From f3413d2c9624f93882f9fb47754e0a148f9d3ffb Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= <anders.sandstroem@psi.ch>
Date: Thu, 2 May 2024 14:52:16 +0200
Subject: [PATCH] Cleanup examples

---
 iocsh/plc/plc_no_ec_fft_sin.plc               |   9 -
 iocsh/pvs.log                                 | 345 ------------------
 iocsh/{ => test_1}/cfg/el7031.ax              |   0
 .../test_plugin_motion_psi.script             |   0
 iocsh/test_2/cfg/el7201_hipa.yaml             |  92 +++++
 iocsh/test_2/ep7211-0034_hipa.script          |  43 +++
 iocsh/test_plugin_motion.script               |  62 ----
 7 files changed, 135 insertions(+), 416 deletions(-)
 delete mode 100644 iocsh/plc/plc_no_ec_fft_sin.plc
 delete mode 100644 iocsh/pvs.log
 rename iocsh/{ => test_1}/cfg/el7031.ax (100%)
 rename iocsh/{ => test_1}/test_plugin_motion_psi.script (100%)
 create mode 100644 iocsh/test_2/cfg/el7201_hipa.yaml
 create mode 100644 iocsh/test_2/ep7211-0034_hipa.script
 delete mode 100644 iocsh/test_plugin_motion.script

diff --git a/iocsh/plc/plc_no_ec_fft_sin.plc b/iocsh/plc/plc_no_ec_fft_sin.plc
deleted file mode 100644
index 3491427..0000000
--- a/iocsh/plc/plc_no_ec_fft_sin.plc
+++ /dev/null
@@ -1,9 +0,0 @@
-###############################################################################################
-# For help on syntax, variables and functions, please read the file: "plcSyntaxHelp.plc"
-#
-# PLC Functionality Demo:
-#   No hardware related variables
-#
-
-static.time:=ec_get_time()/1E9;
-static.sineval:=sin(2*pi*${FREQ=10}*static.time);
diff --git a/iocsh/pvs.log b/iocsh/pvs.log
deleted file mode 100644
index eeab59d..0000000
--- a/iocsh/pvs.log
+++ /dev/null
@@ -1,345 +0,0 @@
-IOC_TEST:m0s001-Drv01-Cmd-RB
-IOC_TEST:m0s001-Drv01-Spd-RB
-IOC_TEST:m0s001-Enc01-PosAct
-IOC_TEST:m0s001-Enc01-LtchPosAct
-IOC_TEST:m0s001-Enc01-Cmd-RB
-IOC_TEST:m0s001-Enc01-PosCmd-RB
-IOC_TEST:Axis1-Vel-RB
-IOC_TEST:Axis1-Acc-RB
-IOC_TEST:Axis1-EncAct
-IOC_TEST:Axis1-CfgSREV-RB
-IOC_TEST:Axis1-CfgUREV-RB
-IOC_TEST:Axis1-CfgPMIN-RB
-IOC_TEST:Axis1-CfgPMAX-RB
-IOC_TEST:Axis1-CfgSPDB-RB
-IOC_TEST:Axis1-CfgRDBD-RB
-IOC_TEST:Axis1-CfgRDBD-Tim-RB
-IOC_TEST:Axis1-CfgPOSLAG-RB
-IOC_TEST:Axis1-CfgPOSLAG-Tim-RB
-IOC_TEST:Axis1-CfgDHLM-RB
-IOC_TEST:Axis1-CfgDLLM-RB
-IOC_TEST:Axis1-CfgVELO-RB
-IOC_TEST:Axis1-CfgVMAX-RB
-IOC_TEST:Axis1-CfgJVEL-RB
-IOC_TEST:Axis1-CfgACCS-RB
-IOC_TEST:Axis1-HomPos-RB
-IOC_TEST:Axis1-PosAct
-IOC_TEST:Axis1-VelAct
-IOC_TEST:Axis1-PosSet
-IOC_TEST:Axis1-PosErr
-IOC_TEST:Axis1-PLC-Err
-IOC_TEST:Plg-Mtn0-SmpHz-RB
-IOC_TEST:Plg-Mtn0-BuffSze
-IOC_TEST:Plg-Mtn0-ElmCnt
-IOC_TEST:MCU-AppMode
-IOC_TEST:MCU-ErrId
-IOC_TEST:MCU-ThdLatMin
-IOC_TEST:MCU-ThdLatMax
-IOC_TEST:MCU-ThdPrdMin
-IOC_TEST:MCU-ThdPrdMax
-IOC_TEST:MCU-ThdExeMin
-IOC_TEST:MCU-ThdExeMax
-IOC_TEST:MCU-ThdSndMin
-IOC_TEST:MCU-ThdSndMax
-IOC_TEST:m0s001-Drv01-WrnAlrm
-IOC_TEST:m0s001-Drv01-ErrAlrm
-IOC_TEST:m0s001-Drv01-StlAlrm
-IOC_TEST:m0s001-Drv01-SyncErrAlrm
-IOC_TEST:m0s001-Enc01-ExtLtchOK
-IOC_TEST:m0s001-Enc01-OpnCrctAlrm
-IOC_TEST:m0s001-Enc01-WrnAlrm
-IOC_TEST:m0s001-Enc01-SyncErrAlrm
-IOC_TEST:m0s001-Online
-IOC_TEST:m0s001-Operational
-IOC_TEST:m0s001-Alstate-Init
-IOC_TEST:m0s001-Alstate-Preop
-IOC_TEST:m0s001-Alstate-Safeop
-IOC_TEST:m0s001-Alstate-Op
-IOC_TEST:m0s002-BO01-RB
-IOC_TEST:m0s002-BO02-RB
-IOC_TEST:m0s002-BO03-RB
-IOC_TEST:m0s002-BO04-RB
-IOC_TEST:m0s002-BO05-RB
-IOC_TEST:m0s002-BO06-RB
-IOC_TEST:m0s002-BO07-RB
-IOC_TEST:m0s002-BO08-RB
-IOC_TEST:m0s002-BO09-RB
-IOC_TEST:m0s002-BO10-RB
-IOC_TEST:m0s002-BO11-RB
-IOC_TEST:m0s002-BO12-RB
-IOC_TEST:m0s002-BO13-RB
-IOC_TEST:m0s002-BO14-RB
-IOC_TEST:m0s002-BO15-RB
-IOC_TEST:m0s002-BO16-RB
-IOC_TEST:m0s002-BO01-OvrTmpAlrm
-IOC_TEST:m0s002-BO01-OpnLdAlrm
-IOC_TEST:m0s002-BO01-OvrCurrAlrm
-IOC_TEST:m0s002-BO01-ShrtCircAlrm
-IOC_TEST:m0s002-BO02-OvrTmpAlrm
-IOC_TEST:m0s002-BO02-OpnLdAlrm
-IOC_TEST:m0s002-BO02-OvrCurrAlrm
-IOC_TEST:m0s002-BO02-ShrtCircAlrm
-IOC_TEST:m0s002-BO03-OvrTmpAlrm
-IOC_TEST:m0s002-BO03-OpnLdAlrm
-IOC_TEST:m0s002-BO03-OvrCurrAlrm
-IOC_TEST:m0s002-BO03-ShrtCircAlrm
-IOC_TEST:m0s002-BO04-OvrTmpAlrm
-IOC_TEST:m0s002-BO04-OpnLdAlrm
-IOC_TEST:m0s002-BO04-OvrCurrAlrm
-IOC_TEST:m0s002-BO04-ShrtCircAlrm
-IOC_TEST:m0s002-BO05-OvrTmpAlrm
-IOC_TEST:m0s002-BO05-OpnLdAlrm
-IOC_TEST:m0s002-BO05-OvrCurrAlrm
-IOC_TEST:m0s002-BO05-ShrtCircAlrm
-IOC_TEST:m0s002-BO06-OvrTmpAlrm
-IOC_TEST:m0s002-BO06-OpnLdAlrm
-IOC_TEST:m0s002-BO06-OvrCurrAlrm
-IOC_TEST:m0s002-BO06-ShrtCircAlrm
-IOC_TEST:m0s002-BO07-OvrTmpAlrm
-IOC_TEST:m0s002-BO07-OpnLdAlrm
-IOC_TEST:m0s002-BO07-OvrCurrAlrm
-IOC_TEST:m0s002-BO07-ShrtCircAlrm
-IOC_TEST:m0s002-BO08-OvrTmpAlrm
-IOC_TEST:m0s002-BO08-OpnLdAlrm
-IOC_TEST:m0s002-BO08-OvrCurrAlrm
-IOC_TEST:m0s002-BO08-ShrtCircAlrm
-IOC_TEST:m0s002-BO09-OvrTmpAlrm
-IOC_TEST:m0s002-BO09-OpnLdAlrm
-IOC_TEST:m0s002-BO09-OvrCurrAlrm
-IOC_TEST:m0s002-BO09-ShrtCircAlrm
-IOC_TEST:m0s002-BO10-OvrTmpAlrm
-IOC_TEST:m0s002-BO10-OpnLdAlrm
-IOC_TEST:m0s002-BO10-OvrCurrAlrm
-IOC_TEST:m0s002-BO10-ShrtCircAlrm
-IOC_TEST:m0s002-BO11-OvrTmpAlrm
-IOC_TEST:m0s002-BO11-OpnLdAlrm
-IOC_TEST:m0s002-BO11-OvrCurrAlrm
-IOC_TEST:m0s002-BO11-ShrtCircAlrm
-IOC_TEST:m0s002-BO12-OvrTmpAlrm
-IOC_TEST:m0s002-BO12-OpnLdAlrm
-IOC_TEST:m0s002-BO12-OvrCurrAlrm
-IOC_TEST:m0s002-BO12-ShrtCircAlrm
-IOC_TEST:m0s002-BO13-OvrTmpAlrm
-IOC_TEST:m0s002-BO13-OpnLdAlrm
-IOC_TEST:m0s002-BO13-OvrCurrAlrm
-IOC_TEST:m0s002-BO13-ShrtCircAlrm
-IOC_TEST:m0s002-BO14-OvrTmpAlrm
-IOC_TEST:m0s002-BO14-OpnLdAlrm
-IOC_TEST:m0s002-BO14-OvrCurrAlrm
-IOC_TEST:m0s002-BO14-ShrtCircAlrm
-IOC_TEST:m0s002-BO15-OvrTmpAlrm
-IOC_TEST:m0s002-BO15-OpnLdAlrm
-IOC_TEST:m0s002-BO15-OvrCurrAlrm
-IOC_TEST:m0s002-BO15-ShrtCircAlrm
-IOC_TEST:m0s002-BO16-OvrTmpAlrm
-IOC_TEST:m0s002-BO16-OpnLdAlrm
-IOC_TEST:m0s002-BO16-OvrCurrAlrm
-IOC_TEST:m0s002-BO16-ShrtCircAlrm
-IOC_TEST:m0s002-Online
-IOC_TEST:m0s002-Operational
-IOC_TEST:m0s002-Alstate-Init
-IOC_TEST:m0s002-Alstate-Preop
-IOC_TEST:m0s002-Alstate-Safeop
-IOC_TEST:m0s002-Alstate-Op
-IOC_TEST:Axis1-EnaCmd-RB
-IOC_TEST:Axis1-EnaAct
-IOC_TEST:Axis1-ExeCmd-RB
-IOC_TEST:Axis1-Busy
-IOC_TEST:Axis1-AtTarget
-IOC_TEST:Axis1-Moving
-IOC_TEST:Axis1-LimFwd
-IOC_TEST:Axis1-LimBwd
-IOC_TEST:Axis1-HomeSwitch
-IOC_TEST:Axis1-Homed
-IOC_TEST:Axis1-InRT
-IOC_TEST:Axis1-TrjSrcTyp-RB
-IOC_TEST:Axis1-EncSrcTyp-RB
-IOC_TEST:Axis1-CmdFrmPLCCmd-RB
-IOC_TEST:Axis1-SftLimFwdEna-RB
-IOC_TEST:Axis1-SftLimBwdEna-RB
-IOC_TEST:Axis1-PLC-EnaCmd-RB
-IOC_TEST:Axis1-PLC-FirstScan
-IOC_TEST:Axis1-Err
-IOC_TEST:Axis1-Wrn
-IOC_TEST:MCU-ThdRTPrioOK
-IOC_TEST:MCU-ThdMemLocked
-IOC_TEST:m0-LinkUp
-IOC_TEST:m0-AlStates-Init
-IOC_TEST:m0-AlStates-Preop
-IOC_TEST:m0-AlStates-Safeop
-IOC_TEST:m0-AlStates-Op
-IOC_TEST:m0-Dom-RedunActive
-IOC_TEST:m0-Dom-WC-Zero
-IOC_TEST:m0-Dom-WC-Incomplete
-IOC_TEST:m0-Dom-WC-Complete
-IOC_TEST:m0-Stat-OK
-REQMOD:raspberrypi-10406:exit
-REQMOD:raspberrypi-10406:MODULES
-REQMOD:raspberrypi-10406:VERSIONS
-REQMOD:raspberrypi-10406:MOD_VER
-IOC_TEST:Axis1-Arr-Stat
-IOC_TEST:Axis1-PLC-Expr-RB
-IOC_TEST:Plg-Mtn0-PosAct-Arr
-IOC_TEST:Plg-Mtn0-PosSet-Arr
-IOC_TEST:Plg-Mtn0-PosErr-Arr
-IOC_TEST:Plg-Mtn0-Time-Arr
-IOC_TEST:Plg-Mtn0-Ena-Arr
-IOC_TEST:Plg-Mtn0-EnaAct-Arr
-IOC_TEST:Plg-Mtn0-Bsy-Arr
-IOC_TEST:Plg-Mtn0-Exe-Arr
-IOC_TEST:Plg-Mtn0-TrjSrc-Arr
-IOC_TEST:Plg-Mtn0-EncSrc-Arr
-IOC_TEST:Plg-Mtn0-AtTrg-Arr
-IOC_TEST:Plg-Mtn0-ErrId-Arr
-IOC_TEST:MCU-ErrMsg
-IOC_TEST:MCU-Updated
-IOC_TEST:m0s001-Enc01-LtchCmd
-IOC_TEST:Axis1-MtnCmd
-IOC_TEST:Axis1-movVelCmd
-IOC_TEST:Axis1-movRelCmd
-IOC_TEST:Axis1-movAbsCmd
-IOC_TEST:Axis1-movHomCmd
-IOC_TEST:Axis1-HomProc-RB
-IOC_TEST:Axis1-Type
-IOC_TEST:Axis1-DrvType
-IOC_TEST:Axis1-TrajType
-IOC_TEST:m0s001-One
-IOC_TEST:m0s001-Zero
-IOC_TEST:m0s002-One
-IOC_TEST:m0s002-Zero
-IOC_TEST:Axis1-DIR_
-IOC_TEST:Axis1-ErrRst
-IOC_TEST:Axis1-HomProc
-IOC_TEST:Axis1-MtnCmdData
-IOC_TEST:Plg-Mtn0-Mde-RB
-IOC_TEST:Plg-Mtn0-Cmd-RB
-IOC_TEST:m0s001-Stat
-IOC_TEST:m0s002-Stat
-IOC_TEST:Axis1-MR-ErrId
-IOC_TEST:Axis1-CfgRDBD-En-RB
-IOC_TEST:Axis1-CfgPOSLAG-En-RB
-IOC_TEST:Axis1-CfgDHLM-En-RB
-IOC_TEST:Axis1-CfgDLLM-En-RB
-IOC_TEST:Axis1-Stat
-IOC_TEST:Axis1-ErrId
-IOC_TEST:Axis1-WrnId
-IOC_TEST:Plg-Mtn0-Stat
-IOC_TEST:m0-Stat
-IOC_TEST:m0-SlvCntr
-IOC_TEST:m0-MemmapCntr
-IOC_TEST:m0-DomFailCntrTot
-IOC_TEST:m0-EntryCntr
-IOC_TEST:m0-Dom-Stat
-IOC_TEST:MCU-Cfg-Info
-IOC_TEST:MCU-Cfg-Naming
-IOC_TEST:MCU-Cfg-Mode
-IOC_TEST:MCU-Cfg-PVA
-IOC_TEST:Axis1-DbgStrToLOG
-IOC_TEST:MCU-Cfg-AX1-Pfx
-IOC_TEST:MCU-Cfg-AX1-Nam
-IOC_TEST:MCU-Cfg-AX1-PfxNam
-IOC_TEST:m0s001-EntryCntr
-IOC_TEST:m0s002-EntryCntr
-IOC_TEST:Axis1-SeqState
-IOC_TEST:Axis1-LastIlock
-IOC_TEST:m0-SlvRsp
-IOC_TEST:m0-Dom-WC
-IOC_TEST:m0s001-Enc01-LtchRst
-IOC_TEST:Axis1-Cmd_
-REQMOD:raspberrypi-10406:BaseVersion
-REQMOD:raspberrypi-10406:require_VER
-REQMOD:raspberrypi-10406:ecmccfg_VER
-REQMOD:raspberrypi-10406:asyn_VER
-REQMOD:raspberrypi-10406:exprtk_VER
-REQMOD:raspberrypi-10406:motor_VER
-REQMOD:raspberrypi-10406:ruckig_VER
-REQMOD:raspberrypi-10406:ecmc_VER
-IOC_TEST:m0s001-HWType
-IOC_TEST:m0s002-HWType
-IOC_TEST:Axis1-MsgTxt
-REQMOD:raspberrypi-10406:ecmc_plugin_motion_VER
-IOC_TEST:m0s001-Drv01-Stat
-IOC_TEST:m0s001-Enc01-Stat
-IOC_TEST:m0s001-Stat_
-IOC_TEST:m0s002-BO01-Stat
-IOC_TEST:m0s002-BO02-Stat
-IOC_TEST:m0s002-BO03-Stat
-IOC_TEST:m0s002-BO04-Stat
-IOC_TEST:m0s002-BO05-Stat
-IOC_TEST:m0s002-BO06-Stat
-IOC_TEST:m0s002-BO07-Stat
-IOC_TEST:m0s002-BO08-Stat
-IOC_TEST:m0s002-BO09-Stat
-IOC_TEST:m0s002-BO10-Stat
-IOC_TEST:m0s002-BO11-Stat
-IOC_TEST:m0s002-BO12-Stat
-IOC_TEST:m0s002-BO13-Stat
-IOC_TEST:m0s002-BO14-Stat
-IOC_TEST:m0s002-BO15-Stat
-IOC_TEST:m0s002-BO16-Stat
-IOC_TEST:m0s002-Stat_
-IOC_TEST:Axis1-Stat_
-IOC_TEST:ThdRTStat_
-IOC_TEST:m0-Stat_
-IOC_TEST:m0-Dom-Stat_
-IOC_TEST:m0s001-Enc01-LtchAutRst
-IOC_TEST:Axis1-MtnCmd_
-IOC_TEST:MCU-Cfg-EC-Mst
-IOC_TEST:MCU-Cfg-Rate
-IOC_TEST:MCU-Cfg-Time
-IOC_TEST:MCU-Cfg-PV-Time
-IOC_TEST:m0s001-Drv01-Cmd
-IOC_TEST:m0s001-Drv01-Spd
-IOC_TEST:m0s001-Enc01-Cmd
-IOC_TEST:m0s001-Enc01-PosCmd
-IOC_TEST:m0s001-NxtObjId
-IOC_TEST:MCU-Cfg-EC-FrstObjId
-IOC_TEST:m0s002-NxtObjId
-IOC_TEST:Axis1-OFF_
-IOC_TEST:Axis1-MRES_
-IOC_TEST:Axis1-HomPos
-IOC_TEST:Axis1-VelToHom
-IOC_TEST:Axis1-VelFrmHom
-IOC_TEST:Axis1-AccHom
-IOC_TEST:Axis1-TgtPosCmd
-IOC_TEST:Axis1-TgtVelCmd
-IOC_TEST:Axis1-Id
-IOC_TEST:MCU-Cfg-AX1-NxtObjId
-IOC_TEST:MCU-Cfg-AX-FrstObjId
-IOC_TEST:MCU-Cfg-PLG{Index}-NxtObjId
-IOC_TEST:MCU-Cfg-PLG-FrstObjId
-IOC_TEST:Plg-Mtn0-AxCmd-RB
-IOC_TEST:MCU-Cfg-Eng-Mode
-IOC_TEST:m0s001-Enc01-LchAutRstSp
-IOC_TEST:m0s002-BO01
-IOC_TEST:m0s002-BO02
-IOC_TEST:m0s002-BO03
-IOC_TEST:m0s002-BO04
-IOC_TEST:m0s002-BO05
-IOC_TEST:m0s002-BO06
-IOC_TEST:m0s002-BO07
-IOC_TEST:m0s002-BO08
-IOC_TEST:m0s002-BO09
-IOC_TEST:m0s002-BO10
-IOC_TEST:m0s002-BO11
-IOC_TEST:m0s002-BO12
-IOC_TEST:m0s002-BO13
-IOC_TEST:m0s002-BO14
-IOC_TEST:m0s002-BO15
-IOC_TEST:m0s002-BO16
-IOC_TEST:Axis1-EnaCmd
-IOC_TEST:Axis1-ExeCmd
-IOC_TEST:Axis1-StpCmd
-IOC_TEST:Axis1-RstCmd
-IOC_TEST:Axis1-EncSrcTyp-Cmd
-IOC_TEST:Axis1-TrjSrcTyp-Cmd
-IOC_TEST:Axis1-PLC-EnaCmd
-IOC_TEST:Axis1-CmdFrmPLCCmd
-IOC_TEST:Axis1-SftLimBwdEna
-IOC_TEST:Axis1-SftLimFwdEna
-IOC_TEST:Plg-Mtn0-EnaCmd-RB
-IOC_TEST:Plg-Mtn0-TrgCmd-RB
-IOC_TEST:MCU-ErrRst
-IOC_TEST:Axis1-MCU1-asyn
-IOC_TEST:MCU-Cmd
-IOC_TEST:Axis1
diff --git a/iocsh/cfg/el7031.ax b/iocsh/test_1/cfg/el7031.ax
similarity index 100%
rename from iocsh/cfg/el7031.ax
rename to iocsh/test_1/cfg/el7031.ax
diff --git a/iocsh/test_plugin_motion_psi.script b/iocsh/test_1/test_plugin_motion_psi.script
similarity index 100%
rename from iocsh/test_plugin_motion_psi.script
rename to iocsh/test_1/test_plugin_motion_psi.script
diff --git a/iocsh/test_2/cfg/el7201_hipa.yaml b/iocsh/test_2/cfg/el7201_hipa.yaml
new file mode 100644
index 0000000..bcc6d38
--- /dev/null
+++ b/iocsh/test_2/cfg/el7201_hipa.yaml
@@ -0,0 +1,92 @@
+# Macros:
+#  AX_ID    : This axis id
+#  AX_NAME  : This axis name
+#  DRV_ID   : Slave id of drive
+#  OFFSET   : Offset
+
+axis:
+  id: ${AX_ID=1}
+  mode: CSV
+#  parameters: powerAutoOnOff=2;powerOnDelay=6.0;powerOffDelay=1.0;
+
+epics:
+  name: ${AX_NAME=Axis1}
+  precision: 4
+  unit: revs
+  motorRecord:
+    enable: true
+    description: ""
+    fieldInit: "RTRY=0,FOFF=Frozen"
+
+# Max scale is 8000Hz
+drive:
+  numerator: 8000  #rev/s, Max speed is 8000 rev/sec for drive
+  denominator: 2147483648
+  type: 1                            # Stepper: 0, DS402: 1 (servos)
+  control: ec0.s$(DRV_ID).driveControl01
+  status: ec0.s$(DRV_ID).driveStatus01
+  setpoint: ec0.s$(DRV_ID).velocitySetpoint01
+  reset: 7
+
+# 0.02mm/rev (0.4mm pitch and gr of 20).
+# in data sheet it states 0.364mm pitch and gr of 20 (which is not true)
+encoder:
+  type: 1
+  position: ec0.s$(DRV_ID).positionActual01
+  numerator: 1
+  denominator: 1048576
+  bits: 32
+  absBits: 32
+  absOffset: $(OFFSET=0)
+  status: ec0.s$(DRV_ID).ONE
+#  error:
+#    - 7
+#  ready: 6
+
+controller:
+  Kp: 140.0
+  Ki: 0.1
+  Kd: 0.0
+  deadband:
+    tol: 0.0                                         # Stop control if within this distance from target for the below time
+    time: 100
+
+trajectory:
+  source: 0
+  type: 1
+  axis:
+    velocity: 50
+    acceleration: 50000
+    decceleration: 50000
+
+input:
+  limit:
+#    forward: ec0.s$(DRV_ID).infoData02.1
+#    backward: ec0.s$(DRV_ID).infoData02.0
+    forward: ec0.s$(DRV_ID).ONE.1
+    backward: ec0.s$(DRV_ID).ONE.0
+  home: ec0.s$(DRV_ID).ONE.0
+  interlock: ec0.s$(DRV_ID).ONE.0
+
+softlimits:
+  enable: no
+  backwardEnable: yes
+  forwardEnable: yes
+  forward: 10
+  backward: -10
+
+monitoring:
+  lag:
+    enable: no
+    tolerance: 0.01
+    time: 100
+  target:
+    enable: yes
+    tolerance: 0.1
+    time: 100
+  velocity:
+    enable: no
+    max: 10000
+    time:
+      trajectory: 100
+      drive: 200
diff --git a/iocsh/test_2/ep7211-0034_hipa.script b/iocsh/test_2/ep7211-0034_hipa.script
new file mode 100644
index 0000000..9c071d7
--- /dev/null
+++ b/iocsh/test_2/ep7211-0034_hipa.script
@@ -0,0 +1,43 @@
+##############################################################################
+## Example config for ep7211-0010.. Why power cycle sometimes needed??? SDO 8000:17 (enc offset) gives error
+
+
+##############################################################################
+## Initiation:
+
+require ecmccfg "ECMC_VER=EC_RATE=1000,ENG_MODE=1,MASTER_ID=1"
+require ecmccomp
+
+epicsEnvSet("ECMC_EC_SLAVE_NUM_DRIVE",        "0")
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ECMC_EC_SLAVE_NUM_DRIVE), HW_DESC=EP7211-0034_ALL_FB"
+${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP= Motor-Beckhoff-AM8121-XFX0"
+
+#Apply hardware configuration
+ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
+
+
+#epicsEnvSet("ECMC_SAMPLE_RATE_MS",            "${RATE="1"}")
+
+##############################################################################
+## AXIS 1
+#
+epicsEnvSet("DEV",      "$(IOC)")
+$(SCRIPTEXEC) $(ecmccfg_DIR)loadYamlAxis.cmd "FILE=./cfg/el7201_hipa.yaml,DRV_ID=$(ECMC_EC_SLAVE_NUM_DRIVE),AX_NAME='Axis1',AX_ID=1"
+
+#epicsEnvSet("ECMC_SAMPLE_RATE_MS",            "${RATE="10"}")
+
+##############################################################################
+## Load plugin: MOTION
+#
+epicsEnvSet(ECMC_PLUGIN_CONFIG,"PLUGIN_ID=1,AX=1,BUFF_SIZE=200,DBG=0,ENA=1")
+require ecmc_plugin_motion sandst_a "${ECMC_PLUGIN_CONFIG}"
+
+##############################################################################
+############# Configure diagnostics:
+
+ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)"
+ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)"
+ecmcConfigOrDie "Cfg.SetDiagAxisEnable(0)"
+
+# go active
+$(SCRIPTEXEC) ($(ecmccfg_DIR)setAppMode.cmd)
diff --git a/iocsh/test_plugin_motion.script b/iocsh/test_plugin_motion.script
deleted file mode 100644
index bc22a5b..0000000
--- a/iocsh/test_plugin_motion.script
+++ /dev/null
@@ -1,62 +0,0 @@
-##############################################################################
-## Example: Configuraftion for running ecmc motion plugin
-##############################################################################
-
-## Initiation:
-epicsEnvSet("IOC" ,"$(IOC="IOC_TEST")")
-epicsEnvSet("SCRIPTEXEC" ,"$(SCRIPTEXEC="iocshLoad")")
-
-require ecmccfg "9.0.1_RC1"
-
-# run module startup.cmd (only needed at ESS  PSI auto call at require)
-$(ECMCCFG_INIT="")$(SCRIPTEXEC) ${ecmccfg_DIR}startup.cmd, "IOC=$(IOC),ECMC_VER=v9.0.1_RC1, EC_RATE=500"
-
-
-##############################################################################
-## Configure hardware
-
-epicsEnvSet("ECMC_EC_SLAVE_NUM",              "1")
-${SCRIPTEXEC} ${ecmccfg_DIR}configureSlave.cmd, "SLAVE_ID=$(ECMC_EC_SLAVE_NUM), HW_DESC=EL7031, CONFIG=-Motor-Trinamic-QMot-QSH4218-41-10-035"
-epicsEnvSet("DRV_ID",              "${ECMC_EC_SLAVE_NUM}")
-${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "HW_DESC=EL2819"
-epicsEnvSet("DO_ID",              "${ECMC_EC_SLAVE_NUM}")
-
-# Configure drv input 1 as drv enable
-ecmcConfigOrDie "Cfg.EcAddSdo(${DRV_ID},0x8012,0x32,1,1)"
-OK
-# Control external drv enable
-ecmcConfigOrDie "Cfg.WriteEcEntryIDString(${DO_ID},binaryOutput02,1)"
-
-#Apply hardware configuration
-ecmcConfigOrDie "Cfg.EcApplyConfig(1)"
-
-##############################################################################
-## AXIS 1
-#
-epicsEnvSet("DEV",      "$(IOC)")
-$(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/el7031.ax)
-
-##############################################################################
-## Load plugin: MOTION
-#
-epicsEnvSet(ECMC_PLUGIN_CONFIG,"PLUGIN_ID=1,AX=1,BUFF_SIZE=200,DBG=0,ENA=1")
-require ecmc_plugin_motion master ${ECMC_PLUGIN_CONFIG}
-# below needed at ESS but not PSI:
-${SCRIPTEXEC} ${ecmc_plugin_motion_DIR}startup.cmd "${ECMC_PLUGIN_CONFIG}"
-
-##############################################################################
-############# Configure diagnostics:
-
-ecmcConfigOrDie "Cfg.EcSetDiagnostics(1)"
-ecmcConfigOrDie "Cfg.EcEnablePrintouts(0)"
-ecmcConfigOrDie "Cfg.EcSetDomainFailedCyclesLimit(100)"
-ecmcConfigOrDie "Cfg.SetDiagAxisIndex(1)"
-ecmcConfigOrDie "Cfg.SetDiagAxisFreq(2)"
-ecmcConfigOrDie "Cfg.SetDiagAxisEnable(0)"
-
-##############################################################################
-############# go active:
-$(SCRIPTEXEC) ($(ecmccfg_DIR)setAppMode.cmd)
-
-iocInit
-dbl > pvs.log