Deployment

The guides in this section describe how to load a custom Processing block (from a Simulink model or custom C/C++ code) on a PMP motion controller or PMP EtherCAT SubDevice. It is expected that the user has already created a PMP processing block binary file for the (simulated) controller, if not, first follow the Simulink code generation or Custom C/C++ code guide to create the binary file.

Deployment on motion controllers and PMP EtherCAT SubDevices differs, please refer to the relevant guide.

Introduction

Custom processing blocks can be deployed on PMP motion controllers or PMP EtherCAT SubDevices. The implementation on EtherCAT SubDevices has limitations and differences compared to motion controllers.

PMP motion controllers vs. PMP EtherCAT SubDevices

Functionality	PMP motion controllers	PMP EtherCAT SubDevices
Custom processing blocks	Yes, the amount of memory available for custom processing blocks and other updatables can be read via the UpdatableMemoryAvailable signal	Yes, but the amount of processing blocks, interfaces of the processing blocks and calculation order is pre-defined
Calculation order	Automatically determined based on input connections via scheduler	Calculation order pre-defined
Persistently stored	No, processing block needs to be uploaded after each reboot	Yes, processing block automatically becomes active after reboot
Processing block Timing measurements	Yes	No
Memory usage monitoring	Yes	No
Logging from custom C/C++ code	Yes	Yes
Asynchronous execution	Yes, when supported by the motion controller	No