Documentation update

.gitignore

@@ -34,3 +34,5 @@ tools
 hugo/content/source/
 
 *.pyc
+
+.hugo_build.lock

hugo/content/manual/axis/axisYaml.md

@@ -291,14 +291,16 @@ input:
 ## output
 Two outputs can be utilizes with `ECMC`.
 
+{{% notice info %}}
+The brake output was moved to the `drive` key, as it is directly coupled to the drive state.
+{{% /notice %}}
+
 optional
 - `health`: sum parameter for axis health
-- `brake`: brake output
 
 ```yaml
 # output:
 #   health: ''      # Ethercat entry for health output
-#   brake: 'ec0.s42.binaryOutput07'       # Ethercat entry for brake output
 ```
 
 ## homing
@@ -339,25 +341,34 @@ Soft limits to propagate to the motorRecord.
 
 optional
 
-- `enable`: enable soft limits.
-- `forward`: soft limit in the forward direction
-- `backward`: soft limit in the backward direction
+- `enable`: global enable of soft limits.
+- `forwardEnable`: forward on/off.
+- `forward`: soft limit in the forward direction.
+- `backwardEnable`: backward on/off.
+- `backward`: soft limit in the backward direction.
 
 ```yaml
 # softlimits:
-#   enable: false
-#   forward: ''
-#   backward: ''
+#   enable: true
+#   forwardEnable: true # optional switch for forward direction
+#   forward: 300.0
+#   backwardEnable: true # optional switch for backward direction
+#   backward: 25.0
 ```
 
 ## monitoring
 Three entities can be monitored, (1) lag, aka following error, (2) target, aka in position, (3) velocity.
 
 {{% notice info %}}
-It is highly advisable to always use the `lag` and `attarget` monitoring fo closed-loop axis.
+It is highly advisable to always use the `lag` and `target` monitoring fo closed-loop axis.
 Failure to do so, will most likely results in unexpected behaviour.
 {{% /notice %}}
 
+{{% notice info %}}
+The `monitoring` key, **must** be included in the config, despite all features being optional.
+It's a means to let the integrator think twice to skip it all together.
+{{% /notice %}}
+
 optional
 
 - `lag`

hugo/content/manual/introduction.md

@@ -94,45 +94,48 @@ In order to manually set `binaryOutput01` to `1` at startup, the following can b
 
 ##### adding a physical motor axis
 Axis configuration will is explained in details [here](../axis).
+The preferred way to confuser axes is with the `yaml` based configuration.
+It unifies the way, (1) physical axes, (2) virtual axes and (3) synchronization is handled.
+It is theoretically possible to use a mix of `yaml` and classic configuration, but this is untested.
 
+  * yaml config
+  ```bash
+  ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd,   "FILE=./cfg/ax1.yaml, DEV=${DEV}, DRV_SLAVE=4, ENC_SLAVE=3, ENC_CHANNEL=01"
+  ```
   * classic config
   ```bash
   epicsEnvSet("DEV",      "STEST-MYDEVICE")
   ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}configureAxis.cmd,  "CONFIG=./cfg/axis_1"
   ```
-   * yaml config
-  ```bash
-  ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}addAxisYaml.cmd, "FILE=./AM8111_CSV_minimum.yaml, ECMC_TMPDIR=/tmp/"
-  ```
 
 ##### adding a virtual motor axis
   ```bash
-  ${SCRIPTEXEC} ${ecmccfg_DIR}configureVirtualAxis.cmd,     "CONFIG=./cfg/axis_11_virt"
+  ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}configureVirtualAxis.cmd,     "CONFIG=./cfg/axis_11_virt"
   ```
 
 ##### adding synchronization
   ```bash
-  ${SCRIPTEXEC} ${ecmccfg_DIR}applyAxisSynchronization.cmd, "CONFIG=./cfg/axis_1_sync"
-  ${SCRIPTEXEC} ${ecmccfg_DIR}applyAxisSynchronization.cmd, "CONFIG=./cfg/axis_11_sync"
+  ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}applyAxisSynchronization.cmd, "CONFIG=./cfg/axis_1_sync"
+  ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}applyAxisSynchronization.cmd, "CONFIG=./cfg/axis_11_sync"
   ```   
 
 ##### loading a PLC from file
-The PLC functionionality is exmplained in detail here.
+The PLC functionality is explained in detail here.
 ECMC PLCs can be loaded from classical PLC files, from pure yaml files or from a yaml/PLC hybrid.
   * classic PLC-file
   ```bash
-  ${SCRIPTEXEC} ${ecmccfg_DIR}loadPLCFile.cmd, "PLC_ID=0, FILE=./plc/homeSlit.plc, SAMPLE_RATE_MS=100"
+  ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadPLCFile.cmd, "PLC_ID=0, FILE=./plc/homeSlit.plc, SAMPLE_RATE_MS=100"
   ```
   * pure yaml based PLC
   ```bash
-  ${SCRIPTEXEC} "${ECMC_CONFIG_ROOT}loadYamlPlc.cmd" "FILE=./plc1.yaml, ECMC_TMPDIR=/tmp/"
+  ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlPlc.cmd "FILE=./plc1.yaml"
   ```
   * yaml definition, with classic PLC-file, Note: `file` key in yaml config will overwrite anything in the `code` key!
   ```bash
-  ${SCRIPTEXEC} "${ECMC_CONFIG_ROOT}loadYamlPlc.cmd" "FILE=./plc1File.yaml, ECMC_TMPDIR=/tmp/"
+  ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlPlc.cmd "FILE=./plc1File.yaml"
   ```
 
 #### go active
   ```bash
-  ${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
+  ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}setAppMode.cmd
   ```

scripts/jinja2/loadYamlPlc.cmd

@@ -16,9 +16,6 @@
 #- halt the ioc startup in case od an error
 on error halt
 
-#- halt the ioc startup in case od an error
-on error halt
-
 # Step 1: Get Filename (need to check if filename contains other macros also). Bascally run the filename in this iocsh
 ecmcFileExist("${FILE}",1)
 epicsEnvSet(FILE_TEMP_BASE,${ECMC_TMP_DIR}${FILE})