From ffedee94e2fed38353fb311f219a6d4e4bedf8a7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Anders=20Sandstr=C3=B6m?= <anders.sandstroem@psi.ch>
Date: Mon, 25 Nov 2024 16:45:40 +0100
Subject: [PATCH] El7411: Tune drive current and velo controller

---
 examples/test/el7411/cfg/axis.yaml      | 2 +-
 examples/test/el7411/el7411_qmot.script | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/examples/test/el7411/cfg/axis.yaml b/examples/test/el7411/cfg/axis.yaml
index 68b04d433..b573c7db0 100644
--- a/examples/test/el7411/cfg/axis.yaml
+++ b/examples/test/el7411/cfg/axis.yaml
@@ -5,7 +5,7 @@ epics:
   name: ${AX_NAME=M1}                                 # Axis anme
   precision: 3                                        # Decimal count
   description: Test cfg                               # Axis description
-  unit: mm                                            # Unit
+  unit: deg                                            # Unit
   motorRecord:
       fieldInit: 'RTRY=0,FOFF=Frozen'                 # Extra config for Motor record
 
diff --git a/examples/test/el7411/el7411_qmot.script b/examples/test/el7411/el7411_qmot.script
index d752aa95e..798a7274a 100644
--- a/examples/test/el7411/el7411_qmot.script
+++ b/examples/test/el7411/el7411_qmot.script
@@ -8,6 +8,6 @@ require ecmccomp
 #-#############################################################################
 ## Configure hardware
 ${SCRIPTEXEC} ${ecmccfg_DIR}addSlave.cmd,        "SLAVE_ID=16, HW_DESC=EL7411"
-${SCRIPTEXEC} ${ecmccomp_DIR}applyComponent.cmd  "COMP=Motor-QMot-4208-61-04-013-DS, MACROS='I_MAX_MA=2000'"
+${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}"