From 80a39f283bd6a03e2cc856b10287c4b96f47cd84 Mon Sep 17 00:00:00 2001
From: garcia_h <henrique.garcia@psi.ch>
Date: Thu, 27 Aug 2026 14:00:58 +0200
Subject: [PATCH] update

---
 ECMC/EL7062/startup.cmd | 22 +++++++++++++++++-----
 1 file changed, 17 insertions(+), 5 deletions(-)

diff --git a/ECMC/EL7062/startup.cmd b/ECMC/EL7062/startup.cmd
index 4bd0e7f..49d4374 100644
--- a/ECMC/EL7062/startup.cmd
+++ b/ECMC/EL7062/startup.cmd
@@ -1,5 +1,5 @@
 # Script used to control the FAT stage in closed-loop configuration with EL7062
-require ecmccfg 11.0.8 "ENG_MODE=1, EC_RATE=500"
+require ecmccfg 11.0.2 "ENG_MODE=1, ECMC_VER=v11.0.3_RC5, EC_RATE=500"
 # MASTER_ID=0
 require ecmccomp
 
@@ -15,8 +15,17 @@ ${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd  "COMP=Motor-Generic-2Phase-Stepp
 ${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd  "COMP=Drive-Generic-Ctrl-Params,CH_ID=1,MACROS='L_COIL_UH=3080,R_COIL_MOHM=2471,I_TI=12,I_KP=58,V_TI=150,V_KP=176,P_KP=10'"
 epicsEnvSet(DRV_SID,${ECMC_EC_SLAVE_NUM})
 
-# EL5042 channel 1, TR-Electronic LT140-S: SSI, 24-bit binary, 1 MHz, 9 V
+epicsEnvSet(ECMC_SLAVE_RESET,false)  # Override reset of EL5042
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "SLAVE_ID=2,HW_DESC=EL5042"
+
+#- Shift away the 2 status bits (ST_BITS=26, OFF_BITS=2, total 28bits)
+#${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd "COMP=Encoder-Generic-SSI,CH_ID=1,MACROS=MT_BITS=0,ST_BITS=24,CLK_FRQ_KHZ=1000,CODING=0,OFF_BITS=0"
+epicsEnvSet(ENC_SID,${ECMC_EC_SLAVE_NUM})
+# -------------------------------------------------------------------------------------
+# EL5042 Channel 1
+# TR-Electronic LT140-S
+# SSI / 24 bit / Binary / 1 MHz / 9 V
+# -------------------------------------------------------------------------------------
 # Disable status bits = TRUE
 ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8008,0x02,1,1)"
 # CRC invert = TRUE
@@ -27,16 +36,19 @@ ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8008,0x11,0,4)"
 ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8008,0x12,90,1)"
 # Clock frequency = 1 MHz
 ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8008,0x13,9,1)"
-# Binary coding, 0 multiturn bits, 24 position bits, 0 offset bits, SSI mode
+# Coding = Binary / Dual code
 ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8008,0x14,0,1)"
+# Multiturn bits = 0
 ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8008,0x15,0,1)"
+# Singleturn / position bits = 24
 ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8008,0x16,24,1)"
+# Offset LSB bits = 0
 ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8008,0x17,0,1)"
+#Mode = SSI
 ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8008,0x18,1,1)"
-epicsEnvSet(ENC_SID,${ECMC_EC_SLAVE_NUM})
 
 ${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,   "FILE=./cfg/axis.yaml,DEV=${IOC},AX_NAME=M1,AXIS_ID=1,DRV_SID=${DRV_SID},ENC_SID=${ENC_SID},ENC_CH=01,BO_SID=${BO_SID}"
-${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlEnc.cmd,    "FILE=./cfg/enc_open_loop.yaml,DEV=${IOC},DRV_SID=${DRV_SID}"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlEnc.cmd,    "FILE=./cfg/enc_open_loop.yaml,DEV=${IOC},ENC_SID=${DRV_SID}"
 
 # PLC configuration
 ${SCRIPTEXEC} ${ecmccfg_DIR}loadPLCFile.cmd     "FILE=./cfg/code.plc,SAMPLE_RATE_MS=500,PLC_MACROS='AX_ID=1'"