Add more info to manual

hugo/content/manual/knowledgebase/hardware/EL51xx.md

@@ -9,7 +9,7 @@ The EL51xx series covers incremental encoder interfaces:
 1. EL5101: 1 ch, diff rs422, ttl, 1MHz
 2. EL5101-0010: 1 ch, diff rs422, 5MHz
 3. EL5101-0011: 1 ch, diff rs422, 5MHz, oversampling 100kHz
-4. EL5112: 2 ch ABC or 1ch AB, rs422, 5MHz, **PSI standard**
+4. EL5112: 2 ch ABC or 1 ch AB, rs422, 5MHz, **PSI standard**
 5. EL5131: 1 ch, diff rs422, 5MHz, 2 digital outputs for cam/trigger
 
 ### General

hugo/content/manual/knowledgebase/hardware/EL70x1.md

@@ -10,15 +10,11 @@ chapter = false
 3. [Speed range](#speed-range)
 
 ### error/warning
-If the El70x1 is in error or warning state, further information about the reason for the error/warning can be read from the drives diagnostic register by using the ethercat command. See [command line interface](ethercatcli).
+If the drive is in error/warning state and not possible to enable, see [drive refuse to enable](../../motion/#drive-refuse-to-enable).
 
-{{% notice info %}}
-In order to use the ethercat command, you must first login to the server where the ecmc IOC is running.
-{{% /notice %}}
-
-The diagnostic data can be read from register [Index A010 STM Diag data Ch.1](https://infosys.beckhoff.com/english.php?content=../content/1033/el70x1/2286662027.html&id=126846504617985959) with the following syntax:
+Further information about the error/warning can be read from from the drive's diagnostic register, [Index A010 STM Diag data Ch.1](https://infosys.beckhoff.com/english.php?content=../content/1033/el70x1/2286662027.html&id=126846504617985959):
 
-The ecmccfg/utils/read_el70xx_diag.sh tool can be used to read all the diagnostic registers:
+The ecmccfg/utils/read_el70xx_diag.sh tool can be used to read all the diagnostic registers of any ex70xx drive:
 ```bash
 bash read_el70xx_diag.sh <master_id> <slave_id>
 ```
@@ -50,9 +46,8 @@ Misc error:
 0x00 0
 
 #########################################################
-
 ```
-Note: The tool ecmccfg/utils/PDO_read can also be used for reading the diagnostics.
+Note: The tool```ecmccfg/utils/PDO_read``` can also be used for reading the diagnostics.
 
 #### under voltage
 
@@ -89,13 +84,11 @@ For the EL703x drives the nominal voltage must be set to 24V (ecmccomp handles t
 ### Tuning
 
 There are normally several control loops in an ecmc system:
-* Position loop (centralized in ecmc if CSV)
+* Position loop (centralized in ecmc if CSV), see [tuning](../../tuning)
 * Velocity loop (in drive)
 * Current loop (in drive)
 
-However, for the EL70x1 drives there's no dedicated velocity loop (however some current boost settings that can be applied in acc/dec, see below)
-
-For more information on tuning the position loop see [tuning](../../tuning)
+However, for the EL70x1 drives there's no dedicated velocity loop.
 
 #### Current loop
 For most use cases, the default current controller parameters are already well tuned. Sometimes when operating at higher speeds the current loop needs to be tuned. 
@@ -129,5 +122,5 @@ The EL704x stepper drives are default setup to  a maximum velocity range of +-20
 ```
 
 {{% notice info %}}
-The drive scaling in the axis yaml configuration must be updated if the speed range is changed. See [scaling](../../../motion_cfg/scaling/).
+When changing the speed range of the drive, also the drive scaling in the axis yaml configuration must be updated, see [scaling](../../../motion_cfg/scaling/).
 {{% /notice %}}

hugo/content/manual/knowledgebase/motion.md

@@ -71,16 +71,20 @@ For EL70xx drives the velocity range can be configured to other values than the
 [el70x1 speed range](../hardware/el70x1#speed-range) for setting other velocity range.
 
 ## drive refuse to enable
-First check the dedicated hardware drive panel for diagnostics. If the drive is in warning or error state then, if an EL70x1 drive, diagnose the problem further with the tool described in [hardware](../hardware/el70x1).
+First check the dedicated hardware drive panel for diagnostics and errors/warnings.
+For EL70x1 drive diagnostics, check [el70x1](../hardware/el70x1).
 
 Possible reasons:
-1. For systems with safety, tripp off STO or power to the drive removed by contactor. Check status of safety system.
-2. Over current protection of 48V tripped.
+1. For systems equipped with motion safety (STO or power to the drive removed by contactor): Check status of safety system. Drives with STO:
+  * EL72xx-9xxx
+  * EP7211-0034
+  * Festo CMMT-S
+2. Over current protection of motor power (48V) tripped.
 3. No motor power connected (48V or24V).
 4. ecmc PLC disabling axis, check PLC sources.
-5. Motion axis in error state. Some errors prevent the axis from being enabled. Check axis error state
-6. Drive hardware enable input not set high (valid for EP7211-0034, EL70xx if special cfgs).
-7. Axis object configured with external interlock (yaml->input.interlock).
+5. Motion axis in error state. Some errors prevent the axis from being enabled. Check axis error state.
+6. Drive hardware enable input not set high (valid for EL70xx if special cfgs).
+7. Axis object configured with external interlock (yaml->input.interlock). 
 
 ## force manual motion
 {{% notice warning %}}