Drive-Based Motion Architecture

To connect a real axis to the PLCopen Function Blocks, a certain driver Function Block has to be used for every axis type. These Function Blocks are named XXX_ACCESS and are realized for a variety of drives. By creating new driver Function Blocks, additional drives or additional types of motion-control-software might be included.

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Architecture

The usage of the “XXX_ACCESS” is dependent on the different drive types. For all drives, the structure AXIS_REF holds an element parameter from type AXIS_PARAMETER. This is initialized with some default values but might be adjusted to the specific application. ACSM1_ACCESS_dc Driver Unit in Decentralized Motion Control ACS350_ACCESS_dc