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