Quickstart

Goal

Bring up an IOC with a single axis using the YAML-based configuration.

Prerequisites

  • hugo/Readme.md steps completed (repo cloned, prerequisites installed)
  • Working EtherCAT master and reachable slaves
  • Python 3 with jinja2 (auto-installed by the axis loader)

Steps

  1. Load the module version you want:
    require ecmccfg <optional VERSION>
  2. Add the coupler and the relevant slaves (example: coupler + EL1018 + EL7062):
    ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EK1100"
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL1018"
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL7062"
  3. Apply a component configuration to the drive terminal:
    ${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper, CH_ID=1, MACROS='I_MAX_MA=1000, I_STDBY_MA=100, U_NOM_MV=24000, R_COIL_MOHM=1230,L_COIL_UH=500'"
  4. Load a YAML axis configuration (adapt paths/macros):
    ${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd, "FILE=./cfg/ax1.yaml, DEV=${DEV}, DRV_SLAVE=4, ENC_SLAVE=3, ENC_CHANNEL=01, ECMC_TMPDIR=/tmp/"
  5. Start the IOC and verify PVs:
    • Check motor record status (unless disabled in YAML)
    • Jog a small move and confirm encoder feedback

Next steps