Merge branch '2854-micos-controller-improvements' into 'master'

Resolve "micos controller improvements"

Closes #2854

See merge request !3856

doc/docs/config_micos.md

 # Micos Motor controller
 
-## Configuration example from ID10 EH2
+This Bliss controller has been only tested with a Taurus controller (Firmware version 2.39) model and a Micos UPR160 AIR stage (air-bearing rotation stage).
+
+
+## Configuration example
 ```YAML
    controller:
      class: micos
@@ -28,16 +31,39 @@
       cloop_gstbit5sel: True
       cloop_trigopsel: 0
       cloop_wintime: 1.2E-3
-      tango_server: eh2_micos
-      tags: micos
-      user_tag:
-      - EH2.MICOS
+      encoder: $ths_enc
+      check_encoder: False
+      home_position: -129
+    encoders:
+    - name: ths_enc
+      number: 1
+      steps_per_unit: 65550
 ```
 
 above example works in case there is a \_\_init__.yml in the same directory containing
 
     plugin: emotion 
 
-## further reading at ESRF
+The configuration `encoders` entry is optional, but if you want to perform continuous scans using the **FSCAN** framework (https://gitlab.esrf.fr/bliss/fscan) for instance, this is the only way to read the encoder resolution to convert the encoder steps into user unit.
+
+
+## How to initialize the Micos controller after power off
+
+After switching on the Micos motor controller and the compressed air we must execute this function (via reset_axis()).
+This command not only initializes axis with the last saved parameters, but also moves axis to some place and set position to be 0 there.
+
+Therefore after reset_axis() call, we must proceed to home search:
+
+```python
+CDI [14]: ths.reset_axis()
+CDI [15]: ths.home()
+Moving ths from 100.02 to home
+CDI [16]: 'ths` dial position reset from 124.639175 to 0.000168
+'ths` position reset from 5.639128999999987 to -119.0 (sign: 1, offset: -119.000153)
+
+```
+
+
+## Further reading at ESRF
 
 *   [Micos id01 wiki](http://wikiserv.esrf.fr/id01/images/2/29/Venus-2_1_9_eng_A4.pdf)