\subsection{Mclennan}

\ \newline
\textit{Platforms: All}

\ \newline\newline
This set of drivers is for the Mclennan PM-600 from Mclennan Servo Supplies
(\MxLink{http://www.mclennan.co.uk/}{http://www.mclennan.co.uk/}).
It contains code for several other models of Mclennan controller,
but it has only actually been tested with the PM-600.

The MX drivers and their fields include
\ \newline\newline
\textbf{mclennan} driver
%
\newcommand{\MxFieldMclennanRsCDCZrecord}
{The name of the MX record for the RS-232 port that the controller
is plugged into.}
%
\newcommand{\MxFieldMclennanAxisZnumber}
{The axis number for this encoder.}
%
\newcommand{\MxFieldMclennanAxisZencoderZnumber}
{If a PM368 encoder display is installed, specify the axis encoder number
for it here.  If a PM368 is \textbf{not} installed, then specify -1 here.}
%
\ \newline\newline
\MxMclennanDriverFields
%-----
\ \newline\newline
\textbf{mclennan\_ain} driver
%
\newcommand{\MxFieldMclennanZainMclennanZrecord}
{The name of the MX motor record that this analog input belongs to.}
%
\newcommand{\MxFieldMclennanZainPortZnumber}
{The port number for this analog input.}
%
\ \newline\newline
\MxMclennanZainDriverFields
%-----
\ \newline\newline
\textbf{mclennan\_aout} driver
%
\newcommand{\MxFieldMclennanZaoutMclennanZrecord}
{The name of the MX motor record that this analog output belongs to.}
%
\newcommand{\MxFieldMclennanZaoutPortZnumber}
{The port number for this analog output.}
%
\ \newline\newline
\MxMclennanZaoutDriverFields
%-----
\ \newline\newline
\textbf{mclennan\_din} driver
%
\newcommand{\MxFieldMclennanZdinMclennanZrecord}
{The name of the MX motor record that this digital input belongs to.}
%
\newcommand{\MxFieldMclennanZdinPortZnumber}
{The port number for this digital input.}
%
\ \newline\newline
\MxMclennanZdinDriverFields
%-----
\ \newline\newline
\textbf{mclennan\_dout} driver
%
\newcommand{\MxFieldMclennanZdoutMclennanZrecord}
{The name of the MX motor record that this digital output belongs to.}
%
\newcommand{\MxFieldMclennanZdoutPortZnumber}
{The port number for this digital output.}
%
\ \newline\newline
\MxMclennanZdoutDriverFields

\ \newline

Here is an example database for the \textit{mclennan} driver:
\begin{verbatim}
mr interface rs232 tty "" "" 9600 7 E 1 N 0x0d0a 0x0d -1 0x0 /dev/ttyS0
m1 device motor mclennan "" "" 0 0 -1000000000 1000000000 0 -1 -1 1 0 steps mr 1 -1
din1  device digital_input mclennan_din "" "" 0 m1 1
dout1 device digital_output mclennan_dout "" "" 0 m1 1
ain1  device analog_input mclennan_ain "" "" 0 1 0 units 0x0 0 "" m1 1
aout3 device analog_output mclennan_aout "" "" 0 1 0 units 0x0 m1 3
\end{verbatim}
