Control loop customization

The guides in this section provide step-by-step instructions how to run a Simulink model or custom C++ code on a (simulated) motion controller or EtherCAT SubDevice. The first guides focus on creating PMP processing block binary files with custom code that can be uploaded to a PMP device or simulator:

• Simulink code generation explains how to create a PMP processing block binary file via Simulink code generation, and

• Custom C/C++ code explains how to create a PMP processing block binary file from C/C++ code.

The Deployment guide explains how to upload a PMP processing block binary file on a (simulated) motion controller or EtherCAT SubDevice, regardless whether the binary file is created via Simulink code generation, C++, or it is pre-built from our processing block library.

Besides the default processing block Diagnostics, there are additional debugging possibilities for C++ processing blocks:

• Logging explains how to log to a file from processing blocks and read the log.