1 INTRODUCTION 9

1.1 Purpose 9

1.2 Scope 9

1.3 Reference Documents 10

1.4 Abbreviations and Acronyms 10

1.5 Stylistic Conventions 10

1.6 Naming conventions 10

1.7 Problem Reporting/Change Request 10

2 USER'S GUIDE 11

2.1 Overview 11

2.2 Supported Configurations 13

2.2.1 Version Related Configurations 15

2.3 Motor Registration 15

2.3.1 Configuration 15

2.3.2 Installation 16

2.3.3 Deinstallation 16

2.4 Application Programmatic Interface 16

2.4.1 Access Control 19

2.4.2 Operational Modes 21

2.4.3 Initialization Procedure 22

2.4.4 Motion Modes 24

2.4.5 Motion Specification 25

2.4.6 Motion Control 29

2.4.7 Motion Monitoring 31

2.4.8 Status Sampling 32

2.4.9 Unit Conversion Facility 32

2.4.10 Emergency Handling and Abnormal Events 34

2.4.11 I/O Signals 35

2.4.12 User Function Hooks 35

2.4.13 External encoder support 37

2.5 Application Command Interface 40

2.5.1 Commands 40

2.5.2 Input Syntax 42

2.5.3 Output Syntax 43

2.5.4 Output Format 44

3 REFERENCE MANUAL 45

3.1 Aplication Programmatic Interface 46

3.1.1 motAttach(3) 46

3.1.2 motCheckBrake(3) 47

3.1.3 motCheckInterlock(3) 48

3.1.4 motCheckMove(3) 49

3.1.5 motClampBrake(3) 51

3.1.6 motConnect(3) 52

3.1.7 motDetach(3) 53

3.1.8 motDigToCurrent(3) 54

3.1.9 motDisable(3) 55

3.1.10 motDisconnect(3) 56

3.1.11 motEnable(3) 57

3.1.12 motEncToName(3), motEncToIndex(3) 58

3.1.13 motEncToPos(3) 60

3.1.14 motEncToVel(3) 61

3.1.15 motGetOpMode(3) 62

3.1.16 motGetHandle(3), motGetSemIEV(3) 63

3.1.17 motGetStatus(3) 64

3.1.18 motInitHw(3) 66

3.1.19 motInitSampling(3) 67

3.1.20 motInitSw(3) 69

3.1.21 motLoadPar(3) 70

3.1.22 motMotors(3) 71

3.1.23 motMove(3) 72

3.1.24 motNameToEnc(3) 74

3.1.25 motNameToVel(3) 75

3.1.26 motPosToEnc(3) 76

3.1.27 motRefToVel(3) 77

3.1.28 motResetAxis(3) 78

3.1.29 motResetBoards(3) 79

3.1.30 motRetrievePar(3) 80

3.1.31 motSetDefaultUnits(3) 81

3.1.32 motSetMotionMode(3) 82

3.1.33 motSetOpMode(3) 83

3.1.34 motGetParListAddress(3), motSetParListAddress(3) 85

3.1.35 motSetSwLimits(3) 87

3.1.36 motStop(3) 89

3.1.37 motStopSampling(3) 90

3.1.38 motUnclampBrake(3) 91

3.1.39 motVelToEnc(3) 92

3.1.40 motVelToRef(3) 93

3.1.41 motWaitInit(3) 94

3.1.42 motWaitMove(3) 96

3.1.43 motWriteEncoderValue(3) 98

3.2 Application Command Interface 99

3.3 Tools 101

3.3.1 motClear(1) 101

3.3.2 motInitDb(1) 102

3.3.3 motInstall(1)/motDeinstall(1) 103

3.3.4 motPrintMotors(1) 104

3.3.5 motVersion(1) 105

3.4 Include files 106

3.4.1 mot.h 106

3.4.2 motDefines.h 116

3.4.3 motPublic.h 125

3.4.4 motciDefines.h 132

4 STRUCTURE AND CONFIGURATION OF THE LOCAL DATABASE 135

4.1 Overview 135

4.2 Classes 135

4.3 Motor Database Branch Structure 137

4.4 Motor Database Branch Configuration 138

4.5 General Status Section 139

4.6 Server Section 141

4.6.1 Configuration Section 141

4.6.2 Initialization Section 150

4.6.3 Unit Conversion Section 153

4.6.4 Internal Section 156

4.7 SDL section 156

4.7.1 CFG section 156

4.7.2 RUN section 156

4.8 SDL Sections of supported boards 157

4.8.1 Servo Amplifier VME4SA-X1 157

4.8.2 Motion Controller MAC4 157

5 INSTALLATION GUIDE 163

5.1 Installation Requirements 163

5.1.1 Hardware Requirements 163

5.1.2 Software Requirements 163

5.2 Building the Software 163

5.3 LCU Environment Configuration 163

5.3.1 Local Database 164

5.3.2 Verification 166

6 ERROR MESSAGES AND RECOVERY 169

APPENDIX A 171

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