1 INTRODUCTION

1.1 Purpose

This document¹ is the User Manual of the software module for the Maccon motion controller driver (abbreviated with mcon).

It is intended to provide all the necessary information to develop applications using the mcon driver.

The manual assumes that the reader has a good knowledge of UNIX, C-language, the VxWorks operating system and is familiar with VxWorks development environment.

In addition to the Introduction section, this manual contains four major sections:

� User's Guide: Describes the tasks that can be done by the driver, including examples of "how to use it".

� Reference: Describes all the functions available.

� Installation Guide: Describes how to install the driver and make it ready for use. This section also contains test procedures.

� Error Messages and Recovery: Provides a complete list of error and diagnostic messages and possible recovery actions.

1.2 Scope

This manual describes the software module mcon in its version 2.11.

The mcon module is the driver controlling the MAC4-series boards from MACCON GmbH. The MAC4 is a VMEbus motion controller board standardized by ESO for motor control. It is available in versions for DC-motors with incremental encoders (MAC4-INC), with SSI-encoders (MAC4-SSI) and for stepper-motors (MAC4-STP). The mcon module can be used for all three controller versions.

This implementation includes the following C library:

� mcon - library of routines to access the mcon module.

The following hardware and software environment is required to run the software described:

� a VMEbus chassis with bus backplane and power supply

� at least one of the controller boards MAC4-INC version 4.1, MAC4-SSI version 4.1, or MAC4-STP version 2.0

� one Motorola MVME167 CPU board, any version

� VxWorks version 5.2 operating system

� software module lculog for internal logging, version 1.9 or later

� software module lcudrv for common driver functions, version 1.16 or later

1.3 Applicable Documents

The following documents, of the exact issue shown, form a part of this document to the extent specified herein. In the event of conflict between the documents referenced herein and the contents of this document, the contents of this document shall be considered as a superseding requirement.

[1] CCS-LCU Maccon Driver Specification
VLT-SPE-ESO-17210-0229, Issue 2.0, 01/12/92

1.4 Reference Documents

The following documents contain additional information and are referenced in the text.

[2] Benutzerdokumentation MAC4-xxx Version 3.10 (INC,SSI), Version 1.9 (STP)
MACCON GmbH, 8.5.1995

[3] VxWorks Version 5.2 Programmer's Guide
Wind River Systems

[4] VxWorks Version 5.2 Reference Manual
Wind River Systems

[5] CCS-LCU Servo Amplifier User Manual
VLT-MAN-ESO-17210-0361, Issue 1.3, 13.10.1994

[6] ESO VME4SA-X1 4-Channel DC Servo Amplifier Technical Manual
VLT-MAN-ESO-17130-0273, Issue 2.0, 15/12/93

[7] ESO VME4SA Backplane Technical Manual
VLT-MAN-ESO-17130-0274, Issue 3.0, 23/11/94

[8] VLT Software Programming Standards
VLT-PRO-ESO-10000-0228, Issue 1.0, 10/03/93

[9] VLT Common software - Installation Manual
VLT-MAN-ESO-17200-0642, Issue 1.5, 22/01/96

[10] CCS-LCU/Driver Development Guide
VLT-MAN-ESO-17210-0375, Issue 2.1, 15/01/96

[11] VLT Software - Problem report & Change Request User Manual
VLT-MAN-ESO-17200-0981, Issue 1.0, 15/01/96

1.5 Abbreviations And Acronyms

The following abbreviations and acronyms are used in this document:

CCS Central Control Software

CRF Change Request Form

HW Hardware

IEEE Institute of Electrical and Electronics Engineers

I/O Input/Output

LAN Local Area Network

LCC LCU Common Software

LCU Local Control Unit

MAC4 Name of the motor controller board

N/A Not Applicable

OS Operating System

SSI Serial Synchronous Interface

SW Software

TBD To Be Defined

VLT Very Large Telescope

WS Workstation

1.6 Stylistic Conventions

The following styles are used:

bold
in the text, for commands, filenames, prefixes/suffixes as they have to be typed.

italic
in the text, for parts that have to be substituted with the real content before typing.

teletype
for examples.

<name>
in the examples, for parts that have to be substituted with the real content before typing.

bold and italic are also used to highlight words.

1.7 Naming Conventions

This implementation follows the naming conventions as outlined in the VLT Programming Standards [8].

1.8 Problem Reporting/Change Request

The form described in [11] shall be used.

¹

The document is prepared according to the IEEE 1063-1987 (Standard for SW User Documentation) as recommended in sect. 4.2.14 page. 34 of the SW Management Plan - Issue 2.0, 21/05/92.

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