Introduction TC_PLC_MOTION_LAYER

PLC_MOTION

• TwinCAT motion layer approach
  • Manual compiler defines for optional binding of libraries ('library'RMB:Properties:Conditional Referencing)
    • NCI
    • CAM
    • XFC
  • Manual compiler define for file systems
    • BSD
  • struct/state based communication to extern control
    • any communication layer, choose signal type in TwinCAT
    • axis state carries selected information in order to keep mapping small
  • MC PtP lib; Conditions: 'empty'
    • Tc2_MC2
    • Tc2_MC2_Drive
    • Tc2_NC
  • NCI lib; Conditions: NCI
    • Tc2_NCI
    • Tc2_PlcInterpolation
  • CAMMING lib; Conditions: CAM
    • Tc2_MC2_Camming
  • XFC lib, Conditions: XFC
    • Tc2_MC2_XFC
  • for each of the functions there is a Ctrl/State pair of structs and additional parameter structs to write/read
  • error logging in MsgList, info logging optional, automated write to file optional
  • enum based commands and orders
    • E_AXIS_CTRL --> Ptp
    • E_NCI_CTRL --> NCI (optional)
    • E_AXIS_CTRL --> Camming (optional)

NAMESPACES [_GVL]

- GVL_AXIS	- MC/PtP
- GVL_NCI	- interpolated
- GVL_CAM	- Camming
- GVL_FUNCTIONS - XFC TriggerBox, TouchProbe
- GVL_MSG