Explanations of terms

Function block: internal order format of the motion controller

HLI library: access to the memory interface to the MCE

MCE: this stands for the NC kernel which is also referred to as the "Motion Control Engine" in connection with this documentation

MC-FB: designates the PLC function blocks that are used for issuing commands to the MC

Motion library: a PLC software application that contains function blocks for moving axes in conformity with the PLCopen specification as well as further FBs to assume motion generation tasks

Abbreviations

AXHLI Axis-specific High-LevelInterface

CFC Continuous Function Chart editor of TwinCAT

CM Continuous Motion (endless rotation)

DM Discrete Motion (positioning)

FB Function Block

FBSD FB-State Diagram

HLI High-Level-Interface between MC and PLC

MC Motion Controller

MCP Motion Control Platform

MCE Motion Control Engine

MC-FB Motion Controller Function Block

NL Slope Non-Linear slope

PLC Programmable Logic Control

SAI Single Axis Interpolator