Embedding core functions in an axis

A core function cannot operate independently because it contains only the code implementation of the motion task, but is not connected to the Motion Control library. When an axis is initialized, the core function receives the interface of the axis, while the axis contains an interface of the core function. At the same time, the core function receives interfaces to Motion Control library functions.

The axis creates a concatenated list to call its core functions. This list is used during the operation of the axis for the following tasks:

• Signaling an Online Change
• Passing on information about the cycle time
• Cyclic calling of methods
• Command for resetting errors

The core functions have access to the information of the axis. In addition, it is possible to call the interfaces of other core functions of the axis if this is necessary for the coordinated execution of tasks.