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# 7. Servo To Go

For machines that use servo motors, one option is to use the servo motor interface card from Servo To Go Inc http://servotogo.com. It has been used in several installations, and the driver code is included with the EMC distribution. Here we attempt to document matters relating to this card. The organization is FAQ-like at this point, addressing specific questions or aspects of using the Servo To Go card.

./src/emcmot/stg.c ./src/emcmot/stg.h | Model 1 produces stg.o (4 axes) with -DSTG_8_AXES produces stg8.o (8 axes)
./src/emcmot/stg2.c ./src/emcmot/stg2.h | For Model 2 4 axis default (use -DSTG_8_AXES for 8 axes, 4 or 8 are currently your only choices).
./src/emcmot/stg_v2_axis8.c | same as above but does not have FIND_STG_BASE_ADDRESS variable and associated code. May be obsolete since there are some typos in comments that are corrected in stg2.c
./src/emcmot/stgdiag.c | diagnostics program a stand-alone console (command line) program to test card functions note that a similar program is available on the Servo To Go web site.
./src/emcmot/extstgmot.c | dispatcher/wrapper implements functions described in extintf.h by calling functions in stg.c or stg2.c
./plat/nonrealtime/bin/stg2diag | executable from stgdiag.c Model 2 Use from command line.
./plat/nonrealtime/bin/stg2mot | non-real-time from stg2.o Model 2 4 axes.
./plat/nonrealtime/bin/stgdiag | executable from stgdiag.c Model 1 Use from command line.
./plat/nonrealtime/bin/stgmot | non-realtime from stg.o Model 1 4 axes.
./plat/nonrealtime/lib/stg.o | from stg.c intermediate file
./plat/nonrealtime/lib/stg2.o | from stg2.c intermediate file
./plat/nonrealtime/lib/stg8.o | from stg.c with STG_8_AXES flag Model 1.
./plat/nonrealtime/lib/stgdiag.o | file used to make the executable in the bin directory.
./plat/realtime/lib/stg.o | from stg.c intermediate file
./plat/realtime/lib/stg2.o | from stg2.c intermediate file
./plat/realtime/lib/stg2mod.o | from stg2.o Model 2 4 axes
./plat/realtime/lib/stg8.o | from stg.c with -DSTG_8_AXES Model 1 8 axes
./plat/realtime/lib/stg8mod.o | installable kernel module from stg8.o Model 1 8 axis
./plat/realtime/lib/ stg_v2_8axis_mod.o | from stg2.o (not stg_v2_8axis.o) same as stg2mod.o (no, I don't know why)
./plat/realtime/lib/stgmod.o | from stg.o Model 1 4 axis

Subsections

- 7.1 Connecting to the card
- 7.2 Options in extstgmot.c
- 7.3 Where's the driver?
- 7.4 What is the difference between Model 1 and 2?
- 7.5 stgdiag

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