T A B L E O F C O N T E N T S
1.3 Applicable Documents 7
1.4 Reference Documents 8
1.5 Abbreviations And Acronyms 8
1.6 Stylistic Conventions 9
1.8 Problem Reporting/Change Request 9
2.3 Initialization Sequence 14
3.2.1 Installation Functions 18
3.2.4 VxWorks System Calls 22
3.2.8 Interface Functions 28
3.3 Ioctl Control Commands 33
3.3.1 General Commands 34
3.3.2 Speed and Brake Mode 35
3.3.3 Positioning Mode 35
3.3.4 Search Index Coarse Mode 36
3.3.5 Search Index Mode 37
3.3.8 Velocity Tracking Mode 39
3.3.9 Position Tracking Mode 39
3.3.11 Axis Configuration 40
3.3.12 Encoder Configuration 41
3.3.13 Control Loop Configuration 42
3.3.14 Signal Configuration 43
3.3.15 Interrupt Configuration 44
3.3.16 Auxiliary Parameters and Commands 47
3.3.17 Stepper Motor Specific Parameters 49
3.3.18 Status Commands 50
3.3.19 Direct Controller Access 53
3.3.20 Driver-related Commands 53
4.1 Installation Prerequisites 61
4.1.1 Hardware Requirements 61
4.1.2 Software Requirements 61
4.2 Building the Software 61
4.3 Installation Procedure 62
4.4 Installation Script Example 63
4.5 Installation Verification 64
5 ERROR MESSAGES AND RECOVERY 65
5.2 Command-dependent Behaviour 66
5.3 Hints for Error Recovery 67
5.4.1 Common Driver Errors 68
5.4.2 MCON Specific Errors 68
