ecmc v8.0.0

Add support for jerk limited trajectories based on ruckig (https://github.com/pantor/ruckig).
Trapetzoidal trajectories still supported and default in ecmccfg. Ruckig module is now a dependency.

Note: ruckig trajectory restrictions: On the fly velocity target changes only allowed in constant velo and not when positioning. On the fly update of position setpoint is supported.
Update of trajectory generator to allow "on the fly" update of target position and target velocity (trapezoidal traj.).
Ensure that master is not scanning slaves at startup. If scanning then wait until scan is finished (with timeout).
Remove commands Cfg.SetOpMode() and GetOpMode(). Obsolete and not used.
Add command "Cfg.SetAxisHomePosition()", same as Main.Mx.fHomePosition (try to phase out this old syntax)
Add possibility to run motion without motor record.

Control params:

ax<id>.control
ax<id>.command
ax<id>.cmddata
ax<id>.targpos
ax<id>.targvelo

Status params:

ax<id>.status
ax<id>.actpos
ax<id>.setpos
ax<id>.poserr
ax<id>.diagnostic

Examples and more info are available in:
ecmccfg/examples/test/motionWithoutMotorRecord/

Brake handling:
- Engage brake if not enabled (instead of at enable cmd)
- Start counting open delay when drive enabled goes high (instead of enable cmd).
Reset axis enable cmd if ethercat in error state (prevent re-enable when ethercat returns to OK)
Add command to set drive timeout for enabled and DS402 state machine: "Cfg.SetAxisDrvStateMachineTimeout(int axis_no, int seconds)"
Fix of absolute encoder reading at ioc startup

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