On Friday, Manuel and Takahashi-san went to TAMA and sucessfully tested picomotor controller connection. Here a summary of what I have understood about this:

In order to make the computer be able to comunicate with the picomotor controller they must have the same IP address (except for the last digits).

Controller should have a static iP address and for this reason cannot be connected directly to NAOJ network (since it doesn't allow a static IP address). We have to choose a port in the  getaway which are isolated from NAOJ network (and disconnetected from the internet).

The network used for the optical lever control is one if the and can be a good choise. The relative IP adreddes are of the form 133.140.121.XX.

The ports relative to this network in the gataway that can be found up-left corner in tama central room are the number 1 and 2 (see pictures 1 and 2). 

The steps to establish the connection :

1) Pick a gateaway port which is isolated from the naoj network (disconnected from the internet) and  find  the relative IP addreses

2) Using serial port assign to the controller a proper IP address ( command IPADRR )

3) The proper IP address has to be the same of the network except for the last digits which has to be not yet assigned ( make a ping to check..)

5) Also the pc IP adress should be check and eventually changed (with the " assign manually option") to a proper one. (Same of the network with different last digits)

6) Connect both the PC and the controller to the same network and try the ping

[NB if we are not interested in being connected to a network we can simply connect the pc and the controller to the same switch and manually assign them a compatible IP address. In order to connect the PC directy to the controller a crossover cable is needed ]