move manual motion to motion

hugo/content/manual/knowledgebase/_index.md

@@ -9,7 +9,7 @@ chapter = false
 {{% children %}}
 ---
 
-## troubleshooting
+## Knowledge base
 Due to the complexity an EtherCAT bus topology can assume, troubleshooting can be challenging.
 This guide should provide the basic means to diagnose simple errors and is by no means complete!
 
@@ -25,7 +25,3 @@ Tune drive control loops
 
 ### [hardware](hardware)
 For hardware related issues, a very short troubleshooting guide is provided [here](hardware).
-
-### [manual motion](manual)
-Trigger manual motion (without motion ecmc-axis).
-

hugo/content/manual/knowledgebase/motion.md

@@ -11,6 +11,7 @@ chapter = false
 2. [position lag error, (following error), tuning](#position-lag-error)
 3. [latency issues](#latency-issues)
 4. [drive refuse to enable](#drive-refuse-to-enable)
+5. [force manual motion](#force-manual-motion)
 
 ---
 
@@ -85,3 +86,19 @@ Possible reasons:
 5. Motion axis in error state. Some errors prevent the axis from being enabled. Check axis error state
 6. Drive hardware enable input not set high (valid for EP7211-0034, EL70xx if special cfgs).
 7. Axis object configured with external interlock (yaml->input.interlock).
+
+## force manual motion
+{{% notice warning %}}
+This procedure is for experts only. You run the risk of destroying expansive devices! Limit switches are _not_ obeyed! YOU HAVE BEEN WARNED! 
+{{% /notice %}}
+In case the hardware is fine, the cables are checked, human error is mostly excluded, or the system used to work but doesn't work any longer, directly writing to the drive is possible.
+
+For this however, the IOC needs to be reconfigured to _not_ link the hardware to an axis!
+1. Edit the startup script and comment out the axis, just leave the slave configuration.
+2. restart the IOC
+3. check the PVs for the drive in question (slave 7 in this case)
+4. `dbgrep "*s007*"`
+5. There should be two PVs ending with, `-Drv01-Cmd` and `-Drv01-Spd`
+6. Set `-Drv01-Cmd` to `1` and check the amplifier did enable, if you don't know how to check for an enabled amplifier, you should not use this command!
+7. After the amplifier is engaged, write a small number to `-Drv01-Spd`. Dependinf on the scaling, the number might be in the range of 1..1000.
+8. Observe the encoder, or in case of open-loop, the device itself.