Use ecmc 9.5.0

Clenup
Update readme
2024-05-01 10:25:06 +02:00 · 2024-05-01 10:18:49 +02:00 · 2024-04-30 16:05:06 +02:00 · 2024-04-30 16:01:35 +02:00 · 2024-04-30 15:55:23 +02:00 · 2024-04-30 14:36:41 +02:00
20 changed files with 733 additions and 194 deletions
--- a/ecmc_plugin_motion/Db/.keep
+++ b/ecmc_plugin_motion/Db/.keep
--- a/ecmc_plugin_motion/Db/ecmcPluginMotion.template
+++ b/ecmc_plugin_motion/Db/ecmcPluginMotion.template
@@ -2,7 +2,7 @@
 record(waveform,"$(P)Plg-Mtn${INDEX}-PosAct-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "Pos Act")
-  field(PINI, "1")
+  #field(PINI, "1")
  field(DTYP, "asynFloat64ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.actpos_arr")
  field(FTVL, "DOUBLE")
@@ -10,13 +10,14 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-PosAct-Arr"){
  field(SCAN, "I/O Intr")
  field(TSE,  "0")
  field(EGU,  "${RAW_EGU= }")
+  field(PREC, "${PREC=3 }")
 }

 # Set pos
 record(waveform,"$(P)Plg-Mtn${INDEX}-PosSet-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "Pos Set")
-  field(PINI, "1")
+  #field(PINI, "1")
  field(DTYP, "asynFloat64ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.setpos_arr")
  field(FTVL, "DOUBLE")
@@ -24,13 +25,14 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-PosSet-Arr"){
  field(SCAN, "I/O Intr")
  field(TSE,  "0")
  field(EGU,  "${RAW_EGU= }")
+  field(PREC, "${PREC=3 }")
 }

 # Position Error
 record(waveform,"$(P)Plg-Mtn${INDEX}-PosErr-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "Pos Error (diff)")
-  field(PINI, "1")
+  #field(PINI, "1")
  field(DTYP, "asynFloat64ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.diffpos_arr")
  field(FTVL, "DOUBLE")
@@ -38,26 +40,28 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-PosErr-Arr"){
  field(SCAN, "I/O Intr")
  field(TSE,  "0")
  field(EGU,  "${RAW_EGU= }")
+  field(PREC, "${PREC=3 }")
 }

 # X axis time (reltive within buffer)
 record(waveform,"$(P)Plg-Mtn${INDEX}-Time-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "Rel. time within buffer")
-  field(PINI, "1")
+  #field(PINI, "1")
  field(DTYP, "asynFloat64ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.x_arr")
  field(FTVL, "DOUBLE")
  field(NELM, "$(NELM)")
  field(SCAN, "I/O Intr")
  field(TSE,  "0")
+  field(PREC, "${PREC=3 }")
 }

 # Axis Enable
 record(waveform,"$(P)Plg-Mtn${INDEX}-Ena-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "Enable")
-  field(PINI, "1")
+  #field(PINI, "1")
  field(DTYP, "asynInt8ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.enable_arr")
  field(FTVL, "CHAR")
@@ -70,7 +74,7 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-Ena-Arr"){
 record(waveform,"$(P)Plg-Mtn${INDEX}-EnaAct-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "Enabled")
-  field(PINI, "1")
+  #field(PINI, "1")
  field(DTYP, "asynInt8ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.enabled_arr")
  field(FTVL, "CHAR")
@@ -83,7 +87,7 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-EnaAct-Arr"){
 record(waveform,"$(P)Plg-Mtn${INDEX}-Bsy-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "Busy")
-  field(PINI, "1")
+  #field(PINI, "1")
  field(DTYP, "asynInt8ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.busy_arr")
  field(FTVL, "CHAR")
@@ -96,7 +100,7 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-Bsy-Arr"){
 record(waveform,"$(P)Plg-Mtn${INDEX}-Exe-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "Execute")
-  field(PINI, "1")
+  #field(PINI, "1")
  field(DTYP, "asynInt8ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.execute_arr")
  field(FTVL, "CHAR")
@@ -109,7 +113,7 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-Exe-Arr"){
 record(waveform,"$(P)Plg-Mtn${INDEX}-TrjSrc-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "Traj source")
-  field(PINI, "1")
+  #field(PINI, "1")
  field(DTYP, "asynInt8ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.trajsrc_arr")
  field(FTVL, "CHAR")
@@ -122,7 +126,7 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-TrjSrc-Arr"){
 record(waveform,"$(P)Plg-Mtn${INDEX}-EncSrc-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "Enc source")
-  field(PINI, "1")
+  #field(PINI, "1")
  field(DTYP, "asynInt8ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.encsrc_arr")
  field(FTVL, "CHAR")
@@ -135,7 +139,7 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-EncSrc-Arr"){
 record(waveform,"$(P)Plg-Mtn${INDEX}-AtTrg-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "At target")
-  field(PINI, "1")
+  #field(PINI, "1")
  field(DTYP, "asynInt8ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.attarget_arr")
  field(FTVL, "CHAR")
@@ -148,7 +152,7 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-AtTrg-Arr"){
 record(waveform,"$(P)Plg-Mtn${INDEX}-ErrId-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "Error Id")
-  field(PINI, "1")
+  #field(PINI, "1")
  field(DTYP, "asynInt32ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.error_arr")
  field(FTVL, "LONG")
@@ -157,11 +161,11 @@ record(waveform,"$(P)Plg-Mtn${INDEX}-ErrId-Arr"){
  field(TSE,  "0")  
 }

-# Axis Error Id
+# Axis status word 
 record(waveform,"$(P)Plg-Mtn${INDEX}-Stat-Arr"){
  info(asyn:FIFO, "1000")
  field(DESC, "Status wd")
-  field(PINI, "1")
+  #field(PINI, "1")
  field(DTYP, "asynInt32ArrayIn")
  field(INP,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.statuswd_arr")
  field(FTVL, "LONG")
@@ -187,10 +191,13 @@ record(ao,"$(P)Plg-Mtn${INDEX}-AxCmd-RB"){
  field(DTYP,"asynInt32")
  field(OUT, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.axis_id")
  field(DOL, "0")
+  field(PREC,"0")
+  field(DRVL,"0")
+  field(DRVH,"100")
  field(VAL, "1")
 }

-record(ai,"$(P)Plg-Mtn${INDEX}-SmpHz-RB"){
+record(ai,"$(P)Plg-Mtn${INDEX}-SmpHz"){
  info(asyn:READBACK,"1")
  field(DESC, "Sample rate")
  field(DTYP,"asynFloat64")
@@ -200,52 +207,63 @@ record(ai,"$(P)Plg-Mtn${INDEX}-SmpHz-RB"){
  field(SCAN, "I/O Intr")
 }

-record(ai,"$(P)Plg-Mtn${INDEX}-BuffSze"){
-  info(asyn:READBACK,"1")
-  field(DESC, "Buffer Size")
-  field(DTYP,"asynInt32")
-  field(INP, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.buff_size")  
-  field(VAL, "1")
-}
+# Future use
+#record(ai,"$(P)Plg-Mtn${INDEX}-BuffSze"){
+#  info(asyn:READBACK,"1")
+#  field(DESC, "Buffer Size")
+#  field(DTYP,"asynInt32")
+#  field(INP, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.buff_size")  
+#  field(VAL, "1")
+#}

-record(ai,"$(P)Plg-Mtn${INDEX}-ElmCnt"){
-  info(asyn:READBACK,"1")
-  field(DESC, "Elements in buffer count")
-  field(DTYP,"asynInt32")
-  field(INP, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.elem_count")
-  field(VAL, "1")
-}
+# Future use
+#record(ai,"$(P)Plg-Mtn${INDEX}-ElmCnt"){
+#  info(asyn:READBACK,"1")
+#  field(DESC, "Elements in buffer count")
+#  field(DTYP,"asynInt32")
+#  field(INP, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.elem_count")
+#  field(VAL, "1")
+#}

-record(bo,"$(P)Plg-Mtn${INDEX}-TrgCmd-RB"){
-  info(asyn:READBACK,"1")
-  field(DESC, "Trigg command")
-  field(DTYP,"asynInt32")
-  field(OUT, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.trigg")
-  field(ZNAM,"IDLE")
-  field(ONAM,"TRIGG")  
-  field(VAL, "0")
-  field(HIGH, 0.001)
-}
+# Future use
+#record(bo,"$(P)Plg-Mtn${INDEX}-TrgCmd-RB"){
+#  info(asyn:READBACK,"1")
+#  field(DESC, "Trigg command")
+#  field(DTYP,"asynInt32")
+#  field(OUT, "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.trigg")
+#  field(ZNAM,"IDLE")
+#  field(ONAM,"TRIGG")  
+#  field(VAL, "0")
+#  field(HIGH, 0.001)
+#}

-record(longout,"$(P)Plg-Mtn${INDEX}-Mde-RB"){
-  info(asyn:READBACK,"1")
-  field(DESC, "Mode selection")
-  field(PINI, "1")
-  field(TSE,  "0")
-  field(DTYP, "asynInt32")
-  field(OUT,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.mode")
-  field(SCAN, "Passive")
-}
+# Future use
+#record(mbbo, "$(P)Plg-Mtn${INDEX}-Mde-RB"){
+#  info(asyn:READBACK,"1")
+#  field(DESC, "Mode selection")
+#  field(PINI, "1")
+#  field(TSE,  "0")
+#  field(DTYP, "asynInt32")
+#  field(OUT,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.mode")
+#  field(ZRST, "NO_COMMAND")
+#  field(ZRVL, 0)
+#  field(ONST, "CONT")
+#  field(ONVL, 1)
+#  field(TWST, "TRIGG")
+#  field(TWVL, 2)
+#  field(VAL,  1)
+#}

-record(longout,"$(P)Plg-Mtn${INDEX}-Cmd-RB"){
-  info(asyn:READBACK,"1")
-  field(DESC, "Command")
-  field(PINI, "1")
-  field(TSE,  "0")
-  field(DTYP, "asynInt32")
-  field(OUT,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.cmd")
-  field(SCAN, "Passive")
-}
+# Future use
+# record(longout,"$(P)Plg-Mtn${INDEX}-Cmd-RB"){
+#   info(asyn:READBACK,"1")
+#   field(DESC, "Command")
+#   field(PINI, "1")
+#   field(TSE,  "0")
+#   field(DTYP, "asynInt32")
+#   field(OUT,  "@asyn(PLUGIN.MOTION_${INDEX},$(ADDR=0),$(TIMEOUT=1000))plugin.motion_${INDEX}.cmd")
+#   field(SCAN, "Passive")
+# }

 record(longin,"$(P)Plg-Mtn${INDEX}-Stat"){
  info(asyn:READBACK,"1")
--- a/12
+++ b/12
@@ -6,7 +6,7 @@ BUILDCLASSES = Linux
 ARCH_FILTER = deb10%

 # Run 7.0.6 for now
-EXCLUDE_VERSIONS+=3 7.0.5 7.0.7
+EXCLUDE_VERSIONS+=3 7.0.5 7.0.6

 IGNORE_MODULES += asynMotor
 IGNORE_MODULES += motorBase
@@ -16,8 +16,8 @@ OPT_CXXFLAGS_YES = -O3

 # dependencies
 ECmasterECMC_VERSION = v1.1.0
-motorECMC_VERSION = 7.0.7-ESS
-ecmc_VERSION = v9.0.1_RC1
+motorECMC_VERSION = 7.0.9-ESS
+ecmc_VERSION = 9.5.0

 ################################################################################
 # THIS RELATES TO THE EtherCAT MASTER LIBRARY
@@ -29,9 +29,10 @@ EC_MASTER_LIB = ${EPICS_MODULES}/ECmasterECMC/${ECmasterECMC_VERSION}/R${EPICSVE
 USR_LDFLAGS += -Wl,-rpath=${EC_MASTER_LIB}
 USR_LDFLAGS +=         -L ${EC_MASTER_LIB}

-BASE_DIR = ecmc_plugin_motion
+BASE_DIR = .
 SRC_DIR = $(BASE_DIR)/src
 DB_DIR =  $(BASE_DIR)/Db
+SCRIPTS_DIR = $(BASE_DIR)/scripts

 SOURCES += $(SRC_DIR)/ecmcPluginMotion.c
 SOURCES += $(SRC_DIR)/ecmcMotionPlgWrap.cpp
@@ -41,6 +42,5 @@ SOURCES += $(SRC_DIR)/ecmcMotionPlg.cpp
 HEADERS += $(foreach d,${SRC_DIR}, $(wildcard $d/*.h))
 DBDS += $(foreach d,${SRC_DIR}, $(wildcard $d/*.dbd))
 SCRIPTS += $(BASE_DIR)/startup.cmd
-SCRIPTS += $(BASE_DIR)/addMotionObj.cmd
+SCRIPTS += $(SCRIPTS_DIR)/addMotionObj.cmd
 TEMPLATES += $(wildcard $(DB_DIR)/*.template)
-
--- a/README.md
+++ b/README.md
@@ -1,10 +1,76 @@
 ecmc_plugin_motion
 ======
 Plugin designed for commisioning and troubleshooting of motion axes.
-Motion data are sampled, buffered and exposed to epics as waveforms.
+Motion data are sampled, buffered and exposed as epics as waveforms.
+
+# Panel
+```
+# Plugin loaded once (MTN_ID defaults to 0)
+caqtdm -macro "SYS=c6025a" ecmc_plugin_motion_main.ui 
+
+# If loaded more times
+caqtdm -macro "SYS=c6025a,MTN_ID=1" ecmc_plugin_motion_main.ui 
+```
+# Python panels
+In tools directory.. WIP...



+# PVs

+The following PVs are created:
+```
+c6025a> dbgrep *Plg*
+c6025a:Plg-Mtn0-SmpHz
+c6025a:Plg-Mtn0-AxCmd-RB
+c6025a:Plg-Mtn0-EnaCmd-RB
+c6025a:Plg-Mtn0-Stat
+c6025a:Plg-Mtn0-PosAct-Arr
+c6025a:Plg-Mtn0-PosSet-Arr
+c6025a:Plg-Mtn0-PosErr-Arr
+c6025a:Plg-Mtn0-Time-Arr
+c6025a:Plg-Mtn0-Ena-Arr
+c6025a:Plg-Mtn0-EnaAct-Arr
+c6025a:Plg-Mtn0-Bsy-Arr
+c6025a:Plg-Mtn0-Exe-Arr
+c6025a:Plg-Mtn0-TrjSrc-Arr
+c6025a:Plg-Mtn0-EncSrc-Arr
+c6025a:Plg-Mtn0-AtTrg-Arr
+c6025a:Plg-Mtn0-ErrId-Arr
+c6025a:Plg-Mtn0-Stat-Arr
+```

+# Plugin Report

+```
+Plugin info: 
+  Index                = 1
+  Name                 = ecmc_plugin_motion
+  Description          = Motion plugin for commissioning of ecmc motion axes.
+  Option description   = 
+    DBG_PRINT=<1/0>     : Enables/disables printouts from plugin, default = disabled.
+    AXIS=<axis id>      : Sets default source axis id.
+    BUFFER_SIZE=<size>  : Data points to collect, default = 4096.
+    RATE=<rate hz>      : Sampling rate in Hz
+  Filename             = /gfa/.mounts/sls_ioc/modules/ecmc_plugin_motion/test/R7.0.7//lib/deb10-x86_64/libecmc_plugin_motion.so
+  Config string        = AXIS=1;BUFFER_SIZE=2000;DBG_PRINT=0;ENABLE=1;
+  Version              = 2
+  Interface version    = 65536 (ecmc = 65536)
+     max plc funcs     = 64
+     max plc func args = 10
+     max plc consts    = 64
+  Construct func       = @0x7f0badafb780
+  Enter realtime func  = @0x7f0badafb7c0
+  Exit realtime func   = @0x7f0badafb770
+  Realtime func        = @0x7f0badafb7a0
+  Destruct func        = @0x7f0badafb760
+  dlhandle             = @0x563c3aba7d00
+  Plc functions:
+  Plc constants:
+
+```
+
+# TODO
+* Triggered mode
+* Add control functionalities (step response)
+* Fix python gui (and venv)
--- a/ecmc_plugin_motion.Makefile
+++ b/ecmc_plugin_motion.Makefile
@@ -1,99 +0,0 @@
-#
-#  Copyright (c) 2023    Paul Scherrer Institute
-#
-#  The program is free software: you can redistribute
-#  it and/or modify it under the terms of the GNU General Public License
-#  as published by the Free Software Foundation, either version 2 of the
-#  License, or any newer version.
-#
-#  This program is distributed in the hope that it will be useful, but WITHOUT
-#  ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or
-#  FITNESS FOR A PARTICULAR PURPOSE.  See the GNU General Public License for
-#  more details.
-#
-#  You should have received a copy of the GNU General Public License along with
-#  this program. If not, see https://www.gnu.org/licenses/gpl-2.0.txt
-#
-# 
-# Author  : anderssandstrom
-# email   : anders.sandstroem@psi.ch
-# Date    : 2023 July 10
-# version : 0.0.0 
-#
-
-
-## The following lines are mandatory, please don't change them.
-where_am_I := $(dir $(abspath $(lastword $(MAKEFILE_LIST))))
-include $(E3_REQUIRE_TOOLS)/driver.makefile
-include $(E3_REQUIRE_CONFIG)/DECOUPLE_FLAGS
-
-ifneq ($(strip $(ASYN_DEP_VERSION)),)
-asyn_VERSION=$(ASYN_DEP_VERSION)
-endif
-
-ifneq ($(strip $(ECMC_DEP_VERSION)),)
-ecmc_VERSION=$(ECMC_DEP_VERSION)
-endif
-
-ifneq ($(strip $(RUCKIG_DEP_VERSION)),)
-ruckig_VERSION=$(RUCKIG_DEP_VERSION)
-endif
-
-ifeq ($(T_A),linux-x86_64)
-  # Assume that the etherlab user library is done via
-  # https://github.com/icshwi/etherlabmaster
-  USR_INCLUDES += -I/opt/etherlab/include
-  USR_CFLAGS += -fPIC
-  USR_LDFLAGS += -L /opt/etherlab/lib
-  USR_LDFLAGS += -lethercat
-  USR_LDFLAGS += -Wl,-rpath=/opt/etherlab/lib
-else 
-  ifeq ($(T_A),linux-arm)
-    # Assume that the etherlab user library is done via
-    # https://github.com/icshwi/etherlabmaster
-    USR_INCLUDES += -I/opt/etherlab/include
-    USR_CFLAGS += -fPIC
-    USR_LDFLAGS += -L /opt/etherlab/lib
-    USR_LDFLAGS += -lethercat
-    USR_LDFLAGS += -Wl,-rpath=/opt/etherlab/lib
-  else
-    # Assume that the etherlab user library is done via
-    # Yocto ESS Linux bb recipe
-    USR_INCLUDES += -I$(SDKTARGETSYSROOT)/usr/include/etherlab
-    USR_CFLAGS   += -fPIC
-    USR_LDFLAGS  += -L $(SDKTARGETSYSROOT)/usr/lib/etherlab
-    USR_LDFLAGS  += -lethercat
-    USR_LDFLAGS  += -Wl,-rpath=$(SDKTARGETSYSROOT)/usr/lib/etherlab
-    USR_LDFLAGS  += -lstdc++
-  endif
-endif
-
-APP:="."
-#APPDB:=$(APP)/Db
-#APPSRC:=$(APP)/src
-APPSRC:=src
-APPDB:=Db
-
-USR_CFLAGS   += -shared -fPIC -Wall -Wextra
-USR_LDFLAGS  += -lstdc++
-USR_INCLUDES += -I$(where_am_I)$(APPSRC)
-
-TEMPLATES += $(wildcard $(APPDB)/*.db)
-TEMPLATES += $(wildcard $(APPDB)/*.template)
-SOURCES += $(APPSRC)/ecmcPluginMotion.c
-SOURCES += $(APPSRC)/ecmcMotionPlgWrap.cpp
-SOURCES += $(APPSRC)/ecmcMotionPlg.cpp
-#SOURCES += $(APPSRC)/ecmcDataBuffer.cpp
-
-SCRIPTS += startup.cmd
-SCRIPTS += addMotionObj.cmd
-
-db:
-
-.PHONY: db
-
-vlibs:
-
-.PHONY: vlibs
-
-###
--- a/iocsh/test_plugin_motion.script
+++ b/iocsh/test_plugin_motion.script
@@ -2,15 +2,10 @@
 ## Example: Configuraftion for running ecmc motion plugin
 ##############################################################################

-## Initiation:
-epicsEnvSet("IOC" ,"$(IOC="IOC_TEST")")
-epicsEnvSet("SCRIPTEXEC" ,"$(SCRIPTEXEC="iocshLoad")")
-
-require ecmccfg "9.0.1_RC1"
+require ecmccfg "9.4.0" "ECMC_VER=9.4.0,EC_RATE=500"

 # 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"
-
+$(ECMCCFG_INIT="")$(SCRIPTEXEC) ${ecmccfg_DIR}startup.cmd, "IOC=$(IOC),ECMC_VER=9.4.0, EC_RATE=500"

 ##############################################################################
 ## Configure hardware
--- a/iocsh/test_plugin_motion_psi.script
+++ b/iocsh/test_plugin_motion_psi.script
@@ -2,15 +2,9 @@
 ## Example: Configuraftion for running ecmc motion plugin
 ##############################################################################

-## Initiation:
-epicsEnvSet("IOC" ,"$(IOC="IOC_TEST")")
-epicsEnvSet("ECMCCFG_INIT" ,"")  #Only run startup once (auto at PSI, need call at ESS), variable set to "#" in startup.cmd
-epicsEnvSet("SCRIPTEXEC" ,"$(SCRIPTEXEC="iocshLoad")")
-
-require ecmccfg "sandst_a_v9.0.1_RC1" "ECMC_VER=v9.0.1_RC1"
-
+require ecmccfg "9.4.0" "ECMC_VER=9.4.0"
 ##############################################################################
-## Configure hardware
+## Configue

 epicsEnvSet("ECMC_EC_SLAVE_NUM",              "4")
 ${SCRIPTEXEC} ${ecmccfg_DIR}configureSlave.cmd, "SLAVE_ID=$(ECMC_EC_SLAVE_NUM), HW_DESC=EL7031, CONFIG=-Motor-Trinamic-QMot-QSH4218-41-10-035"
@@ -33,8 +27,6 @@ $(SCRIPTEXEC) ($(ecmccfg_DIR)configureAxis.cmd, CONFIG=./cfg/el7031.ax)
 #
 epicsEnvSet(ECMC_PLUGIN_CONFIG,"PLUGIN_ID=1,AX=1,BUFF_SIZE=200,DBG=0,ENA=1")
 require ecmc_plugin_motion sandst_a "${ECMC_PLUGIN_CONFIG}"
-# below needed at ESS but not PSI:
-#${SCRIPTEXEC} ${ecmc_plugin_motion_DIR}startup.cmd "${ECMC_PLUGIN_CONFIG}"

 ##############################################################################
 ############# Configure diagnostics:
--- a/opi/.keep
+++ b/opi/.keep
--- a/qt/ecmc_plugin_motion_main.ui
+++ b/qt/ecmc_plugin_motion_main.ui
@@ -0,0 +1,543 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>Dialog</class>
+ <widget class="QDialog" name="Dialog">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>1420</width>
+    <height>893</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>ecmc expert axis</string>
+  </property>
+  <widget class="caStripPlot" name="castripplot">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>30</y>
+     <width>1200</width>
+     <height>500</height>
+    </rect>
+   </property>
+   <property name="font">
+    <font>
+     <pointsize>4</pointsize>
+    </font>
+   </property>
+   <property name="Title" stdset="0">
+    <string notr="true">Analog</string>
+   </property>
+   <property name="TitleX">
+    <string notr="true"/>
+   </property>
+   <property name="TitleY">
+    <string notr="true">Position</string>
+   </property>
+   <property name="channels" stdset="0">
+    <string>$(SYS):Plg-Mtn$(MTN_ID=0)-PosAct-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-PosSet-Arr;</string>
+   </property>
+   <property name="period">
+    <double>30.000000000000000</double>
+   </property>
+   <property name="refreshRate" stdset="0">
+    <enum>caStripPlot::High</enum>
+   </property>
+   <property name="XaxisType">
+    <enum>caStripPlot::TimeScale</enum>
+   </property>
+   <property name="numberOfXticks" stdset="0">
+    <number>4</number>
+   </property>
+   <property name="YAxisScaling" stdset="0">
+    <enum>caStripPlot::autoScale</enum>
+   </property>
+   <property name="YaxisLimitsMax_1">
+    <double>600.000000000000000</double>
+   </property>
+   <property name="YaxisLimitsMin_1">
+    <double>200.000000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_1" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_1" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="color_1">
+    <color>
+     <red>255</red>
+     <green>216</green>
+     <blue>217</blue>
+    </color>
+   </property>
+   <property name="YaxisLimitsMin_2">
+    <double>-100.000000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_2" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_2" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="color_2">
+    <color>
+     <red>0</red>
+     <green>255</green>
+     <blue>0</blue>
+    </color>
+   </property>
+   <property name="YaxisLimitsMax_3">
+    <double>30.000000000000000</double>
+   </property>
+   <property name="YaxisLimitsMin_3">
+    <double>0.000000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_3" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_3" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="color_3">
+    <color>
+     <red>159</red>
+     <green>207</green>
+     <blue>255</blue>
+    </color>
+   </property>
+   <property name="foreground">
+    <color alpha="0">
+     <red>133</red>
+     <green>190</green>
+     <blue>232</blue>
+    </color>
+   </property>
+   <property name="XaxisEnabled">
+    <bool>false</bool>
+   </property>
+   <property name="LegendEnabled">
+    <bool>true</bool>
+   </property>
+   <property name="XaxisSyncGroup">
+    <number>1</number>
+   </property>
+  </widget>
+  <widget class="caStripPlot" name="castripplot_2">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>680</y>
+     <width>1231</width>
+     <height>200</height>
+    </rect>
+   </property>
+   <property name="font">
+    <font>
+     <pointsize>4</pointsize>
+    </font>
+   </property>
+   <property name="Title" stdset="0">
+    <string notr="true"/>
+   </property>
+   <property name="TitleX">
+    <string notr="true">Time</string>
+   </property>
+   <property name="TitleY">
+    <string notr="true">State</string>
+   </property>
+   <property name="channels" stdset="0">
+    <string>$(SYS):Plg-Mtn$(MTN_ID=0)-Ena-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-EnaAct-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-Bsy-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-Exe-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-TrjSrc-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-EncSrc-Arr;$(SYS):Plg-Mtn$(MTN_ID=0)-AtTrg-Arr;</string>
+   </property>
+   <property name="period">
+    <double>30.000000000000000</double>
+   </property>
+   <property name="refreshRate" stdset="0">
+    <enum>caStripPlot::High</enum>
+   </property>
+   <property name="XaxisType">
+    <enum>caStripPlot::TimeScaleFix</enum>
+   </property>
+   <property name="numberOfXticks" stdset="0">
+    <number>4</number>
+   </property>
+   <property name="YAxisScaling" stdset="0">
+    <enum>caStripPlot::fixedScale</enum>
+   </property>
+   <property name="YaxisLimitsMax_1">
+    <double>1.200000000000000</double>
+   </property>
+   <property name="YaxisLimitsMin_1">
+    <double>-0.200000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_1" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_1" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="color_1">
+    <color>
+     <red>255</red>
+     <green>216</green>
+     <blue>217</blue>
+    </color>
+   </property>
+   <property name="YaxisLimitsMax_2">
+    <double>1.200000000000000</double>
+   </property>
+   <property name="YaxisLimitsMin_2">
+    <double>-0.200000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_2" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_2" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="color_2">
+    <color>
+     <red>0</red>
+     <green>255</green>
+     <blue>0</blue>
+    </color>
+   </property>
+   <property name="YaxisLimitsMax_3">
+    <double>1.200000000000000</double>
+   </property>
+   <property name="YaxisLimitsMin_3">
+    <double>-0.200000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_3" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_3" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="color_3">
+    <color>
+     <red>159</red>
+     <green>207</green>
+     <blue>255</blue>
+    </color>
+   </property>
+   <property name="YaxisLimitsMax_4">
+    <double>1.200000000000000</double>
+   </property>
+   <property name="YaxisLimitsMin_4">
+    <double>-0.200000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_4" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_4" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisLimitsMax_5">
+    <double>1.200000000000000</double>
+   </property>
+   <property name="YaxisLimitsMin_5">
+    <double>-0.200000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_5" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_5" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisLimitsMax_6">
+    <double>1.200000000000000</double>
+   </property>
+   <property name="YaxisLimitsMin_6">
+    <double>-0.200000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_6" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_6" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisLimitsMax_7">
+    <double>1.200000000000000</double>
+   </property>
+   <property name="YaxisLimitsMin_7">
+    <double>-0.200000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_7" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_7" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="foreground">
+    <color alpha="0">
+     <red>133</red>
+     <green>190</green>
+     <blue>232</blue>
+    </color>
+   </property>
+   <property name="LegendEnabled">
+    <bool>true</bool>
+   </property>
+   <property name="XaxisSyncGroup">
+    <number>1</number>
+   </property>
+  </widget>
+  <widget class="caStripPlot" name="castripplot_3">
+   <property name="geometry">
+    <rect>
+     <x>10</x>
+     <y>530</y>
+     <width>1200</width>
+     <height>151</height>
+    </rect>
+   </property>
+   <property name="font">
+    <font>
+     <pointsize>4</pointsize>
+    </font>
+   </property>
+   <property name="Title" stdset="0">
+    <string notr="true"/>
+   </property>
+   <property name="TitleX">
+    <string notr="true"/>
+   </property>
+   <property name="TitleY">
+    <string notr="true">Position Error</string>
+   </property>
+   <property name="channels" stdset="0">
+    <string>$(SYS):Plg-Mtn$(MTN_ID=0)-PosErr-Arr;</string>
+   </property>
+   <property name="period">
+    <double>30.000000000000000</double>
+   </property>
+   <property name="refreshRate" stdset="0">
+    <enum>caStripPlot::High</enum>
+   </property>
+   <property name="XaxisType">
+    <enum>caStripPlot::TimeScale</enum>
+   </property>
+   <property name="numberOfXticks" stdset="0">
+    <number>4</number>
+   </property>
+   <property name="YAxisScaling" stdset="0">
+    <enum>caStripPlot::autoScale</enum>
+   </property>
+   <property name="YaxisLimitsMax_1">
+    <double>600.000000000000000</double>
+   </property>
+   <property name="YaxisLimitsMin_1">
+    <double>200.000000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_1" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_1" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="color_1">
+    <color>
+     <red>255</red>
+     <green>216</green>
+     <blue>217</blue>
+    </color>
+   </property>
+   <property name="YaxisLimitsMin_2">
+    <double>-100.000000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_2" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_2" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="color_2">
+    <color>
+     <red>0</red>
+     <green>255</green>
+     <blue>0</blue>
+    </color>
+   </property>
+   <property name="YaxisLimitsMax_3">
+    <double>30.000000000000000</double>
+   </property>
+   <property name="YaxisLimitsMin_3">
+    <double>0.000000000000000</double>
+   </property>
+   <property name="YaxisScalingMax_3" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="YaxisScalingMin_3" stdset="0">
+    <enum>caStripPlot::User</enum>
+   </property>
+   <property name="color_3">
+    <color>
+     <red>159</red>
+     <green>207</green>
+     <blue>255</blue>
+    </color>
+   </property>
+   <property name="foreground">
+    <color alpha="0">
+     <red>133</red>
+     <green>190</green>
+     <blue>232</blue>
+    </color>
+   </property>
+   <property name="XaxisEnabled">
+    <bool>false</bool>
+   </property>
+   <property name="LegendEnabled">
+    <bool>true</bool>
+   </property>
+   <property name="XaxisSyncGroup">
+    <number>1</number>
+   </property>
+  </widget>
+  <widget class="caToggleButton" name="catogglebutton">
+   <property name="geometry">
+    <rect>
+     <x>1270</x>
+     <y>80</y>
+     <width>100</width>
+     <height>22</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Enable</string>
+   </property>
+   <property name="channel" stdset="0">
+    <string notr="true">$(SYS):Plg-Mtn$(MTN_ID=0)-EnaCmd-RB</string>
+   </property>
+  </widget>
+  <widget class="caNumeric" name="canumeric">
+   <property name="geometry">
+    <rect>
+     <x>1300</x>
+     <y>120</y>
+     <width>100</width>
+     <height>50</height>
+    </rect>
+   </property>
+   <property name="integerDigits" stdset="0">
+    <number>1</number>
+   </property>
+   <property name="decimalDigits" stdset="0">
+    <number>0</number>
+   </property>
+   <property name="value">
+    <double>0.000000000000000</double>
+   </property>
+   <property name="channel" stdset="0">
+    <string notr="true">$(SYS):Plg-Mtn$(MTN_ID=0)-AxCmd-RB</string>
+   </property>
+   <property name="colorMode">
+    <enum>caNumeric::Alarm</enum>
+   </property>
+   <property name="precisionMode">
+    <enum>caNumeric::User</enum>
+   </property>
+   <property name="fixedFormat">
+    <bool>true</bool>
+   </property>
+   <property name="limitsMode">
+    <enum>caNumeric::User</enum>
+   </property>
+   <property name="maxValue">
+    <double>100.000000000000000</double>
+   </property>
+   <property name="minValue">
+    <double>0.000000000000000</double>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label">
+   <property name="geometry">
+    <rect>
+     <x>1230</x>
+     <y>130</y>
+     <width>63</width>
+     <height>20</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Axis ID:</string>
+   </property>
+  </widget>
+  <widget class="caLineEdit" name="calineedit">
+   <property name="geometry">
+    <rect>
+     <x>1330</x>
+     <y>190</y>
+     <width>61</width>
+     <height>20</height>
+    </rect>
+   </property>
+   <property name="channel" stdset="0">
+    <string notr="true">$(SYS):Plg-Mtn$(MTN_ID=0)-SmpHz</string>
+   </property>
+  </widget>
+  <widget class="QLabel" name="label_2">
+   <property name="geometry">
+    <rect>
+     <x>1230</x>
+     <y>190</y>
+     <width>63</width>
+     <height>20</height>
+    </rect>
+   </property>
+   <property name="text">
+    <string>Rate [Hz]:</string>
+   </property>
+  </widget>
+  <widget class="caLabel" name="calabel">
+   <property name="geometry">
+    <rect>
+     <x>1310</x>
+     <y>290</y>
+     <width>90</width>
+     <height>28</height>
+    </rect>
+   </property>
+   <property name="channel" stdset="0">
+    <string notr="true">$(SYS):Plg-Mtn$(MTN_ID=0)-SmpHz</string>
+   </property>
+  </widget>
+ </widget>
+ <customwidgets>
+  <customwidget>
+   <class>caNumeric</class>
+   <extends>QFrame</extends>
+   <header>caNumeric</header>
+  </customwidget>
+  <customwidget>
+   <class>caToggleButton</class>
+   <extends>QCheckBox</extends>
+   <header>caToggleButton</header>
+  </customwidget>
+  <customwidget>
+   <class>caLabel</class>
+   <extends>QLabel</extends>
+   <header>caLabel</header>
+  </customwidget>
+  <customwidget>
+   <class>caLineEdit</class>
+   <extends>QLineEdit</extends>
+   <header>caLineEdit</header>
+  </customwidget>
+  <customwidget>
+   <class>caStripPlot</class>
+   <extends>QwtPlot</extends>
+   <header>caStripPlot</header>
+  </customwidget>
+  <customwidget>
+   <class>QwtPlot</class>
+   <extends>QFrame</extends>
+   <header>qwt_plot.h</header>
+  </customwidget>
+ </customwidgets>
+ <resources/>
+ <connections/>
+</ui>
--- a/ecmc_plugin_motion/addMotionObj.cmd
+++ b/ecmc_plugin_motion/addMotionObj.cmd
@@ -28,7 +28,7 @@
 #- First loaded object will therefore have index
 epicsEnvSet(ECMC_PLG_MOTION_OBJ_INDEX,${ECMC_PLG_MOTION_OBJ_INDEX=0})

-# Might need differet paths for PSI and ESS.. must check
+#- Might need differet paths for PSI and ESS.. must check
 epicsEnvSet(ECMC_PLUGIN_FILNAME,"$(ecmc_plugin_motion_DIR)/lib/${EPICS_HOST_ARCH=linux-x86_64}/libecmc_plugin_motion.so")
 epicsEnvSet(ECMC_PLUGIN_CONFIG,"AXIS=${AX};BUFFER_SIZE=${BUFF_SIZE};DBG_PRINT=${DBG=1};ENABLE=${ENA=1};")
 ${SCRIPTEXEC} ${ecmccfg_DIR}loadPlugin.cmd, "PLUGIN_ID=${PLUGIN_ID},FILE=${ECMC_PLUGIN_FILNAME},CONFIG='${ECMC_PLUGIN_CONFIG}', REPORT=${REPORT=1}"
--- a/ecmc_plugin_motion/src/.keep
+++ b/ecmc_plugin_motion/src/.keep
--- a/ecmc_plugin_motion/src/ecmcDataBuffer.h
+++ b/ecmc_plugin_motion/src/ecmcDataBuffer.h
--- a/ecmc_plugin_motion/src/ecmcMotionPlg.cpp
+++ b/ecmc_plugin_motion/src/ecmcMotionPlg.cpp
@@ -833,9 +833,9 @@ void ecmcMotionPlg::executeMotionObject() {
    return;
  }
  
-  if(cfgMode_==TRIGG && !bTriggInProgress_) {
-    return;
-  }
+  //if(cfgMode_==TRIGG && !bTriggInProgress_) {
+  //  return;
+  //}

  // protect axis_ if axis object id is changed over asyn
  epicsMutexLock(axisMutex_);
@@ -966,7 +966,7 @@ int ecmcMotionPlg::setAxis(int axisId) {
    //set old value again
    setParamAlarmStatus(asynAxisId_,1);
    setParamAlarmSeverity(asynAxisId_,1);
-    setIntegerParam(asynAxisId_, (epicsInt32)cfgAxisIndex_);
+    setIntegerParam(asynAxisId_, (epicsInt32)axisId);  // Set anyway to make alarms colors valid for correct index
    callParamCallbacks();
    return ECMC_PLUGIN_MOTION_ERROR_AXIS_OUT_OF_RANGE;    
  }
--- a/ecmc_plugin_motion/src/ecmcMotionPlg.h
+++ b/ecmc_plugin_motion/src/ecmcMotionPlg.h
--- a/ecmc_plugin_motion/src/ecmcMotionPlgDefs.h
+++ b/ecmc_plugin_motion/src/ecmcMotionPlgDefs.h
--- a/ecmc_plugin_motion/src/ecmcMotionPlgWrap.cpp
+++ b/ecmc_plugin_motion/src/ecmcMotionPlgWrap.cpp
--- a/ecmc_plugin_motion/src/ecmcMotionPlgWrap.h
+++ b/ecmc_plugin_motion/src/ecmcMotionPlgWrap.h
--- a/ecmc_plugin_motion/src/ecmcPluginMotion.c
+++ b/ecmc_plugin_motion/src/ecmcPluginMotion.c
@@ -27,7 +27,7 @@ extern "C" {
 #include "ecmcMotionPlgWrap.h"

 static int    lastEcmcError   = 0;
-static char*  lastConfStr         = NULL;
+static char*  lastConfStr     = NULL;

 /** Optional. 
 *  Will be called once after successfull load into ecmc.
@@ -38,7 +38,7 @@ int motionConstruct(char *configStr)
 {
  //This module is allowed to load several times so no need to check if loaded

-  // create FFT object and register data callback
+  // create object and register data callback
  lastConfStr = strdup(configStr);
  return createMotionObj(configStr);
 }
@@ -48,10 +48,10 @@ int motionConstruct(char *configStr)
 **/
 void motionDestruct(void)
 {
-  deleteAllMotionObjs();
-  if(lastConfStr){
-    free(lastConfStr);
-  }
+  //deleteAllMotionObjs();
+  //if(lastConfStr){
+  //  free(lastConfStr);
+  //}
 }

 /** Optional function.
@@ -112,7 +112,7 @@ struct ecmcPluginData pluginDataDef = {
  // Allways use ECMC_PLUG_VERSION_MAGIC
  .ifVersion = ECMC_PLUG_VERSION_MAGIC, 
  // Name 
-  .name = "ecmcPlugin_Motion",
+  .name = "ecmc_plugin_motion",
  // Description
  .desc = "Motion plugin for commissioning of ecmc motion axes.",
  // Option description
@@ -120,7 +120,7 @@ struct ecmcPluginData pluginDataDef = {
                "    "ECMC_PLUGIN_AXIS_OPTION_CMD"<axis id>      : Sets default source axis id.\n"
                "    "ECMC_PLUGIN_BUFFER_SIZE_OPTION_CMD"<size>  : Data points to collect, default = 4096.\n" 
                "    "ECMC_PLUGIN_RATE_OPTION_CMD"<rate hz>      : Sampling rate in Hz" 
-                "    "ECMC_PLUGIN_MODE_OPTION_CMD"<TRIGG/CONT>   : Sampling rate in Hz" 
+    //            "    "ECMC_PLUGIN_MODE_OPTION_CMD"<TRIGG/CONT>   : Cont or triggered mode" 
                , 
  // Plugin version
  .version = ECMC_EXAMPLE_PLUGIN_VERSION,
--- a/ecmc_plugin_motion/startup.cmd
+++ b/ecmc_plugin_motion/startup.cmd
--- a/tools/ecmcMotionMainGui.py
+++ b/tools/ecmcMotionMainGui.py
@@ -334,39 +334,63 @@ class ecmcMtnMainGui(QtWidgets.QDialog):
        self.pv_signal_cbs['ElmCnt'].data_signal.emit(value)

    def on_change_PosAct_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
+        if self.pause:
+            return
        self.pv_signal_cbs['PosAct-Arr'].data_signal.emit(value)

-    def on_change_PosSet_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):        
+    def on_change_PosSet_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
+        if self.pause:
+           return
        self.pv_signal_cbs['PosSet-Arr'].data_signal.emit(value)

    def on_change_PosErr_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
+        if self.pause:
+            return
        self.pv_signal_cbs['PosErr-Arr'].data_signal.emit(value)

    def on_change_Time_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
+        if self.pause:
+            return
        self.pv_signal_cbs['Time-Arr'].data_signal.emit(value)

    def on_change_Ena_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
+        if self.pause:
+            return
        self.pv_signal_cbs['Ena-Arr'].data_signal.emit(value)

    def on_change_EnaAct_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
+        if self.pause:
+            return
        self.pv_signal_cbs['EnaAct-Arr'].data_signal.emit(value)

    def on_change_Bsy_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
+        if self.pause:
+            return
        self.pv_signal_cbs['Bsy-Arr'].data_signal.emit(value)

    def on_change_Exe_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
+        if self.pause:
+            return
        self.pv_signal_cbs['Exe-Arr'].data_signal.emit(value)

    def on_change_TrjSrc_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
+        if self.pause:
+            return
        self.pv_signal_cbs['TrjSrc-Arr'].data_signal.emit(value)

    def on_change_EncSrc_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
+        if self.pause:
+            return
        self.pv_signal_cbs['EncSrc-Arr'].data_signal.emit(value)

    def on_change_AtTrg_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
+        if self.pause:
+            return
        self.pv_signal_cbs['AtTrg-Arr'].data_signal.emit(value)

    def on_change_ErrId_Arr(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
+        if self.pause:
+            return
        self.pv_signal_cbs['ErrId-Arr'].data_signal.emit(value)

    def on_change_Mde_RB(self,pvname=None, value=None, char_value=None,timestamp=None, **kw):
Author	SHA1	Message	Date
Anders Sandström	df56af568e	Use ecmc 9.5.0	2024-05-01 10:25:06 +02:00
Anders Sandström	ddc48262ce	Clenup	2024-05-01 10:18:49 +02:00
Anders Sandström	7632be616d	Update readme	2024-04-30 16:05:06 +02:00
Anders Sandström	64a651cc23	Set axis index even if not valid (for alarm to work).	2024-04-30 16:01:35 +02:00
Anders Sandström	54043bba44	WIP	2024-04-30 15:55:23 +02:00
Anders Sandström	d86c753975	WIP	2024-04-30 14:36:41 +02:00
Anders Sandström	59c2db6578	Restructure	2024-04-30 10:00:54 +02:00