def METHOD_NAME(self):
    """Connects to all Tine channels and commands"""
    self.polling = self.get_property("polling", TangoMotor.default_polling)
    self.actuator_name = self.get_property("actuator_name", self.name())
    self._tolerance = self.get_property("tolerance", 1e-3)
    self.is_simulation = self.get_property("simulation",False)
    self.auto_on = self.get_property("auto_on",False)
    if self.auto_on:
        self.log.debug("AUTO_ON is set for motor %s" % self.name())
    if self.is_simulation:
        self.simulated_pos = 0.0
        self.set_ready()
        return
    self.chan_position = self.get_channel_object("axisPosition", optional=True)
    if self.chan_position is None:
        self.chan_position = self.add_channel(
              {
                  "type": "tango",
                  "name": "axisPosition",
                  "tangoname": self.tangoname,
                  "polling": self.polling,
              }, "Position",)
    if self.chan_position is not None:
        self.chan_position.connect_signal("update", self.update_value)
        self.update_value(self.chan_position.get_value())
    self.chan_state = self.get_channel_object("axisState", None)
    if self.chan_state is None:
        self.chan_state = self.add_channel(
            {
                "type": "tango",
                "name": "axisState",
                "tangoname": self.tangoname,
                "polling": self.polling,
            },
            "State",
        )
    if self.chan_state is not None:
        self.chan_state.connect_signal("update", self.motor_state_changed)
    self.chan_limits = self.get_channel_object("axisLimits", optional=True)
    if self.chan_limits is not None:
        self.chan_limits.connect_signal("update", self.update_limits)
        self.update_limits(self.chan_limits.get_value())
    else:
        try:
            if self.get_property("default_limits"):
                self.update_limits(eval(self.get_property("default_limits")))
        except Exception:
            pass
    self.cmd_stop = self.get_command_object("stopAxis")
    if self.cmd_stop is None:
         self.cmd_stop = self.add_command(
              {
                  "type": "tango",
                  "name": "stopAxis",
                  "tangoname": self.tangoname,
              }, "Stop",)
    self.cmd_on = self.get_command_object("onCmd")
    if self.cmd_on is None:
         self.cmd_on = self.add_command(
              {
                  "type": "tango",
                  "name": "onCmd",
                  "tangoname": self.tangoname,
              }, "On",)
    self.chan_velocity = self.get_channel_object("velocity", optional=True)
    self.cmd_calibrate = self.get_command_object("calibrate")
    # update values
    self.motor_state_changed()
    self.update_value()