motion

Topics

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

Scope

ECMC motion covers two axis classes:

1. Physical axes (joints, hardware-coupled)
2. Virtual axes (end effectors)

By Task

Configure a motion axis (startup/static config)

• YAML config for full axis definition.
• Axis YAML settings table for fast key lookup.
• Axis YAML settings (heading view) for grouped key overview.
• Drive modes CSV, CSP, CSP-PC for mode selection.
• scaling, direction, and homing for core behavior.

Configure synchronization and logic around axes

• PLC YAML config for PLC-based synchronization/interlocking.
• Motor Record for motor record behavior and integration.

Runtime commissioning and tuning

• ecmc_cfg_tool for runtime inspection and tuning via the ecmc command parser.
• motion knowledge base and tuning knowledge base for troubleshooting/tuning workflows.

YAML parser backend

• ecb for C++ schema validation/rendering backend used by YAML loaders (ECMC_CFG_TOOL=ecb).

Reusable component-level slave configuration

• ecmccomp for applying validated motor/encoder/slave components using applyComponent.cmd.

Patterns and conventions

• best practice for recommended configuration patterns.

Recommended Reading Paths

New axis bring-up (YAML-first)

1. YAML config
2. Drive modes CSV, CSP, CSP-PC
3. scaling
4. direction
5. homing
6. Motor Record
7. motion knowledge base

Runtime tuning/optimization

1. ecmc_cfg_tool
2. tuning knowledge base
3. Reflect validated runtime changes back into YAML config or startup scripts.

YAML parser backend selection

1. ecb
2. YAML config
3. knowledge base motion parser notes

Component-library based hardware setup

1. ecmccomp
2. YAML config
3. scaling and direction