Trouble shooting motor software
Follow this procedure if you are getting "RPC: Program not registered" errors in response to motor commands.
  1. Type 'ct' to see if the motor and i/o daemons are already running. If they are, stop daemons, otherwise go to step 2. To stop daemons type

    nirc2 stop motors


  2. Start the motor and i/o daemons. To do that type

    nirc2 start motors

    The motor daemon takes 30-60 seconds to start if all motors are connected and longer if one or more motors are not connected.

  3. Type 'ct' to confirm that the motor and i/o daemons are now running, if not, call software support.

  4. Whenever the motor power is cycled, you have to use the motorinit command to execute the animatics init subroutine, which setups up motion dynamics, before any commands will work.

  5. Use 

    tlog
    to watch the motor messages come scrolling out of the nirc2 log file.