depend on ecmc 9.6

GNUmakefile

@@ -16,7 +16,7 @@ OPT_CXXFLAGS_YES = -O3
 
 # dependencies
 ECmasterECMC_VERSION = v1.1.0
-ecmc_VERSION = 9.4.0
+ecmc_VERSION = 9.6
 
 ################################################################################
 # THIS RELATES TO THE EtherCAT MASTER LIBRARY

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

iocsh/test_4ax_box.script

@@ -12,7 +12,7 @@
 ##
 
 #epicsEnvSet(IOC,c6025a)
-require ecmccfg sandst_a,"ECMC_VER=safety3,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} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-BISS-C,CH_ID=1"
+${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-SSI,CH_ID=2"
 
 epicsEnvSet("BO_SLAVE",              "5")
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd, "SLAVE_ID=$(BO_SLAVE), HW_DESC=EL2008"
@@ -50,7 +51,7 @@ ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=./cfg/axis.yaml"
 ##############################################################################
 ## Load safety plugin
 #
-require ecmc_plugin_safety sandst_a
+require ecmc_plugin_safety
 
 # Create SS1 group
 #-   EC_RAMP_DOWN       :   Ethercat entry for ramp down command, input to ecmc (command from safety PLC/system)