# Cfgs for testing hardware in motion lab
Some basic instructions on how to start an ecmc IOC.

## Edir startup scripts
```
ssh slslc
```
# Goto startup script folder
```
cd /ioc/sls-sioc-ecat01/ecmc_hw_test
```
## Edit cfg
First make sure that slave numbers for drive and encoder is correct in MTEST01-MTN-HW-TEST_startup.script.

Install the ioc
```
make install
```
## Connect to server in motion lab and restart ioc
```
ssh sls-sioc-ecat01
```
Connect to ioc:
```
telnet localhost 50001
```
restart ioc: press Ctrl-X

to end telnet session without stopping ioc: press Ctrl-D

## iocsh commands
List all records for slave 3:
```
dbgrep *s003*
```
List all records for Axis1:
```
dbgrep *Axis1*
```

Read PV;
```
dbgf <name>
```
Write PV:
```
dbpf <name> <value>
```

# Panels (GUI)
Login to pc15094 (to pc beside motion lab table)
```
ssh pc15094
```

## open simple GUI for motion Axis1

Open new terminal and execute:
```
caqtdm -macro "IOC=MTEST01-MTN-HW-TEST,SYS=MTEST01-MTN-HW-TEST,Axis=Axis1" ecmcAxisExpert_v1.ui
```

## open simple GUI for motion Axis2

Open new terminal and execute:
```
caqtdm -macro "IOC=MTEST01-MTN-HW-TEST,SYS=MTEST01-MTN-HW-TEST,Axis=Axis2" ecmcAxisExpert_v1.ui
```

If PV's is not connected (white fields in panel) then try to execute in terminal and then relaunch the panel:
```
ca office network
```

## Open panel for a BISS encoder (EL5042)
```
caqtdm -macro "IOC=MTEST01-MTN-HW-TEST,MasterID=0,SlaveID=003" ecmcEL5042.ui
```

## Check biss c encoder values
Open other terminal and check the PVs with camon (update slave numbers if needed):
This should be done from other PC (same as running panels).

Monitor:
```
camon MTEST01-MTN-HW-TEST:m0s014-Enc01-PosAct MTEST01-MTN-HW-TEST:m0s014-Enc02-PosAct
```

To read single value:
```
caget <pvname>
```

To write single value:
```
caput <pvname> <value>
```