From f2f8646d7664b4378d5f69c843da5fc7fb3de9be Mon Sep 17 00:00:00 2001
From: Markus Kristensson <markus.kristensson@ess.eu>
Date: Mon, 2 Feb 2026 16:53:18 +0100
Subject: [PATCH 1/3] Parse SetAxisAutoResetError

Parses SetAxisAutoResetError to allow configuring if an error should be
automatically reset when an axis is enabled.
---
 devEcmcSup/com/ecmcCmdParser.c | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/devEcmcSup/com/ecmcCmdParser.c b/devEcmcSup/com/ecmcCmdParser.c
index 443597e5..7647f2d5 100644
--- a/devEcmcSup/com/ecmcCmdParser.c
+++ b/devEcmcSup/com/ecmcCmdParser.c
@@ -2437,6 +2437,13 @@ static int handleCfgCommand(const char *myarg_1) {
     return setAxisModType(iValue, iValue2);
   }
 
+  /*int Cfg.SetAxisAutoResetError(int axis_no, int autoResetError);*/
+  nvals = sscanf(myarg_1, "SetAxisAutoResetError(%d,%d)", &iValue, &iValue2);
+
+  if (nvals == 2) {
+    return SetAxisAutoResetError(iValue, iValue2);
+  }
+
   /*int Cfg.SetAxisDisableAtErrorReset(int axis_no, int disable);*/
   nvals = sscanf(myarg_1,
                  "SetAxisDisableAtErrorReset(%d,%d)",

From bbf0984d664b7e6b22f467743e8886a65e540581 Mon Sep 17 00:00:00 2001
From: Markus Kristensson <markus.kristensson@ess.eu>
Date: Mon, 2 Feb 2026 16:55:26 +0100
Subject: [PATCH 2/3] Add setAxisAutoResetError()

Adds a function to allow the parser to setup the configured bit.
---
 devEcmcSup/motion/ecmcMotion.cpp | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/devEcmcSup/motion/ecmcMotion.cpp b/devEcmcSup/motion/ecmcMotion.cpp
index 3b4ef2f4..5dbcae97 100644
--- a/devEcmcSup/motion/ecmcMotion.cpp
+++ b/devEcmcSup/motion/ecmcMotion.cpp
@@ -3572,6 +3572,20 @@ int setAxisModType(int axisIndex,
   return axes[axisIndex]->setModType(type);
 }
 
+int setAxisAutoResetError(int axisIndex,
+                       int autoResetError) {
+  LOGINFO4("%s/%s:%d axisIndex=%d, autoResetError=%d \n",
+  __FILE__,
+  __FUNCTION__,
+  __LINE__,
+  axisIndex,
+  autoResetError);
+
+CHECK_AXIS_RETURN_IF_ERROR(axisIndex);
+
+return axes[axisIndex]->setAutoResetError(autoResetError);
+}
+
 int setAxisDisableAtErrorReset(int axisIndex,
                                int disable) {
   LOGINFO4("%s/%s:%d axisIndex=%d, disable=%d \n",

From b08e0a44ce32274643d7f2c23d3f657b0880fd38 Mon Sep 17 00:00:00 2001
From: Markus Kristensson <markus.kristensson@ess.eu>
Date: Mon, 2 Feb 2026 17:20:29 +0100
Subject: [PATCH 3/3] Control autoreset of error when enabled

Creates:
*A variable to control the autoreset of an error when axis enabled.
*A function, setAutoResetError, to configure the variable.

Controls the execution of errorReset() if autoreset is enabled.
---
 devEcmcSup/motion/ecmcAxisBase.cpp | 8 +++++++-
 devEcmcSup/motion/ecmcAxisBase.h   | 1 +
 2 files changed, 8 insertions(+), 1 deletion(-)

diff --git a/devEcmcSup/motion/ecmcAxisBase.cpp b/devEcmcSup/motion/ecmcAxisBase.cpp
index 0f62682e..d3819e2f 100644
--- a/devEcmcSup/motion/ecmcAxisBase.cpp
+++ b/devEcmcSup/motion/ecmcAxisBase.cpp
@@ -309,6 +309,7 @@ void ecmcAxisBase::initVars() {
   enableAutoEnable_             = 0;
   enableAutoDisable_            = 0;
   positionTargetAsyn_           = 0;
+  enableAutoResetError_         = 0;
 }
 
 void ecmcAxisBase::preExecute(bool masterOK) {
@@ -627,7 +628,7 @@ int ecmcAxisBase::getErrorID() {
 
 int ecmcAxisBase::setEnableLocal(bool enable) {
   if (enable && !data_.status_.statusWord_.enable) {
-    errorReset();
+    if(enableAutoResetError_) errorReset();
     extEncVeloFilter_->initFilter(0);  // init to 0 vel
     extTrajVeloFilter_->initFilter(0);  // init to 0 vel    
     if( (!data_.status_.statusWord_.attarget) || (!firstEnableDone_) || (!mon_->getEnableAtTargetMon())) {
@@ -1404,6 +1405,11 @@ int ecmcAxisBase::getModType() {
   return (int)data_.control_.moduloType;
 }
 
+int ecmcAxisBase::setAutoResetError(bool enable) {
+  enableAutoResetError_ = enable;
+  return 0;
+}
+
 int ecmcAxisBase::getCntrlError(double *error) {
   *error = data_.status_.cntrlError;
   return 0;
diff --git a/devEcmcSup/motion/ecmcAxisBase.h b/devEcmcSup/motion/ecmcAxisBase.h
index c34ba996..224a6ded 100644
--- a/devEcmcSup/motion/ecmcAxisBase.h
+++ b/devEcmcSup/motion/ecmcAxisBase.h
@@ -316,6 +316,7 @@ class ecmcAxisBase : public ecmcError {
   bool enableAutoEnable_;
   bool enableAutoDisable_;
   double positionTargetAsyn_;
+  bool enableAutoResetError_;
 };
 
 #endif  /* ECMCAXISBASE_H_ */