1 INTRODUCTION

1.1 Purpose

This document is the User Manual of the driver for the Heidenhain IK320 Encoder I/F. This VMEbus card is produced by J. Heidenhain GmbH, Traunreut, and has been standardized by ESO for motor control purposes, particularly for the VLT adapter/rotator and NTT alt/az axis.

The IK 320 driver consists of a module that belongs to the CCS-LCU package. It contains the interface to be used by higher level software to access the Heidenhain IK320 Encoder I/F.

The module-name of the driver is ikon.

This document should provide all the necessary information for the development of applications using the ikon 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: Consists of the chapters 2, 3 and 4. It gives an overview of the driver and describes its functions and ioctl-commands in detail.

· 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 list of error and diagnostic messages and possible recovery actions.

· Reference: Describes all the functions available as man-pages.

1.2 Scope

This manual describes the software module ikon in its version 1.29.

· ikon - Heidenhain IK320 Encoder I/F Driver

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 Heidenhain IK320 Encoder I/F board

· 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 Heidenhain Ik320 Encoder I/F Driver Specification
VLT-SPE-ESO-17210-0805, Issue 1.2, 06.03.1996

[2] VLT Local Control Unit Software Specification
VLT-SPE-ESO-17210-0002, Issue 2.0, 30/09/92

1.4 Reference Documents

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

[3] Benutzerhandbuch IK 320 VMEbus-Zählerkarte, 11/95, # 286 941 01,
J. Heidenhain GmbH, Traunreut

[4] VxWorks Version 5.2 Programmer's Guide
Wind River Systems, Mar. 1995

[5] VxWorks Version 5.2 Reference Manual
Wind River Systems, Mar. 1995

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

[7] VLT SW Rel1 - Overview and Installation
VLT-MAN-ESO-17200-0642

[8] CCS-LCU/Driver Development Guide
VLT-MAN-ESO-17210-0375, Issue 2.1, 15.01.1996

1.5 Abbreviations And Acronyms

The following abbreviations and acronyms are used in this document:

CCS Central Control Software

CPU Central Processing Unit

DPRAM Dual Port RAM

EPROM Erasable Programmable Read Only Memory

FPU Floating Point Unit

FW Firmware

HW Hardware

I/O Input/Output

LCC LCU Common Software

LCU Local Control Unit

N/A Not Applicable

OS Operating System

POST Power On Self Test

RAM Random Access (read/write) Memory

SW Software

TBD To Be Defined

VLT Very Large Telescope

WS Workstation

1.6 Usage of Terms

byte 8 bits value

word 16 bits value

long word 32 bits value

integer 32 bits signed integer value

double 64 bits floating-point value according to IEEE-754

1.7 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.

1.8 Naming Conventions

This implementation follows the naming conventions as outlined in the VLT Programming Standards [6].

1.9 Problem Reporting/Change Request

To:

· report a problem/error encountered using the software and/or the documentation,

· suggest changes in the software or documentation

fill an SPR-form (shown in the following page) and send it with any other additional material that you think could be helpful, to ESO:

· by mail or fax for the attention of:
VLT/ELE- SOFTWARE GROUP/Software Configuration Control Manager

· by e-mail to: vltsccm@eso.org

Your request will be checked-in the SPR data base and processed according to ESO change control procedure. The registration number will be communicated to you for further reference and you will be kept informed of the outcome of your SPR.

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E. S. O. ---- VERY LARGE TELESCOPE PROJECT ----
------------------------------------------------------------------------------
SOFTWARE PROBLEM REPORT/CHANGE REQUEST FORM DATE: <dd/mm/yy>
------------------------------------------------------------------------------
From:
<contract number>
<consortium name>
<institute name/company name>
<address>

<name of the submitter with its e-mail adress/fax number/phone number>
------------------------------------------------------------------------------
Subject: < module name / document title + version number >

Title: < problem short description >

------------------------------------------------------------------------------
Please mark one of the following categories

_ software error
_ error in the documentation
_ change request
------------------------------------------------------------------------------
Description:

>>>>> Please delete these lines and provide:
>>>>> for software errors:
>>>>> - the description of the anomaly, uncluding outputs,
>>>>> - how to reproduce it,
>>>>> - if existing, the temporary solution,
>>>>> - if known, the reference to where it was specified correctly
>>>>> - if known, the way to fix it.
>>>>>
>>>>> for errors in the documentation:
>>>>> - the exact location of the error (DocNr, issue, page, etc.)
>>>>> - the text that is wrong
>>>>> - if known, to what should it be changed.
>>>>>
>>>>> for change request
>>>>> - the description of what you would like to have
>>>>> - if available, possible implementation hints.
>>>>>
>>>>>

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