From e938fa7a111433d125b3dd58692a66f73a96c890 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= <anders.sandstroem@psi.ch>
Date: Mon, 26 Oct 2026 16:59:40 +0100
Subject: [PATCH] Minor fixes

---
 MTEST04-MTN-HEXAPOD_startup.script |  2 +-
 README.md                          | 29 ++++++++++++++++++++++-------
 cfg/axis_coordinate.yaml           |  3 ++-
 cfg/axis_leg.yaml                  |  2 +-
 4 files changed, 26 insertions(+), 10 deletions(-)

diff --git a/MTEST04-MTN-HEXAPOD_startup.script b/MTEST04-MTN-HEXAPOD_startup.script
index 4c2edac..02834c3 100644
--- a/MTEST04-MTN-HEXAPOD_startup.script
+++ b/MTEST04-MTN-HEXAPOD_startup.script
@@ -14,7 +14,7 @@
 #   caqtdm -macro "IOC=HEXAPOD,CPP_ID=0" ecmcCppLogic.ui
 
 epicsEnvSet("IOC", "${IOC=HEXAPD}")
-require ecmccfg v11.2.0_RC1 "ECMC_VER=v11.2.0_RC1,MASTER_ID=-1,EC_RATE=1000"
+require ecmccfg sandst_a "ECMC_VER=sandst_a,MASTER_ID=-1,EC_RATE=1000"
 
 # Load all twelve virtual axes, then the C++ transform and its status PVs.
 ${SCRIPTEXEC} ./cfg/load.cmd
diff --git a/README.md b/README.md
index 3ef8b6f..ada1a51 100644
--- a/README.md
+++ b/README.md
@@ -370,27 +370,42 @@ The quintic profile in the offline viewer is not an IOC trajectory generator.
 
 ## EPICS viewer
 
-Build the viewer's local C API library separately from the IOC's `libmain.so`:
+Start the IOC first, then run the viewer on a machine with a graphical display
+and network access to the IOC. From the project root, build the viewer's local
+C API library separately from the IOC's `libmain.so` and install the dependencies:
 
 ```sh
 make viewer-lib
+python3 -m venv .venv  # First-time setup; reuse an existing .venv if present.
+.venv/bin/pip install -r python/requirements-ioc.txt
 ```
 
 This creates `build/libhexapod.so` (`.dylib` on macOS) from `src/c_api.cpp`
 without EPICS dependencies. Rebuild it after changing the kinematics code.
 
-For a running IOC, install the IOC viewer requirements and use the IOC record
-prefix, including the trailing colon:
+For the IOC configured in `MTEST04-MTN-HEXAPOD_parameters.yaml`, start the live
+viewer with the IOC record prefix, including the trailing colon:
 
 ```sh
-.venv/bin/pip install -r python/requirements-ioc.txt
-.venv/bin/python python/viewer.py --prefix HEXAPD:
+.venv/bin/python python/viewer.py --prefix MTEST04-MTN-HEXAPOD:
 ```
 
 Use the prefix configured by `loadCppLogic.cmd` (`DB_PREFIX`, default `${IOC}:`).
+If the IOC was started with the startup script's fallback name `HEXAPD`, use
+`--prefix HEXAPD:` instead. The prefix is the PV name prefix, not the IOC hostname.
 Pyepics needs an EPICS Channel Access library (`libca`) and network access to the
-IOC. If CA discovery does not reach the IOC subnet, configure
-`EPICS_CA_ADDR_LIST` / `EPICS_CA_AUTO_ADDR_LIST` for your network before starting.
+IOC. If broadcast discovery does not reach the IOC, explicitly address the host
+configured in the parameters file (replace it for a different IOC):
+
+```sh
+EPICS_CA_AUTO_ADDR_LIST=NO EPICS_CA_ADDR_LIST=c6025a-08 \
+  .venv/bin/python python/viewer.py --prefix MTEST04-MTN-HEXAPOD:
+```
+
+To check connectivity independently, run
+`caget MTEST04-MTN-HEXAPOD:hex-pose-actual` if EPICS command-line tools are
+available. It should return six coordinate values. If the viewer reports missing
+connections, check the prefix, IOC status and Channel Access network access.
 
 IOC mode is read-only, with the offline motion controls disabled. It subscribes
 to these six PVs through pyepics monitors:
diff --git a/cfg/axis_coordinate.yaml b/cfg/axis_coordinate.yaml
index 1ee24f6..3b507d2 100644
--- a/cfg/axis_coordinate.yaml
+++ b/cfg/axis_coordinate.yaml
@@ -4,6 +4,7 @@ axis:
   id: ${AX_ID}
   group: virt
   type: virtual
+  tweakDist: 5
   features:
     allowSrcChangeWhenEnabled: true
   autoEnable:
@@ -30,7 +31,7 @@ encoder:
 trajectory:
   source: 0
   axis:
-    velocity: 1
+    velocity: 10
     acceleration: 10
     deceleration: 10
 
diff --git a/cfg/axis_leg.yaml b/cfg/axis_leg.yaml
index 353dffa..94e1628 100644
--- a/cfg/axis_leg.yaml
+++ b/cfg/axis_leg.yaml
@@ -9,6 +9,7 @@ axis:
   id: ${AX_ID}
   group: phys
   type: virtual
+  parameters: "restoreMotorSoftLims=1;"
   features:
     allowSrcChangeWhenEnabled: true
   autoEnable:
@@ -33,7 +34,6 @@ encoder:
   # External feedback is supplied by the C++ ideal plant; no EtherCAT position link.
 
 trajectory:
-  source: 1
   axis:
     velocity: 1
     acceleration: 10