update docs

paulscherrerinstitute · Sep 12, 2024 · c311cd4 · c311cd4
1 parent 8484d54
commit c311cd4
Show file tree

Hide file tree

Showing 11 changed files with 54 additions and 19 deletions.
diff --git a/hugo/content/manual/PLC_cfg/_index.md b/hugo/content/manual/PLC_cfg/_index.md
@@ -1,9 +1,16 @@
 +++  
 title = "PLC"   
-weight = 15
+weight = 12
 chapter = false  
 +++
 
+***
+## Topics
+{{% children %}}
+---
+
+## PLCs
+
 In `ECMC`, PLCs are a very powerful tool to handle EtherCAT data in real-time.
 
 Since `ecmccfg` v7, the PLCs can be instantiated in 3 different ways:

diff --git a/hugo/content/manual/PLC_cfg/function_libs.md b/hugo/content/manual/PLC_cfg/function_libs.md
@@ -4,6 +4,7 @@ weight = 17
 chapter = false  
 +++
 
+## function libs
 Function libraries can be loaded into ecmc PLCs by loadPLCLib.cmd. The command takes these parameters:
 * FILE PLC: definition file, i.e. ./plc/homeSlit.plc
 * PLC_ID: (optional) PLC number, default last loaded PLC
@@ -17,19 +18,19 @@ Function libraries can be loaded into ecmc PLCs by loadPLCLib.cmd. The command t
 * PRINT_PLC_FILE: (optional) 1/0, printout msi parsed plc file (default enable(1)).
 
 Example:
-```
+```bash
 ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadPLCLib.cmd,     "FILE=./plc/test.plc_lib, PLC_MACROS='OFFSET=3'"
 ```
 
 The functions must be defined accordning to this template (max 5 parameters):
-```
+```C
 function <name>(<param1>,...,<param5>) {
   <code body>;
 }
 ```
 
 also without param is allowed:
-```
+```C
 function <name>() {
   <code body>;
 }

diff --git a/hugo/content/manual/general_cfg/_index.md b/hugo/content/manual/general_cfg/_index.md
@@ -4,7 +4,7 @@ weight = 7
 chapter = false  
 +++  
 
-## [startup.cmd](startup)
-## [data storage](data_storage)
-## [iocsh utils](iocsh_utils)
-## [ecmc command reference](ecmc_command_ref)
+***
+## Topics
+{{% children %}}
+
diff --git a/hugo/content/manual/motion_cfg/_index.md b/hugo/content/manual/motion_cfg/_index.md
@@ -2,7 +2,14 @@
 title = "motion"   
 weight = 10
 chapter = false  
-+++  
++++
+
+***
+
+***
+## Topics
+{{% children %}}
+---
 
 ## axis
 

diff --git a/hugo/content/manual/troubleshooting/_index.md b/hugo/content/manual/troubleshooting/_index.md
@@ -1,11 +1,15 @@
 +++  
 title = "troubleshooting"   
-weight = 11
+weight = 15
 chapter = false  
 +++  
 
-## troubleshooting
+***
+## Topics
+{{% children %}}
+---
 
+## troubleshooting
 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!
 

diff --git a/hugo/content/manual/troubleshooting/ethercatCLI.md b/hugo/content/manual/troubleshooting/ethercatCLI.md
@@ -4,6 +4,8 @@ weight = 13
 chapter = false  
 +++
 
+***
+
 ### `ethercat` CLI
 
 The IgH EtherCAT master provides a command line interface (CLI) which is a very powerful tool.

diff --git a/hugo/content/manual/troubleshooting/general.md b/hugo/content/manual/troubleshooting/general.md
@@ -5,6 +5,8 @@ weight = 12
 chapter = false  
 +++
 
+***
+
 ### culprit
 
 From experience, very few issues are related to the EtherCAT hardware itself.

diff --git a/hugo/content/manual/troubleshooting/hardware.md b/hugo/content/manual/troubleshooting/hardware.md
@@ -4,10 +4,13 @@ weight = 16
 chapter = false  
 +++
 
-### 1. [over current protection](#over current protection)
-### 2. [el7041 error/warning](#el7041 error/warning)
-### 3. [latency issues](#latency issues)
-
+***
+***
+## Topics
+1. [over current protection](#over current protection)
+2. [el7041 error/warning](#el7041 error/warning)
+3. [latency issues](#latency issues)
+---
 ### over current protection
 In the standard setup at PSI over current protection modules are used to feed 24V to both the ethercat communication bus (E-bus) and the power bus of the ethercat slaves. If the over current protection is not enabled then the ethercat slaves will not receive power.
 

diff --git a/hugo/content/manual/troubleshooting/manual.md b/hugo/content/manual/troubleshooting/manual.md
@@ -4,6 +4,8 @@ weight = 17
 chapter = false  
 +++
 
+***
+
 ## 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! 

diff --git a/hugo/content/manual/troubleshooting/motion.md b/hugo/content/manual/troubleshooting/motion.md
@@ -4,10 +4,15 @@ weight = 14
 chapter = false  
 +++
 
-### 1. [both_limits error](#both_limits error)
-### 2. [position lag error, (following error), tuning](#position lag error (following error))
-### 3. [latency issues](#latency issues)
-### 4. [drive refuse to enable](#drive refuse to enable)
+***
+
+## Topics
+1. [both_limits error](#both_limits error)
+2. [position lag error, (following error), tuning](#position lag error (following error))
+3. [latency issues](#latency issues)
+4. [drive refuse to enable](#drive refuse to enable)
+
+---
 
 ## both_limits error
 The "BOTH_LIMITS" error can be related to that limits switches are not powered with 24V. As standard at PSI, limts are feed from 24V outputs, normally an EL2819 terminal. Basically the ouptputs needs then to be set to 1 in order to power the switches. Check the schematics in order to find out which output that powers the switches for a certain axis and then use one the following approaches to set it to 1:

diff --git a/hugo/content/manual/troubleshooting/tuning.md b/hugo/content/manual/troubleshooting/tuning.md
@@ -4,6 +4,8 @@ weight = 15
 chapter = false  
 +++
 
+***
+
 ### EL70x1 Tuning
 
 For EL70x1 stepper drives the following parameters can be tuned: