Update some startup scripts

examples/PSI/lab_setup/master_slave/slit/common/axis_ax5_LO.yaml

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+# https://paulscherrerinstitute.github.io/ecmccfg/manual/axis/axisyaml/
+
+axis:
+  id: 5
+  group: realAxes
+  mode: CSV
+  features:
+    allowSrcChangeWhenEnabled: true
+
+epics:
+  name: TR_LO
+  precision: 4
+  unit: mm
+  motorRecord:
+    description: "Low"
+    fieldInit: "SPAM=0,RTRY=1,FOFF=Frozen,TWV=1"
+
+drive:
+  numerator: 10                 # max velo in EGU/s
+  denominator: 32768            # MAX_INT for a 16-bit register, always this for this stepper drive!
+  type: 0
+  control: ec${M_ID=0}.s$(DRV_SLAVE).driveControl01
+  status: ec${M_ID=0}.s$(DRV_SLAVE).driveStatus01
+  setpoint: ec${M_ID=0}.s$(DRV_SLAVE).velocitySetpoint01
+
+encoder:
+  numerator: 1          # 1egu = 1mm
+  denominator: 12800    # Number of ticks when motor moves numerator (=1mm): 1 mm / 50 nm = 20000
+  type: 0               # Type: 0=Incremental, 1=Absolute
+  bits: 16              # Total bit count of encoder raw data
+  absBits: 0          # Absolute bit count (for abs enc) always least significant part of 'bits'
+  absOffset: 0.0000     # Encoder offset in eng units (for absolute encoders)
+  position: ec${M_ID=0}.s$(ENC_SLAVE).positionActual$(ENC_CHANNEL)
+
+controller:
+  Kp: 10.00
+  Ki: 0.001
+  Kd: 0.000
+  Kff: 1.00
+
+trajectory:
+  axis:
+    velocity: 1.0
+    acceleration: 1.0
+    deceleration: 1.0
+
+input:
+  limit:
+    forward: ec${M_ID=0}.s$(DRV_SLAVE).driveStatus01.12   # 1119994 cnts // 55.9997 mm
+    backward: ec${M_ID=0}.s$(DRV_SLAVE).driveStatus01.11  #   98010 cnts //  4.9005 mm
+  home: ec${M_ID=0}.s$(DRV_SLAVE).ONE.0                   # unused
+  interlock: ec${M_ID=0}.s$(DRV_SLAVE).ONE.0              # unused
+
+softlimits:
+  enable: false
+  backwardEnable: true
+  forwardEnable: true
+  forward: 55.8
+  backward: 5.1
+
+monitoring:
+  lag:
+    enable: true
+    tolerance: 0.05
+    time: 100
+  target:
+    enable: true
+    tolerance: 0.05
+    time: 100
+  velocity:
+    enable: true
+    max: 5
+    time:
+      trajectory: 100
+      drive: 200
+
+plc:
+  enable: true
+  externalCommands: true

examples/PSI/lab_setup/master_slave/slit/common/axis_ax6_HI.yaml

@@ -0,0 +1,79 @@
+# https://paulscherrerinstitute.github.io/ecmccfg/manual/axis/axisyaml/
+
+axis:
+  id: 6
+  group: realAxes
+  mode: CSV
+  features:
+    allowSrcChangeWhenEnabled: true
+
+epics:
+  name: TR_HI
+  precision: 4
+  unit: mm
+  motorRecord:
+    description: "Hi"
+    fieldInit: "SPAM=0,RTRY=1,FOFF=Frozen,TWV=1"
+
+drive:
+  numerator: 10                # max velo in EGU/s
+  denominator: 32768            # MAX_INT for a 16-bit register, always this for this stepper drive!
+  type: 0
+  control: ec${M_ID=0}.s$(DRV_SLAVE).driveControl01
+  status: ec${M_ID=0}.s$(DRV_SLAVE).driveStatus01
+  setpoint: ec${M_ID=0}.s$(DRV_SLAVE).velocitySetpoint01
+
+encoder:
+  numerator: 1          # 1egu = 1mm
+  denominator: 12800    # Number of ticks when motor moves numerator (=1mm): 1 mm / 50 nm = 20000
+  type: 0               # Type: 0=Incremental, 1=Absolute
+  bits: 16              # Total bit count of encoder raw data
+  absBits: 0            # Absolute bit count (for abs enc) always least significant part of 'bits'
+  absOffset: 0.0000     # Encoder offset in eng units (for absolute encoders)
+  position: ec${M_ID=0}.s$(ENC_SLAVE).positionActual$(ENC_CHANNEL)
+
+controller:
+  Kp: 2.000
+  Ki: 0.001
+  Kd: 0.000
+  Kff: 1.00
+
+trajectory:
+  axis:
+    velocity: 1.0
+    acceleration: 1.0
+    deceleration: 1.0
+
+input:
+  limit:
+    forward: ec${M_ID=0}.s$(DRV_SLAVE).driveStatus01.12   # 1111969 cnts // 55.5984 mm
+    backward: ec${M_ID=0}.s$(DRV_SLAVE).driveStatus01.11  #  109007 cnts //  5.4504 mm
+  home: ec${M_ID=0}.s$(DRV_SLAVE).ONE.0                   # unused
+  interlock: ec${M_ID=0}.s$(DRV_SLAVE).ONE.0              # unused
+
+softlimits:
+  enable: false
+  backwardEnable: true
+  forwardEnable: true
+  forward: 55.4
+  backward: 5.7
+
+monitoring:
+  lag:
+    enable: true
+    tolerance: 0.05
+    time: 100
+  target:
+    enable: true
+    tolerance: 0.05
+    time: 100
+  velocity:
+    enable: true
+    max: 5
+    time:
+      trajectory: 100
+      drive: 200
+
+plc:
+  enable: true
+  externalCommands: true

examples/PSI/lab_setup/master_slave/slit/common/axis_vax5_YCEN.yaml

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+axis:
+  id: ${AX_ID}
+  group: virtualAxes
+  type: end effector
+
+epics:
+  name: CENTERY
+  precision: 4
+  unit: mm
+  motorRecord:
+    description: "Center (Virtual)"
+    fieldInit: "SPAM=0,RTRY=1,FOFF=Frozen,TWV=1"
+
+encoder:
+  type: 1
+  source: 1
+  numerator: 1
+  bits: 32
+
+trajectory:
+  axis:
+    velocity: 0.5
+    acceleration: 0.25
+    jerk: 0.25
+
+input:
+  limit:
+    forward: ec${M_ID=0}.s${DRV_SLAVE}.ONE.0              # unused
+    backward: ec${M_ID=0}.s${DRV_SLAVE}.ONE.0             # unused
+  home: ec${M_ID=0}.s${DRV_SLAVE}.ONE.0                   # unused
+  interlock: ec${M_ID=0}.s${DRV_SLAVE}.ONE.0              # unused
+
+softlimits:
+  enable: false
+  forwardEnable: true
+  backwardEnable: true
+  forward: 52
+  backward: 8
+
+monitoring:
+  lag:
+    enable: yes
+    tolerance: 0.02
+    time: 100
+  target:
+    enable: yes
+    tolerance: 0.02
+    time: 100
+  velocity:
+    enable: yes
+    max: 0.6
+    time:
+      trajectory: 100
+      drive: 100
+
+plc:
+  enable: true
+  externalCommands: true
+  filter:
+    velocity:
+      enable: false
+      size: 10
+    trajectory:
+      enable: false
+      size: 10

examples/PSI/lab_setup/master_slave/slit/common/axis_vax6_YGAP.yaml

@@ -0,0 +1,65 @@
+axis:
+  id: ${AX_ID}
+  group: virtualAxes
+  type: end effector
+
+epics:
+  name: GAPY
+  precision: 4
+  unit: mm
+  motorRecord:
+    description: "Gap (Virtual)"
+    fieldInit: "SPAM=0,RTRY=1,FOFF=Frozen,TWV=1"
+
+encoder:
+  type: 1
+  source: 1
+  numerator: 1
+  bits: 32
+
+trajectory:
+  axis:
+    velocity: 0.5
+    acceleration: 0.25
+    jerk: 0.25
+
+input:
+  limit:
+    forward: ec${M_ID=0}.s${DRV_SLAVE}.ONE.0              # unused
+    backward: ec${M_ID=0}.s${DRV_SLAVE}.ONE.0             # unused
+  home: ec${M_ID=0}.s${DRV_SLAVE}.ONE.0                   # unused
+  interlock: ec${M_ID=0}.s${DRV_SLAVE}.ONE.0              # unused
+
+softlimits:
+  enable: false
+  forwardEnable: true
+  backwardEnable: true
+  forward: 20
+  backward: -20
+
+monitoring:
+  lag:
+    enable: yes
+    tolerance: 0.02
+    time: 100
+  target:
+    enable: yes
+    tolerance: 0.02
+    time: 100
+  velocity:
+    enable: yes
+    max: 0.6
+    time:
+      trajectory: 100
+      drive: 100
+
+plc:
+  enable: true
+  externalCommands: true
+  filter:
+    velocity:
+      enable: false
+      size: 10
+    trajectory:
+      enable: false
+      size: 10

examples/PSI/lab_setup/master_slave/slit/common/cfgHW_and_motion_local.cmd

@@ -0,0 +1,18 @@
+
+
+# 0:7 - EL7031    1Ch Stepper
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "SLAVE_ID=12,HW_DESC=EL7031"
+${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd  "COMP=Motor-Generic-2Phase-Stepper,  MACROS='I_MAX_MA=1000, I_STDBY_MA=500, U_NOM_MV=24000, R_COIL_MOHM=1230'"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,   "FILE=../common/axis_ax6_HI.yaml, DRV_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_CHANNEL=01,M_ID=${ECMC_EC_MASTER_ID}"
+
+
+# 0:7 - EL7041    1Ch Stepper
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "SLAVE_ID=14,HW_DESC=EL7041-0052"
+${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd  "COMP=Motor-Generic-2Phase-Stepper,  MACROS='I_MAX_MA=1000, I_STDBY_MA=500, U_NOM_MV=48000, R_COIL_MOHM=1230'"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,   "FILE=../common/axis_ax5_LO.yaml, DRV_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_CHANNEL=01,M_ID=${ECMC_EC_MASTER_ID}"
+
+#- #################################################################
+#- Virtual axes
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=../common/axis_vax5_YCEN.yaml, AX_ID=${AX_NUM=12},M_ID=${ECMC_EC_MASTER_ID},DRV_SLAVE=${ECMC_EC_SLAVE_NUM}"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=../common/axis_vax6_YGAP.yaml, AX_ID=${AX_NUM=13},M_ID=${ECMC_EC_MASTER_ID},DRV_SLAVE=${ECMC_EC_SLAVE_NUM}"
+

examples/PSI/lab_setup/master_slave/slit/readme.md

@@ -0,0 +1,7 @@
+## Panel
+```
+caqtdm -macro "IOC=c6025a" ecmcMain.ui
+```
+
+## TODO
+Test with motor record.

examples/PSI/lab_setup/master_slave/slit/slit_equations/cfg/EPICSVERSION

@@ -0,0 +1 @@
+7.0.7

examples/PSI/lab_setup/master_slave/slit/slit_equations/cfg/axis_main.plc

@@ -0,0 +1,8 @@
+
+####### Kinematics for slit system. 
+# Macros cannot be used in an include. In order to find files, the loadPLCFile.cmd parameter "INC" defines the dirs that MSI will look for the file)
+include "axis_kin_slit.plc_inc"
+
+####### State machine
+# Macros cannot be used in an include. In order to find files, the loadPLCFile.cmd parameter "INC" defines the dirs that MSI will look for the file)
+include "axis_sm.plc_inc"

examples/PSI/lab_setup/master_slave/slit/slit_equations/startup.script

@@ -0,0 +1,11 @@
+# The following lines were generated by "ioc install"
+# Generated at: 2024-08-07 16:32:41.171272
+
+epicsEnvSet IOC c6025a
+epicsEnvSet ENGINEER sandst_a
+< /ioc/startup/startup.script_linux
+
+# ---- ioc/system specific startup script(s)
+< startup.script_ecmc_local_hw
+
+iocInit

examples/PSI/lab_setup/master_slave/slit/slit_equations/startup.script_ecmc_local_hw

@@ -0,0 +1,19 @@
+
+#- Configuration scripts
+require ecmccfg v10.0.0_RC1,"MASTER_ID=1,ENG_MODE=1,EC_RATE=100,ECMC_VER=v10.0.0_RC1"
+
+#- Only output errors
+asynSetTraceMask(${ECMC_ASYN_PORT}, -1, 0x01)
+
+#- #################################################################
+# Configure Hardware and Motion
+< ../common/cfgHW_and_motion_local.cmd
+
+#- #################################################################
+#- PLCs with inverse kinematics (note the INC var including dirs to search for include files)
+#- The group ID:s configured in yaml are stored in GRP_<axis.group>_ID
+${SCRIPTEXEC} ${ecmccfg_DIR}loadPLCFile.cmd,    "FILE=./cfg/axis_main.plc, PLC_ID=1, INC=.:${ecmccfg_DIR}, PLC_MACROS='PLC_ID=1, AX_CEN=12, AX_GAP=13, AX_LO=5, AX_HI=6, GRP_ID_SA=${GRP_realAxes_ID}, GRP_ID_MA=${GRP_virtualAxes_ID}'"
+
+#- #############################################################################
+#- reset all errors
+afterInit("ecmcConfigOrDie 'ControllerErrorReset()'")

examples/PSI/lab_setup/master_slave/slit/slit_matrix/cfg/EPICSVERSION

@@ -0,0 +1 @@
+7.0.7

examples/PSI/lab_setup/master_slave/slit/slit_matrix/cfg/axis_main.plc

@@ -0,0 +1,31 @@
+/* Forward kinematics to calculate virtual axes from real axes
+   | CEN    |  = FWD *   | S1_LO |
+   | GAP    |            | S2_HI |
+
+   Equations:
+     ax{AX_CEN}.enc.actpos:=(ax{AX_LO}.enc.actpos+ax{AX_HI}.enc.actpos)/2;
+     ax{AX_GAP}.enc.actpos:=ax{AX_HI}.enc.actpos-ax{AX_LO}.enc.actpos;
+*/
+
+var FWD1[2] := {0.5, 0.5};
+var FWD2[2] := { -1,  1 };
+
+/* Inverse kinematics to calculate real axes from virtal axes
+   | S1_LO    |  = INV *   | CEN |
+   | S2_HI    |            | GAP |
+
+   Equations:
+     ax{AX_LO}.traj.extsetpos:=ax{AX_CEN}.traj.setpos-ax{AX_GAP}.traj.setpos/2;
+     ax{AX_HI}.traj.extsetpos:=ax{AX_CEN}.traj.setpos+ax{AX_GAP}.traj.setpos/2;
+*/
+
+var INV1[2] := {  1,   -0.5};
+var INV2[2] := {  1,    0.5};
+
+####### Kinematics for slit system. 
+# Macros cannot be used in an include. In order to find files, the loadPLCFile.cmd parameter "INC" defines the dirs that MSI will look for the file)
+include "axis_kin_2DoF.plc_inc"
+
+####### State machine
+# Macros cannot be used in an include. In order to find files, the loadPLCFile.cmd parameter "INC" defines the dirs that MSI will look for the file)
+include "axis_sm.plc_inc"