motion

How to use this section

Start here if you want to configure axes, synchronization, homing, motor record behavior, or motion-related PLC logic.

If you want the preferred meaning of terms such as axis, axis PLC, and legacy motion, see Terminology.

For new configurations, the preferred path is YAML-based:

1. configure slaves with addSlave.cmd and applyComponent.cmd
2. load axes with loadYamlAxis.cmd
3. load PLC logic with loadYamlPlc.cmd or loadPLCFile.cmd

If you are maintaining an older IOC based on .ax, .vax, and .sax files, go directly to legacy motion.

Common tasks

• I want to bring up a new axis: yaml configuration
• I want example-driven guidance: motion best practice
• I need scaling, direction, or homing: scaling, direction, homing
• I need synchronization or axis-local PLC logic: axis PLC
• I need motor record behavior or PVT/profile moves: motor record, PVT
• I need runtime tuning or investigation: ecmc_cfg_tool
• I need older classic motion docs: legacy motion

Recommended reading paths

New axis bring-up

1. motion best practice
2. yaml configuration
3. drive modes CSV, CSP, CSP-PC
4. scaling
5. direction
6. homing
7. motor record if the EPICS motor record is used

Synchronization and axis logic

1. axis PLC
2. yaml configuration
3. motion best practice

Existing IOC with classic motion files

1. legacy motion
2. scaling
3. direction
4. homing
5. motion knowledge base

Runtime tuning and diagnostics

1. ecmc_cfg_tool
2. motion knowledge base
3. tuning knowledge base

Key references

• yaml configuration
• axis YAML settings table
• axis YAML settings (heading view)
• drive modes CSV, CSP, CSP-PC
• PVT
• ecmccomp
• ecb

Topics

• yaml configuration
• Axis YAML settings table
• Axis YAML settings (heading view)
• Drive modes CSV, CSP, CSP-PC
• scaling
• direction of motion
• homing
• Axis PLC
• Motor Record
• ecmc_cfg_tool
• PVT
• ecmccomp
• ecb
• legacy motion
• motion best practice