1. Download initial command and Home routine to motors

For each device Each motor an animatics program is loaded into 
the motor. This program sets default values for some parameter (like
current limits).

Each motor has a *.sm file in the source code directory. These are the
program files for each device:

The testsm program is used to download a program into the animatics motor.
This is the example for the FCS device:

   testsm -m 1
	Enter Command: download fcs.sm

(This method don't seem to work when talking to the motor via the digiOne,
So I actually had to used the animatics vendor software to download the
programs into its memory).
Here is the motor program used: home.sm

To view the program stored in the animatics, used the upload command: 

	Enter Command: upload