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The essence of Epics is described here. In Epics, a device looks like a database with separate records for each of the device's parameters. If you have a motor called test:m1, you can move it using the dm2k program:
dm2k motors.adl(where an example .adl display file is available in our CVS distribution src/epics/motors.adl). You can move the motor from a C program by setting its target value, which is done with a ca_put() call to a channel access to the device test:m1.VAL. You can read a motor's target position (where it is moving to) with a ca_get() call to test:m1.VAL. Information on additional motor records (such as RBV for read-back value, or ACCL for acceleration) is available here, with additional information here.