motion best practice

Purpose

This section points to the public best-practice motion examples under examples/PSI/best_practice/motion/.

Use these examples when you want a starting point for a new IOC or when you want to compare your own YAML configuration with a known working structure.

Start with these

  • I want a general closed-loop stepper example: stepper and BISS-C
  • I want a servo example: servo
  • I want motor-record-specific examples: motor record examples
  • I want SmarAct MCS2: examples/PSI/best_practice/motion/smaract/mcs2/
  • I want profile move / PVT: examples/PSI/best_practice/motion/pvt/el7041_0052/

Stepper examples

stepper and BISS-C

Closed-loop stepper examples with linear BiSS-C encoder:

Guide page: stepper and BISS-C

  1. EL7041-0052 and EL5042 in CSV
  2. EL7062_CSP and EL5042 in CSP with ecmc position loop enabled

Example tree: examples/PSI/best_practice/motion/stepper_bissc/

Stepper and incremental

Closed-loop stepper examples with incremental encoder:

  1. EL7062_CSP
  2. EL7047 and EL5102

Example trees:

  • examples/PSI/best_practice/motion/stepper_incremental/el7062/
  • examples/PSI/best_practice/motion/stepper_incremental/el7047_el5102/

Special motion examples

SmarAct

Drive-triggered homing and CSP example for SmarAct MCS2:

  • examples/PSI/best_practice/motion/smaract/mcs2/

PVT

Single-axis profile-move / PVT example:

  • examples/PSI/best_practice/motion/pvt/el7041_0052/

servo

Servo example based on Ex72xx drive and AM8xxx motor.

Guide page: servo

Example tree: examples/PSI/best_practice/motion/servo/

Auto save restore

Guide page: motor record examples

  • examples/PSI/best_practice/motion/stepper_openloop_asr/

Open loop retries

Guide page: motor record examples

  • examples/PSI/best_practice/motion/stepper_openloop_mr_rtry_bissc/

No motor record

Guide page: motor record examples

  • examples/PSI/best_practice/motion/stepper_bissc_no_mr/