#==============================================================================
# addEL70x1.cmd
#-------------- Information:
#- Description: Adding an EL70x1 slave and configure access to async SDOs for:
#-   * Max Current [mA]
#-   * Standby Current [mA]
#-   * Coil Resistance [cOhm]
#-   * Invert Polarity [1/0]
#-
#- by anders Sandström, Paul Scherrer Institute
#- email: anders.sandstroem@psi.ch
#-
#-###############################################################################
#-
#- Arguments
#- [optional]
#-   SLAVE_ID  EL7041 slave id, defaults to the "next" slave id
#-   HW_DESC   Slave type defaults to EL7041-0052, Support most EL70x1, however NOT EL7041-1000.
#- 

#- X:$(SLAVE_ID) - EL7041    1Ch Stepper
${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "HW_DESC=${HW_DESC=EL7041-0052}, SLAVE_ID=${${SLAVE_ID=0}}"

#-###############################################################################
#- Max current [mA]
${SCRIPTEXEC} ${ecmccfg_DIR}addEcSdoRT.cmd,     "INDEX=0x8010,SUBINDEX=0x1,DT=U16,NAME=CurrMax,SLAVE_ID=${ECMC_EC_SLAVE_NUM}"

#- Reduced current [mA]
${SCRIPTEXEC} ${ecmccfg_DIR}addEcSdoRT.cmd,     "INDEX=0x8010,SUBINDEX=0x2,DT=U16,NAME=CurrStby,SLAVE_ID=${ECMC_EC_SLAVE_NUM}"

#- Coil resistance [cOhm]
${SCRIPTEXEC} ${ecmccfg_DIR}addEcSdoRT.cmd,     "INDEX=0x8010,SUBINDEX=0x4,DT=U16,NAME=Resist,SLAVE_ID=${ECMC_EC_SLAVE_NUM}"

#- Invert motor polarity
${SCRIPTEXEC} ${ecmccfg_DIR}addEcSdoRT.cmd,     "INDEX=0x8012,SUBINDEX=0x9,DT=U8,NAME=PolInv,SLAVE_ID=${ECMC_EC_SLAVE_NUM}"