10.2 As a manual server
All Application Manual Name SummaryHelp

doc_load_library
Load all library files. This is intended to set up a local documentation server. A typical scenario, making the server available at port 4000 of the hosting machine from all locations in a domain is given below. 
:- doc_server(4000,
              [ allow('.my.org')
              ]).
:- use_module(library(pldoc/doc_library)).
:- doc_load_library.

Example code can be found in $PLBASE/doc/packages/examples/pldoc.