Beckhoff architecture

doc/specific_iocs/motors/Beckhoff.md

@@ -20,9 +20,7 @@ Current Beckhoff installations are:
 ## Code on the controller
 Unlike most other devices (except the Galil) the computing group has some oversight over the PLC code written on the controller. It has been agreed that this code will mostly be written by IDD, with oversight from computing to guide good programming practices, assist in debugging etc. Code running on the PLC is kept in source control [here](https://github.com/ISIS-Motion-Control).
 
-The [Axis and Controller Commissioning Guide](https://stfc365.sharepoint.com/:w:/s/ISISMechatronics/Ee_aMxb5CF1Dlz-NUGW3OVgB0K7vQjXXwZDwSl5DSHN48w?e=GjqNEb&isSPOFile=1) document describing setting up a controller and TwinCAT solution for a new system and configuring real and virtual axes within TwinCAT environment.
-
-
+The [Axis and Controller Commissioning Guide](https://stfc365.sharepoint.com/:w:/r/sites/ISISMechatronics/Shared%20Documents/Beckhoff%20and%20TwinCAT/Commissioning/Axis%20and%20Controller%20Commissioning%20Guide.docx?d=w1633daef08f9435d973f8d5065b73958&csf=1&web=1&e=QFdAQk) document describing setting up a controller and TwinCAT solution for a new system and configuring real and virtual axes within TwinCAT environment.
 
 ## Commissioning a new Beckhoff on a beamline
 see [Beckhoff Commissioning](beckhoff/Beckhoff-commissioning)

doc/specific_iocs/motors/beckhoff/Beckhoff-architecture.md

@@ -2,7 +2,7 @@
 
 [TC](https://github.com/ISISComputingGroup/EPICS-ioc/tree/master/TC) is the IOC responsible for communication with Beckhoff PLCs at ISIS.
 
-At IOC startup, it uses [a command](https://github.com/ISISComputingGroup/adsDriver/blob/main/adsApp/src/ioc_commands.cpp#L139) to get the number of motion axes. Note that this may be more than 8, in which case we have to use [some logic](https://github.com/ISISComputingGroup/EPICS-ioc/blob/master/TC/iocBoot/iocTC-IOC-01/st-common.lua#L51) to alias `MTR0109` to `MTR0201` so we can display it in the IBEX GUI's table of motors.  
+At IOC startup, it uses [a command](https://github.com/ISISComputingGroup/adsDriver/blob/71a3404bd266cc260ff8802e1a1c017be09dbef4/adsApp/src/ioc_commands.cpp#L139-L199) to get the number of motion axes. Note that this may be more than 8, in which case we have to use [some logic](https://github.com/ISISComputingGroup/EPICS-ioc/blob/2ae20fd5997457a48469ced80f377eaaa49935b3/TC/iocBoot/iocTC-IOC-01/st-common.lua#L51-L55) to alias `MTR0109` to `MTR0201` so we can display it in the IBEX GUI's table of motors.  
 
 We have an EPICS motor record implementation which TC uses that interfaces some intermediate PVs, spun up [at runtime](https://github.com/ISISComputingGroup/EPICS-ioc/blob/97e2bd77c5909ff2f1b6c0cda7f175366b379102/TC/iocBoot/iocTC-IOC-01/st-common.lua#L30) per-axis by AdsDriver using [the Beckhoff Motor Extensions](https://github.com/ISISComputingGroup/EPICS-motorExtensions/tree/master/beckhoffApp)  `.db` files.
 

doc/specific_iocs/motors/beckhoff/Beckhoff-commissioning.md

@@ -42,7 +42,7 @@ These can be set via a `caput` and will be autosaved thereafter.
 
 #### Axes, motion setpoints, jaws
 
-These are loaded in the usual way, you'll need to put your `axes.cmd` and `motionSetpoints.cmd` files in `motorExtensions\master\settings\NDX<inst>\twincat\`
+These are loaded in the usual way, you'll need to put your `axes.cmd` and `motionSetpoints.cmd` files in `motorExtensions\master\settings\<inst>\twincat\`
 
 #### Jaws
 

doc/specific_iocs/motors/beckhoff/Beckhoff-testing.md

@@ -53,7 +53,7 @@ To simulate an instrument's Beckhoff and make it virtual rather than driving phy
 
 1. Follow the above steps
 1. find the repo for that particular MCU within https://github.com/ISIS-Motion-Control 
-1. clone it and checkout master, then `git submodule update --init` in the cloned directory
+1. `git clone --recurse-submodules <repo> <dir>`
 1. open up the solution in TwinCAT XAR
 1. change the `MCU_xxx` in the dropdown next to "solution" to `<local>`
 

doc/specific_iocs/motors/beckhoff/Beckhoff-troubleshooting.md

@@ -33,7 +33,7 @@ The solution is to set `.DLY` to 0.25 in the motor record (which causes a 250ms
 
 ### SANDALS - Jaws and Sample Changer
 
-SANDALS has a Beckhoff PLC which serves the Jaws permanently, and the Sample Changer when it is plugged in (over an Ethercat network)
+SANDALS has a Beckhoff PLC which serves the Jaws permanently, and the Sample Changer when it is plugged in (over an [EtherCAT](https://en.wikipedia.org/wiki/EtherCAT) network)
 
 Some of these axes are relatively-encoded, so need to be homed/calibrated before use after a power cycle. At the moment we use the `.ATHM` field to indicate this, so if the home icon is not shown on the Table of Motors the axes have not been calibrated and will error when a move is attempted.
 

doc/spelling_wordlist.txt

@@ -233,7 +233,7 @@ enums
 env
 erroring
 ess
-Ethercat
+EtherCAT
 ethernet
 Eulerian
 Eurotherm