From b7d2258a6173562d44af240f7d09204961b835ee Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= <anders.sandstroem@psi.ch>
Date: Tue, 26 Nov 2024 12:57:56 +0100
Subject: [PATCH] Update examples

---
 .../mirror/startup.script_X10SA-CPCL-ES1       | 12 +-----------
 .../slit/common/cfgHW_and_motion.cmd           |  4 ++--
 .../slit/slit_equations/startup.script_ecmc    |  8 --------
 .../slit/slit_matrix/startup.script_ecmc       |  8 --------
 .../PSI/best_practice/motion/servo/startup.cmd |  7 +------
 .../motion/stepper_bissc/startup.cmd           | 12 +++---------
 .../motion/stepper_bissc/startup_local_hw.cmd  | 18 ++++++------------
 .../motion/stepper_bissc_hw_subst/startup.cmd  |  5 -----
 .../motion/stepper_bissc_no_mr/startup.cmd     |  7 -------
 examples/PSI/best_practice/plcs/startup.cmd    |  5 -----
 examples/test/el7411/el7411_qmot.script        | 11 +++++------
 11 files changed, 18 insertions(+), 79 deletions(-)

diff --git a/examples/PSI/best_practice/motion/master_slave/mirror/startup.script_X10SA-CPCL-ES1 b/examples/PSI/best_practice/motion/master_slave/mirror/startup.script_X10SA-CPCL-ES1
index 3444a3e3f..c3b0d7d39 100644
--- a/examples/PSI/best_practice/motion/master_slave/mirror/startup.script_X10SA-CPCL-ES1
+++ b/examples/PSI/best_practice/motion/master_slave/mirror/startup.script_X10SA-CPCL-ES1
@@ -1,7 +1,7 @@
 
 epicsEnvSet("MASTER_ID", "0")
 
-require ecmccfg v9.5.5_RC1,"ENG_MODE=1,ECMC_VER=v9.5.5_RC1"
+require ecmccfg "ENG_MODE=1"
 require ecmccomp
 require ecmc_master_slave sandst_a
 
@@ -9,7 +9,6 @@ require ecmc_master_slave sandst_a
 # only print error messages
 asynSetTraceMask(${ECMC_ASYN_PORT}, -1, 0x01)
 
-
 ##############################################################################
 # - apply hardware configuration
 ${SCRIPTEXEC} ${ecmccfg_DIR}loadSubstConfig.cmd,  "FILE=cfg/hw.subst"
@@ -69,15 +68,6 @@ ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadPLCFile.cmd, "FILE=cfg/VFM.plc,PLC_ID=1,INC
 #- Temporary test
 ${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}loadYamlAxis.cmd, "FILE=cfg/ax_Servo_angle.yaml, DRV_SLAVE=021"
 
-#- #################################################################
-#- apply the configuration
-${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}applyConfig.cmd
-
-
-#- #################################################################
-#- go active
-${SCRIPTEXEC} ${ECMC_CONFIG_ROOT}setAppMode.cmd
-
 require "calc"
 require "opticaltable","wang_x1"
 # The following lines were generated by "ioc install"
diff --git a/examples/PSI/best_practice/motion/master_slave/slit/common/cfgHW_and_motion.cmd b/examples/PSI/best_practice/motion/master_slave/slit/common/cfgHW_and_motion.cmd
index 51abd47aa..a28ec00dc 100644
--- a/examples/PSI/best_practice/motion/master_slave/slit/common/cfgHW_and_motion.cmd
+++ b/examples/PSI/best_practice/motion/master_slave/slit/common/cfgHW_and_motion.cmd
@@ -39,12 +39,12 @@ ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL1008"
 
 # 0:7 - EL7041    1Ch Stepper
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL7041-0052"
-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd    "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230'"
+${SCRIPTEXEC} ${ecmccfg_DIR}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"
 
 # 0:8 - EL7041    1Ch Stepper
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,          "HW_DESC=EL7041-0052"
-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd    "COMP=Motor-Generic-2Phase-Stepper,MACROS='I_MAX_MA=1000,I_STDBY_MA=500,U_NOM_MV=48000,R_COIL_MOHM=1230'"
+${SCRIPTEXEC} ${ecmccfg_DIR}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} ${ecmccfg_DIR}loadYamlAxis.cmd,      "FILE=../common/axis_ax6_HI.yaml, DRV_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_SLAVE=${ECMC_EC_SLAVE_NUM}, ENC_CHANNEL=01"
 
 # 0:9 - EL7041    1Ch Stepper
diff --git a/examples/PSI/best_practice/motion/master_slave/slit/slit_equations/startup.script_ecmc b/examples/PSI/best_practice/motion/master_slave/slit/slit_equations/startup.script_ecmc
index 4b63ef671..2119bdb3a 100644
--- a/examples/PSI/best_practice/motion/master_slave/slit/slit_equations/startup.script_ecmc
+++ b/examples/PSI/best_practice/motion/master_slave/slit/slit_equations/startup.script_ecmc
@@ -2,9 +2,6 @@
 #- Configuration scripts
 require ecmccfg,"ENG_MODE=1,EC_RATE=100"
 
-#- Components lib
-require ecmccomp
-
 #- Syncronization configs
 require ecmc_master_slave
 
@@ -20,11 +17,6 @@ asynSetTraceMask(${ECMC_ASYN_PORT}, -1, 0x01)
 #- The group ID:s configured in yaml are stored in GRP_<axis.group>_ID
 ${SCRIPTEXEC} ${ecmccfg_DIR}loadPLCFile.cmd,    "FILE=./cfg/axis_main.plc, PLC_ID=1, INC=.:${ecmc_master_slave_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}'"
 
-#- #################################################################
-#- go active
-${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
-${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
-
 #- #############################################################################
 #- reset all errors
 afterInit("ecmcConfigOrDie 'ControllerErrorReset()'")
diff --git a/examples/PSI/best_practice/motion/master_slave/slit/slit_matrix/startup.script_ecmc b/examples/PSI/best_practice/motion/master_slave/slit/slit_matrix/startup.script_ecmc
index 7f82e6d31..d3e514b99 100644
--- a/examples/PSI/best_practice/motion/master_slave/slit/slit_matrix/startup.script_ecmc
+++ b/examples/PSI/best_practice/motion/master_slave/slit/slit_matrix/startup.script_ecmc
@@ -1,9 +1,6 @@
 #- Configuration scripts
 require ecmccfg,"ENG_MODE=1,EC_RATE=100"
 
-#- Components lib
-require ecmccomp
-
 #- Syncronization configs
 require ecmc_master_slave
 
@@ -19,11 +16,6 @@ asynSetTraceMask(${ECMC_ASYN_PORT}, -1, 0x01)
 #- The group ID:s configured in yaml are stored in GRP_<axis.group>_ID
 ${SCRIPTEXEC} ${ecmccfg_DIR}loadPLCFile.cmd,    "FILE=./cfg/axis_main.plc, PLC_ID=1, INC=.:${ecmc_master_slave_DIR}, PLC_MACROS='PLC_ID=1, AX_M1=12, AX_M2=13, AX_S1=5, AX_S2=6, GRP_ID_SA=${GRP_realAxes_ID}, GRP_ID_MA=${GRP_virtualAxes_ID}'"
 
-#- #################################################################
-#- go active
-${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
-${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
-
 #- #############################################################################
 #- reset all errors
 afterInit("ecmcConfigOrDie 'ControllerErrorReset()'")
diff --git a/examples/PSI/best_practice/motion/servo/startup.cmd b/examples/PSI/best_practice/motion/servo/startup.cmd
index a28a694a5..55750b42a 100644
--- a/examples/PSI/best_practice/motion/servo/startup.cmd
+++ b/examples/PSI/best_practice/motion/servo/startup.cmd
@@ -2,7 +2,6 @@
 ## Example config for ep7211-0034
 
 require ecmccfg "ENG_MODE=1"
-require ecmccomp
 
 #- ############################################################################
 #- Configure hardware
@@ -14,10 +13,6 @@ require ecmccomp
 
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,        "SLAVE_ID=15, HW_DESC=EP7211-0034_ALL_FB"
 #- Limit torque to 50% of motor rated torque.  Rated current = 2710mA, set to half I_MAX_MA=1355
-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd  "COMP=Motor-Beckhoff-AM8111-XFX0, MACROS='I_MAX_MA=1355'"
+${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd   "COMP=Motor-Beckhoff-AM8111-XFX0, MACROS='I_MAX_MA=1355'"
 $(SCRIPTEXEC) $(ecmccfg_DIR)loadYamlAxis.cmd     "FILE=./cfg/axis.yaml, DRV_ID=$(ECMC_EC_SLAVE_NUM), AX_NAME='Axis1', AX_ID=1"
 
-#- ############################################################################
-#- Go active
-${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
-${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
diff --git a/examples/PSI/best_practice/motion/stepper_bissc/startup.cmd b/examples/PSI/best_practice/motion/stepper_bissc/startup.cmd
index 80a345c93..44bcfed94 100644
--- a/examples/PSI/best_practice/motion/stepper_bissc/startup.cmd
+++ b/examples/PSI/best_practice/motion/stepper_bissc/startup.cmd
@@ -2,7 +2,6 @@
 ## Example config for EL7041 and EL5042
 
 require ecmccfg "ENG_MODE=1"
-require ecmccomp
 
 #- ############################################################################
 #- Master0
@@ -18,7 +17,6 @@ require ecmccomp
 #-   9  0:9   PREOP  +  EL7041 1Ch. Stepper motor output stage (50V, 5A)
 #-  10  0:10  PREOP  +  EL7041 1Ch. Stepper motor output stage (50V, 5A)
 
-
 # 0:0  - EK1100    EtherCAT coupler
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "HW_DESC=EK1100"
 
@@ -27,8 +25,8 @@ ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "HW_DESC=EL9227-5500"
 
 # 0:2  - EL5042    2Ch BiSS-C Encoder, RLS-LA11
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "HW_DESC=EL5042"
-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-BISS-C,CH_ID=1"
-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-BISS-C,CH_ID=2"
+${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd  "COMP=Encoder-RLS-LA11-26bit-BISS-C,CH_ID=1"
+${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd  "COMP=Encoder-RLS-LA11-26bit-BISS-C,CH_ID=2"
 epicsEnvSet(ENC_SID,${ECMC_EC_SLAVE_NUM})
 
 # 0:3  - EL5042    2Ch BiSS-C Encoder
@@ -46,7 +44,7 @@ ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "HW_DESC=EL1008"
 
 # 0:7 - EL7041    1Ch Stepper
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "HW_DESC=EL7041-0052"
-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,  MACROS='I_MAX_MA=1000, I_STDBY_MA=500, U_NOM_MV=48000, R_COIL_MOHM=1230'"
+${SCRIPTEXEC} ${ecmccfg_DIR}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} ${ecmccfg_DIR}loadYamlAxis.cmd,   "FILE=./cfg/axis.yaml,               DEV=${IOC}, AX_NAME=M1, AXIS_ID=1, DRV_SID=${ECMC_EC_SLAVE_NUM}, ENC_SID=${ENC_SID}, ENC_CH=01, BO_SID=${BO_SID}, BO_CH=01"
 ${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlEnc.cmd,    "FILE=./cfg/enc_open_loop.yaml,      DEV=${IOC}, DRV_SID=${ECMC_EC_SLAVE_NUM}"
 
@@ -59,7 +57,3 @@ ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "HW_DESC=EL7041-0052"
 # 0:10 - EL7041    1Ch Stepper
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "HW_DESC=EL7041-0052"
 
-#- ###########################################################################
-#- go active
-${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
-${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
diff --git a/examples/PSI/best_practice/motion/stepper_bissc/startup_local_hw.cmd b/examples/PSI/best_practice/motion/stepper_bissc/startup_local_hw.cmd
index 1e43dbd6c..523568dbf 100644
--- a/examples/PSI/best_practice/motion/stepper_bissc/startup_local_hw.cmd
+++ b/examples/PSI/best_practice/motion/stepper_bissc/startup_local_hw.cmd
@@ -1,25 +1,19 @@
 ##############################################################################
 ## Example config for EL7041 and EL5042
 
-require ecmccfg "ENG_MODE=1"
-require ecmccomp
+require ecmccfg "ENG_MODE=1,MASTER_ID=1"
 
 # 0:7 - EL7041    1Ch Stepper
-${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "SLAVE_ID=13,HW_DESC=EL7041-0052"
-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Motor-Generic-2Phase-Stepper,  MACROS='I_MAX_MA=1500, I_STDBY_MA=1000, U_NOM_MV=48000, R_COIL_MOHM=1230'"
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "SLAVE_ID=14,HW_DESC=EL7041-0052"
+${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd  "COMP=Motor-Generic-2Phase-Stepper,  MACROS='I_MAX_MA=1500, I_STDBY_MA=1000, U_NOM_MV=48000, R_COIL_MOHM=1230'"
 epicsEnvSet(DRV_SID,${ECMC_EC_SLAVE_NUM})
 
-
 # 0:2  - EL5042    2Ch BiSS-C Encoder, RLS-LA11
-${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "SLAVE_ID=14,HW_DESC=EL5042"
-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-BISS-C,CH_ID=1"
-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd "COMP=Encoder-RLS-LA11-26bit-BISS-C,CH_ID=2"
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "SLAVE_ID=9,HW_DESC=EL5042"
+${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd  "COMP=Encoder-RLS-LA11-26bit-BISS-C,CH_ID=1"
+${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd  "COMP=Encoder-RLS-LA11-26bit-BISS-C,CH_ID=2"
 epicsEnvSet(ENC_SID,${ECMC_EC_SLAVE_NUM})
 
 ${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,   "FILE=./cfg/axis.yaml,               DEV=${IOC}, AX_NAME=M1, AXIS_ID=1, DRV_SID=${DRV_SID}, ENC_SID=${ENC_SID}, ENC_CH=01"
 ${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlEnc.cmd,    "FILE=./cfg/enc_open_loop.yaml,      DEV=${IOC}, DRV_SID=${DRV_SID}"
 
-#- ###########################################################################
-#- go active
-${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
-${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
diff --git a/examples/PSI/best_practice/motion/stepper_bissc_hw_subst/startup.cmd b/examples/PSI/best_practice/motion/stepper_bissc_hw_subst/startup.cmd
index b4e2a526f..9961106e5 100644
--- a/examples/PSI/best_practice/motion/stepper_bissc_hw_subst/startup.cmd
+++ b/examples/PSI/best_practice/motion/stepper_bissc_hw_subst/startup.cmd
@@ -12,8 +12,3 @@ ${SCRIPTEXEC} ${ecmccfg_DIR}loadSubstConfig.cmd,  "FILE=cfg/hw.subs"
 # - motion
 ${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,   "FILE=./cfg/axis.yaml,               DEV=${IOC}, AX_NAME=M1, AXIS_ID=1, DRV_SID=7, ENC_SID=2, ENC_CH=01, BO_SID=5, BO_CH=01"
 ${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlEnc.cmd,    "FILE=./cfg/enc_open_loop.yaml,      DEV=${IOC}, DRV_SID=7"
-
-#- ###########################################################################
-#- go active
-${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
-${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
diff --git a/examples/PSI/best_practice/motion/stepper_bissc_no_mr/startup.cmd b/examples/PSI/best_practice/motion/stepper_bissc_no_mr/startup.cmd
index 7f2647486..3a50dafd2 100644
--- a/examples/PSI/best_practice/motion/stepper_bissc_no_mr/startup.cmd
+++ b/examples/PSI/best_practice/motion/stepper_bissc_no_mr/startup.cmd
@@ -2,7 +2,6 @@
 ## Example config for EL7041 and EL5042
 
 require ecmccfg "MODE=NO_MR,ENG_MODE=1,EC_RATE=100"
-require ecmccomp
 
 #- ############################################################################
 #- Master0
@@ -18,7 +17,6 @@ require ecmccomp
 #-   9  0:9   PREOP  +  EL7041 1Ch. Stepper motor output stage (50V, 5A)
 #-  10  0:10  PREOP  +  EL7041 1Ch. Stepper motor output stage (50V, 5A)
 
-
 # 0:0  - EK1100    EtherCAT coupler
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "HW_DESC=EK1100"
 
@@ -58,8 +56,3 @@ ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "HW_DESC=EL7041-0052"
 
 # 0:10 - EL7041    1Ch Stepper
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "HW_DESC=EL7041-0052"
-
-#- ###########################################################################
-#- go active
-${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
-${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
diff --git a/examples/PSI/best_practice/plcs/startup.cmd b/examples/PSI/best_practice/plcs/startup.cmd
index e995e914a..a759117dc 100644
--- a/examples/PSI/best_practice/plcs/startup.cmd
+++ b/examples/PSI/best_practice/plcs/startup.cmd
@@ -16,8 +16,3 @@ ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,       "SLAVE_ID=10, HW_DESC=EL2819"
 #- Load PLC (note the include dir (INC) and the use of ECMC_EC_SLAVE_NUM)
 ${SCRIPTEXEC} ${ecmccfg_DIR}loadPLCFile.cmd,    "FILE=./cfg/main.plc, INC=.:./cfg/, DESC='Toggle bits', SAMPLE_RATE_MS=1000, PLC_MACROS='BO_S_ID=${ECMC_EC_SLAVE_NUM}'"
 
-#- ############################################################################
-#- Go active
-${SCRIPTEXEC} ${ecmccfg_DIR}applyConfig.cmd
-${SCRIPTEXEC} ${ecmccfg_DIR}setAppMode.cmd
-
diff --git a/examples/test/el7411/el7411_qmot.script b/examples/test/el7411/el7411_qmot.script
index 798a7274a..d92d8a1fc 100644
--- a/examples/test/el7411/el7411_qmot.script
+++ b/examples/test/el7411/el7411_qmot.script
@@ -2,12 +2,11 @@
 ## Example config for el7411 with Qmot BLDC motor (incremental encoder)
 ## Note, the encoder needed to be inverted to fit motor rotation (otherwise the motor will act strange, however no real error..)
 
-require ecmccfg "MASTER_ID=1,ENG_MODE=1"
-require ecmccomp
+require ecmccfg sandst_a "MASTER_ID=1,ENG_MODE=1"
 
 #-#############################################################################
 ## Configure hardware
-${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,        "SLAVE_ID=16, HW_DESC=EL7411"
-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd  "COMP=Motor-QMot-4208-61-04-013-DS, MACROS='I_MAX_MA=2000,VELO_KP=1000,VELO_TI=100,CURR_KP=100,CURR_TI=50'"
-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd  "COMP=Encoder-Generic-INC,          MACROS='ST_ENC_RES=4096, INV_DIR=1'"
-${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd,    "FILE=./cfg/axis.yaml,              DEV=${IOC}, AX_NAME=M1, AXIS_ID=1, DRV_SID=${ECMC_EC_SLAVE_NUM}"
+${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd         "SLAVE_ID=16, HW_DESC=EL7411"
+${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd   "COMP=Motor-QMot-4208-61-04-013-DS, MACROS='I_MAX_MA=2000,VELO_KP=1000,VELO_TI=100,CURR_KP=100,CURR_TI=50'"
+${SCRIPTEXEC} ${ecmccfg_DIR}applyComponent.cmd   "COMP=Encoder-Generic-INC,          MACROS='ST_ENC_RES=4096, INV_DIR=1'"
+${SCRIPTEXEC} ${ecmccfg_DIR}loadYamlAxis.cmd     "FILE=./cfg/axis.yaml,              DEV=${IOC}, AX_NAME=M1, AXIS_ID=1, DRV_SID=${ECMC_EC_SLAVE_NUM}"