.. index::
   single: MOCON
   single: mocon

=======================
The MOCON motor control
=======================

The first undulators at the 
`Helmholtz-Zentrum Berlin <https://www.helmholtz-berlin.de>`_.
used the `MOCON <http://www.zub.ch/DE/wissenschaft.html>`_
system to control the servo motors. They were introduced about 1997. The MOCON
is now a legacy device and is only used at a few older undulators.

The MOCON has a control program that communicates with the 
`IOC <https://docs.epics-controls.org/en/latest/guides/EPICS_Intro.html?highlight=IOC#ioc-software-components>`_
by a 
`CAN bus <http://en.wikipedia.org/wiki/CAN_bus>`_ interface.

The following pages describe the how to install the control program ("moserv") and the MOCON simulation program ("mosim").

.. toctree::
   :maxdepth: 2

   moserv_app
   mosim