Quickstart
• I want stepper motion with common Beckhoff terminals: Stepper BiSS-C
• I want incremental stepper examples: EL7047 + EL5102 or EL7062
• I want PLC examples: basic PLCs or master-less PLC
• I want data storage: data storage buffer

Motion examples

• Stepper BiSS-C EL7041/EL5042 and EL7062/EL5042 examples
• Stepper incremental, EL7047 + EL5102
• Stepper incremental, EL7062
• SmarAct MCS2
• PVT profile move, EL7041-0052
• Stepper open loop + autosave restore
• Stepper open loop + retries
• Stepper without motor record
• Servo CSV
• Hardware substitution template

Synchronization examples

• Slit synchronization
• Mirror synchronization

PLC and general examples

• Basic PLC examples
• Master-less PLC example
• Motion sequence PLC example
• Data storage buffer

Legacy ESS examples

The examples/ESS/ tree is mainly useful when reading or maintaining older classic motion configurations based on .ax, .vax, and .sax files.

See legacy motion for the corresponding manual page.

Notes

• Prefer addSlave.cmd together with applyComponent.cmd for slave and component setup.
• Prefer loadYamlAxis.cmd for axes.
• Prefer loadYamlPlc.cmd or loadPLCFile.cmd for PLCs.
• Keep drive SDO verification enabled, and configure unused channels with Generic-Ch-Not-Used.