From 817b1a2b8dcadfaed17f21b37c93998f99015400 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= <anders.sandstroem@psi.ch>
Date: Wed, 20 Mar 2024 09:51:21 +0100
Subject: [PATCH] Update test script

---
 iocsh/cfg/axis.yaml       | 6 +++++-
 iocsh/test_4ax_box.script | 5 +++--
 2 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/iocsh/cfg/axis.yaml b/iocsh/cfg/axis.yaml
index cf560ae..0c31463 100644
--- a/iocsh/cfg/axis.yaml
+++ b/iocsh/cfg/axis.yaml
@@ -50,7 +50,7 @@ drive:
     - 14                                             # Error 2 (if no drive error bit then leave empty)
 
 encoder:
-  numerator: 720                                      # Scaling numerator example 360 deg/rev
+  numerator: 720                                      # 2mm Scaling numerator example 360 deg/rev
   denominator: 8192                                   # Scaling denominator example 4096 ticks per 360 degree
   # type: 0                                           # Type: 0=Incremental, 1=Absolute
   bits: 16                                            # Total bit count of encoder raw data
@@ -100,6 +100,10 @@ controller:
   Kp: 1                                              # Kp proportinal gain
   Ki: 0.02                                          # Ki integral gain
   Kd: 0                                             # Kd derivative gain
+  limits:
+    minIntegral: -10000
+    maxIntegral: 10000
+
   # Kff: 1                                            # Feed forward gain
   # deadband:
   #   tol: 0.01                                       # Stop control if within this distance from target for the below time
diff --git a/iocsh/test_4ax_box.script b/iocsh/test_4ax_box.script
index 3b07fae..3b2f91b 100644
--- a/iocsh/test_4ax_box.script
+++ b/iocsh/test_4ax_box.script
@@ -12,7 +12,7 @@
 ##
 
 #epicsEnvSet(IOC,c6025a)
-require ecmccfg sandst_a,"ECMC_VER=sandst_a,ENG_MODE=1,MASTER_ID=1"
+require ecmccfg "ENG_MODE=1,MASTER_ID=1"
 
 ##############################################################################
 ## Load components lib
@@ -28,7 +28,8 @@ ${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepp
 
 epicsEnvSet("ENC_SLAVE",              "2")
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(ENC_SLAVE), HW_DESC=EL5042"
-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-24bit-BISS-C"
+${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-24bit-BISS-C,CH_ID=1"
+${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-24bit-SII,CH_ID=2"
 
 epicsEnvSet("BO_SLAVE",              "5")
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(BO_SLAVE), HW_DESC=EL2008"