Merge pull request #210 from Canadian-Light-Source/ELM7222

ELM7222-0010
paulscherrerinstitute · Mar 19, 2024 · d01cc6e · d01cc6e
2 parents 26cf8f5 + 73e2113
commit d01cc6e
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diff --git a/db/Beckhoff_7XXX/ecmcELM7222-0010.substitutions b/db/Beckhoff_7XXX/ecmcELM7222-0010.substitutions
@@ -0,0 +1,13 @@
+file "ecmcEL72XX_DRV.template"
+{
+  pattern {CH_ID}
+          {01   }
+          {02   }
+}
+
+file "ecmcEL72XX_ENC.template"
+{
+  pattern {CH_ID}
+          {01   }
+          {02   }
+}
diff --git a/examples/test/elm7222/cfg/AM8112_ch1.yaml b/examples/test/elm7222/cfg/AM8112_ch1.yaml
@@ -0,0 +1,71 @@
+axis:
+  id: 1
+  type: joint # this is for future selection of axis type
+  mode: CSV # supported mode, CSV and CSP
+
+epics:
+  name: axis
+  precision: 3
+  unit: deg
+  motorRecord:
+    enable: true
+    description: AM8112 CSV CH1
+
+drive:
+  numerator: 2880000 # Fastest speed in engineering units
+  denominator: 2147483648 # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET
+  type: 1 # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
+  control: ec0.s$(DRV_SLAVE).driveControl01
+  status: ec0.s$(DRV_SLAVE).driveStatus01
+  setpoint: ec0.s$(DRV_SLAVE).velocitySetpoint01
+  # control bit for reset in 'control'
+  reset: 7
+  # status bit for warning in 'status'
+  warning: 7
+  # list of error bits in 'status', or if type==string, complete EC-link
+  error:
+    - 3 # Error
+    - 7 # Warning as Error
+
+encoder:
+  numerator: 360
+  denominator: 1048576
+  type: 1 # Type: 0=Incremental, 1=Absolute
+  bits: 32 # Total bit count of encoder raw data
+  absBits: 25 # Absolute bit count (for absolute encoders) always least significant part of 'bits'
+  absOffset: 0 # Encoder offset in eng units (for absolute encoders)
+  position: ec0.s$(DRV_SLAVE).positionActual01 # Ethercat entry for actual position input (encoder)
+
+controller:
+  Kp: 15
+  Ki: 0.05
+
+trajectory:
+  type: 1
+  axis:
+    velocity: 18000 # 5000 rpm (web page), 7883 rpm (name plate) => 47298 deg/s
+    acceleration: 90000
+    jerk: 360000
+
+input:
+  limit:
+    forward: ec0.s$(DRV_SLAVE).ONE.0 #  Ethercat entry for low limit switch input
+    backward: ec0.s$(DRV_SLAVE).ONE.0 #  Ethercat entry for high limit switch input
+  home: ec0.s$(DRV_SLAVE).ONE.0 #  Ethercat entry for home switch input
+  interlock: ec0.s$(DRV_SLAVE).ONE.0 #  Ethercat entry for interlock switch input
+
+monitoring:
+  lag:
+    enable: true
+    tolerance: 360
+    time: 100
+  target:
+    enable: yes
+    tolerance: 0.1
+    time: 100
+  velocity:
+    enable: true
+    max: 28000
+    time:
+      trajectory: 100
+      drive: 200
diff --git a/examples/test/elm7222/cfg/AM8112_ch2.yaml b/examples/test/elm7222/cfg/AM8112_ch2.yaml
@@ -0,0 +1,71 @@
+axis:
+  id: 1
+  type: joint # this is for future selection of axis type
+  mode: CSV # supported mode, CSV and CSP
+
+epics:
+  name: axis
+  precision: 3
+  unit: deg
+  motorRecord:
+    enable: true
+    description: AM8112 CSV CH2
+
+drive:
+  numerator: 2880000 # Fastest speed in engineering units
+  denominator: 2147483648 # I/O range for ECMC_EC_ALIAS_DRV_VELO_SET
+  type: 1 # Stepper: 0. DS402: 1 (DS402 = servos and advanced stepper drives)
+  control: ec0.s$(DRV_SLAVE).driveControl02
+  status: ec0.s$(DRV_SLAVE).driveStatus02
+  setpoint: ec0.s$(DRV_SLAVE).velocitySetpoint02
+  # control bit for reset in 'control'
+  reset: 7
+  # status bit for warning in 'status'
+  warning: 7
+  # list of error bits in 'status', or if type==string, complete EC-link
+  error:
+    - 3 # Error
+    - 7 # Warning as Error
+
+encoder:
+  numerator: 360
+  denominator: 1048576
+  type: 1 # Type: 0=Incremental, 1=Absolute
+  bits: 32 # Total bit count of encoder raw data
+  absBits: 25 # Absolute bit count (for absolute encoders) always least significant part of 'bits'
+  absOffset: 0 # Encoder offset in eng units (for absolute encoders)
+  position: ec0.s$(DRV_SLAVE).positionActual02 # Ethercat entry for actual position input (encoder)
+
+controller:
+  Kp: 15
+  Ki: 0.05
+
+trajectory:
+  type: 1
+  axis:
+    velocity: 18000 # 5000 rpm (web page), 7883 rpm (name plate) => 47298 deg/s
+    acceleration: 90000
+    jerk: 360000
+
+input:
+  limit:
+    forward: ec0.s$(DRV_SLAVE).ONE.0 #  Ethercat entry for low limit switch input
+    backward: ec0.s$(DRV_SLAVE).ONE.0 #  Ethercat entry for high limit switch input
+  home: ec0.s$(DRV_SLAVE).ONE.0 #  Ethercat entry for home switch input
+  interlock: ec0.s$(DRV_SLAVE).ONE.0 #  Ethercat entry for interlock switch input
+
+monitoring:
+  lag:
+    enable: true
+    tolerance: 360
+    time: 100
+  target:
+    enable: yes
+    tolerance: 0.1
+    time: 100
+  velocity:
+    enable: true
+    max: 28000
+    time:
+      trajectory: 100
+      drive: 200
diff --git a/examples/test/elm7222/startup_ch1.iocsh b/examples/test/elm7222/startup_ch1.iocsh
@@ -0,0 +1,22 @@
+require ecmccfg,ELM7222 "ENG_MODE=1,ECMC_VER=9.2.0"
+
+${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}addSlave.cmd,      "HW_DESC=ELM7222-0010, SLAVE_ID=21"
+${SCRIPTEXEC} ${ecmccfg_DIR}applySlaveConfig.cmd,   "CONFIG=-Motor-ch1-Beckhoff-AM8112-xFx1"
+
+epicsEnvSet("DRV_SLAVE", ${ECMC_EC_SLAVE_NUM})
+${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd,  "FILE=cfg/AM8112_ch1.yaml, DEV=${DEV=${IOC}}, DRV_SLAVE=${DRV_SLAVE}"
+
+#- #############################################################################
+#- apply configuration
+${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}applyConfig.cmd
+#- #############################################################################
+#- go active
+${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}setAppMode.cmd
+
+#- be quiet
+asynSetTraceMask(MC_CPU1, -1, 0x01)
+asynSetTraceIOMask(MC_CPU1, -1, 6)
+asynSetTraceInfoMask(MC_CPU1, -1, 1)
+
+#- reset all errors
+ecmcConfigOrDie "ControllerErrorReset()"
diff --git a/examples/test/elm7222/startup_ch2.iocsh b/examples/test/elm7222/startup_ch2.iocsh
@@ -0,0 +1,22 @@
+require ecmccfg,ELM7222 "ENG_MODE=1,ECMC_VER=9.2.0"
+
+${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}addSlave.cmd,      "HW_DESC=ELM7222-0010, SLAVE_ID=21"
+${SCRIPTEXEC} ${ecmccfg_DIR}applySlaveConfig.cmd,   "CONFIG=-Motor-ch2-Beckhoff-AM8112-xFx1"
+
+epicsEnvSet("DRV_SLAVE", ${ECMC_EC_SLAVE_NUM})
+${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd,  "FILE=cfg/AM8112_ch2.yaml, DEV=${DEV=${IOC}}, DRV_SLAVE=${DRV_SLAVE}"
+
+#- #############################################################################
+#- apply configuration
+${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}applyConfig.cmd
+#- #############################################################################
+#- go active
+${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}setAppMode.cmd
+
+#- be quiet
+asynSetTraceMask(MC_CPU1, -1, 0x01)
+asynSetTraceIOMask(MC_CPU1, -1, 6)
+asynSetTraceInfoMask(MC_CPU1, -1, 1)
+
+#- reset all errors
+ecmcConfigOrDie "ControllerErrorReset()"
diff --git a/examples/test/elm7321/startup.iocsh b/examples/test/elm7321/startup.iocsh
@@ -3,7 +3,7 @@ require ecmccfg,ELM7231 "ENG_MODE=1,ECMC_VER=9.2.0"
 ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}configureSlave.cmd, "HW_DESC=ELM7231-0010, SLAVE_ID=20, CONFIG=-Motor-Beckhoff-AM8123-1NH1-0000"
 
 epicsEnvSet("DRV_SLAVE", ${ECMC_EC_SLAVE_NUM})
-${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd,   "FILE=cfg/AM813.yaml, DEV=${DEV=${IOC}}, DRV_SLAVE=${DRV_SLAVE}"
+${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd,   "FILE=cfg/AM8123.yaml, DEV=${DEV=${IOC}}, DRV_SLAVE=${DRV_SLAVE}"
 
 #- #############################################################################
 #- apply configuration

diff --git a/hardware/Beckhoff_7XXX/ELM/ecmcELM7222-0010.cmd b/hardware/Beckhoff_7XXX/ELM/ecmcELM7222-0010.cmd
@@ -0,0 +1,78 @@
+#-d /**
+#-d   \brief hardware script for ELM7222-0010
+#-d   \details ELM7222-0010 Servo terminal with OCT feedback
+#-d   \author Niko Kivel
+#-d   \file
+#-d   \note SDOS
+#-d   \param [out] SDO 0x1011:01 --> 1684107116 \b reset
+#-d */
+
+#- ###########################################################
+#- ############ Information:
+#-  Description: ELM7222-0010 Servo terminal with OCT feedback
+#-
+#-  Note: The sync mode can not be written to in newer firmwares:
+#-        (0x1C32,0x1,0x1C33,0x1). So then these lines below needs
+#-        to be removed or commented out.
+#-        The log will then show error like:
+#-           EtherCAT ERROR 0-46: SDO download 0x1C32:01 (2 bytes) aborted.
+#-           EtherCAT ERROR 0-46: SDO abort message 0x06090030: "Value range of parameter exceeded".
+#-           EtherCAT ERROR 0-46: SDO configuration failed.
+#-
+#- ###########################################################
+
+epicsEnvSet("ECMC_EC_HWTYPE"             "ELM7222-0010")
+epicsEnvSet("ECMC_EC_VENDOR_ID"          "0x2")
+epicsEnvSet("ECMC_EC_PRODUCT_ID"         "0x50227569")
+epicsEnvSet("ECMC_EC_COMP_TYPE"          "EL7222_OCT")
+
+#- verify slave, including reset
+${SCRIPTEXEC} ${ecmccfg_DIR}slaveVerify.cmd "RESET=true"
+
+#- ========================== Channel 1 ==========================
+#- Activly choose CSV
+ecmcConfigOrDie "Cfg.EcWriteSdo(${ECMC_EC_SLAVE_NUM},0x7010,0x3,9,1)"
+
+#- ############  read electronic nameplate
+ecmcConfigOrDie "Cfg.EcWriteSdo(${ECMC_EC_SLAVE_NUM},0x8008,0x1,1,1)"
+ecmcConfigOrDie "Cfg.EcWriteSdo(${ECMC_EC_SLAVE_NUM},0x8008,0x2,1,1)"
+ecmcConfigOrDie "Cfg.EcWriteSdo(${ECMC_EC_SLAVE_NUM},0x8008,0x3,1,1)"
+
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},1,2,0x1610,0x7010,0x01,U16,driveControl01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},1,2,0x1612,0x7010,0x06,S32,velocitySetpoint01)"
+
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a00,0x6000,0x11,U32,positionActual01)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a10,0x6010,0x01,U16,driveStatus01)"
+
+#- ========================== Channel 2 ==========================
+#- Activly choose CSV
+ecmcConfigOrDie "Cfg.EcWriteSdo(${ECMC_EC_SLAVE_NUM},0x7110,0x3,9,1)"
+
+#- ############  read electronic nameplate
+ecmcConfigOrDie "Cfg.EcWriteSdo(${ECMC_EC_SLAVE_NUM},0x8108,0x1,1,1)"
+ecmcConfigOrDie "Cfg.EcWriteSdo(${ECMC_EC_SLAVE_NUM},0x8108,0x2,1,1)"
+ecmcConfigOrDie "Cfg.EcWriteSdo(${ECMC_EC_SLAVE_NUM},0x8108,0x3,1,1)"
+
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},1,2,0x1650,0x7110,0x01,U16,driveControl02)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},1,2,0x1652,0x7110,0x06,S32,velocitySetpoint02)"
+
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a40,0x6100,0x11,U32,positionActual02)"
+ecmcConfigOrDie "Cfg.EcAddEntryDT(${ECMC_EC_SLAVE_NUM},${ECMC_EC_VENDOR_ID},${ECMC_EC_PRODUCT_ID},2,3,0x1a50,0x6110,0x01,U16,driveStatus02)"
+
+#- ############ Distributed clocks config:
+#- Configure DC clock
+#- From TwinCAT: SYNC 0: User defined 62.5 us, SYNC 1: 4000 us <-- I set this to the cycle time below
+ecmcEpicsEnvSetCalc("ECMC_TEMP_PERIOD_NANO_SECS",1000/${ECMC_EC_SAMPLE_RATE=1000}*1E6)
+ecmcConfigOrDie "Cfg.EcSlaveConfigDC(${ECMC_EC_SLAVE_NUM},0x700,62500,${ECMC_SYNC_0_OFFSET_NS=0},${ECMC_TEMP_PERIOD_NANO_SECS},${ECMC_SYNC_1_OFFSET_NS=0})"
+epicsEnvUnset("ECMC_TEMP_PERIOD_NANO_SECS")
+
+#- watchdog
+${SCRIPTEXEC} ${ecmccfg_DIR}ecmcWatchDog.cmd
+
+#- Set 4000 ms delay of ethercat bus at startup:
+#- Somtimes the Ex72xx-xxxx will not report a correct encoder signal when transition from PREOP to OP. This is not reflected in any status word or bit
+#- This will result in problems sicne ecmc cannot know if teh value is correct or not after startup.
+#- For the drives with problems measurements have been made which concludes that after 2600ms after entering OP the EL72xx will give correct encoder position.
+#- For twincat probably this is not an isue since the terminals are not goung from PROP to OP so often. 
+#- Conclusion: Need to contact Beckhoff. Probably firmware bug.
+ecmcConfigOrDie "Cfg.EcSetDelayECOkAtStartup(${ECMC_EC_STARTUP_DELAY=4000})"
diff --git a/hardware/Motors/ecmcELM7222-0010-Motor-ch1-Beckhoff-AM8112-xFx1.cmd b/hardware/Motors/ecmcELM7222-0010-Motor-ch1-Beckhoff-AM8112-xFx1.cmd
@@ -0,0 +1,52 @@
+############################################################
+############# Parmetrization of ELM7222-XXXX for motor AM8112-xFx1 on channel 1
+#- Motor WITH brake
+#-
+#- Note: For important parameters see TwinCAT CoE startup list for the 
+#-       motor terminal configuration.
+#-
+#- Macros (optional):
+#-d   \param I_MAX_MA : Maximum current in mA (defaults to 16500 mA)
+#-d   \param I_RUN_MA : Running current in mA (defaults to 4500 mA)
+#-d */
+
+#- Current loop integral time
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x12,6,2)"
+#- Current loop proportianal gain
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x13,133,2)"
+
+#- Velocity loop integral time
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x14,150,4)"
+#- Velocity loop proportianal gain
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x15,82,4)"
+
+#- standstill window
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8010,0x33,10,2)"
+
+
+#- Motor max current
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x11,${I_MAX_MA=16500},4)"
+#- Motor rated current
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x12,${I_RUN_MA=4500},4)"
+#- Motor pole pairs
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x13,3,1)"
+#- Commutation offset
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x15,270,2)"
+#- Torque contstant
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x16,81,4)"
+#- Rotor moment of inertia
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x18,75,4)"
+#- Winding inductance
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x19,8,2)"
+#- Motor speed limitation
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x1b,10000,4)"
+
+#- Motor Temperature warn level
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x2b,1200,2)"
+#- Motor thermal time constant
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8011,0x2d,419,2)"
+
+#- Release delay
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8012,0x11,20,2)"
+#- Application delay
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8012,0x12,8,2)"
diff --git a/hardware/Motors/ecmcELM7222-0010-Motor-ch2-Beckhoff-AM8112-xFx1.cmd b/hardware/Motors/ecmcELM7222-0010-Motor-ch2-Beckhoff-AM8112-xFx1.cmd
@@ -0,0 +1,52 @@
+############################################################
+############# Parmetrization of ELM7222-XXXX for motor AM8112-xFx1 on channel 2
+#- Motor WITH brake
+#-
+#- Note: For important parameters see TwinCAT CoE startup list for the 
+#-       motor terminal configuration.
+#-
+#- Macros (optional):
+#-d   \param I_MAX_MA : Maximum current in mA (defaults to 16500 mA)
+#-d   \param I_RUN_MA : Running current in mA (defaults to 4500 mA)
+#-d */
+
+#- Current loop integral time
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8110,0x12,6,2)"
+#- Current loop proportianal gain
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8110,0x13,133,2)"
+
+#- Velocity loop integral time
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8110,0x14,150,4)"
+#- Velocity loop proportianal gain
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8110,0x15,82,4)"
+
+#- standstill window
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8110,0x33,10,2)"
+
+
+#- Motor max current
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8111,0x11,${I_MAX_MA=16500},4)"
+#- Motor rated current
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8111,0x12,${I_RUN_MA=4500},4)"
+#- Motor pole pairs
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8111,0x13,3,1)"
+#- Commutation offset
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8111,0x15,270,2)"
+#- Torque contstant
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8111,0x16,81,4)"
+#- Rotor moment of inertia
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8111,0x18,75,4)"
+#- Winding inductance
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8111,0x19,8,2)"
+#- Motor speed limitation
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8111,0x1b,10000,4)"
+
+#- Motor Temperature warn level
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8111,0x2b,1200,2)"
+#- Motor thermal time constant
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8111,0x2d,419,2)"
+
+#- Release delay
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8112,0x11,20,2)"
+#- Application delay
+ecmcConfigOrDie "Cfg.EcAddSdo(${ECMC_EC_SLAVE_NUM},0x8112,0x12,8,2)"