Skip to content

[DOCS] [plcopen] fix build #1980

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
sgolebiewski-intel merged 1 commit into from
Mar 18, 2026
Merged

[DOCS] [plcopen] fix build #1980

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 2 additions & 2 deletions ...ries/edge-control-libraries/plcopen-motion-control/docs/rt-motion/rt-motion.rst
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@ The PLCopen motion standard provides a way to have standard and modular applicat

The motion control market displays a wide variety of incompatible systems and solutions. In businesses where different systems are used, this incompatibility induces considerable costs for the end-users, learning is confusing, engineering becomes difficult, and the process of market growth slows down. Standardization would certainly reduce these negative factors. Standardization means not only the programming languages themselves, (as standardization is achieved using the worldwide IEC 61131-3 standard) but also standardizing the interface towards different motion control solutions. In this way the programming of these motion control solutions is less hardware dependent. The reusability of the application software is increased, and the costs involved in training and support are reduced.

**RTmotion** is an C++ library created by Intel Corporation. **RTmotion** implements part of the single axis motion control function blocks defined in parts `1&2 <https://www.plcopen.org/download_file/force/9f19d854-2dbf-4e07-a2ff-e5ff1a3e293a/342/>`_ (PDF), `3 <https://www.plcopen.org/download_file/force/1f500e89-0c3c-467f-908b-85cd73e51a22/342/>`_ (PDF) and `5 <https://www.plcopen.org/download_file/force/a43abb73-7d50-4037-8da6-41fb9ae6a3c6/342/>`_ (PDF) of PLCopen motion control standard. The figure below shows the connections between **RTmotion** and other components in |ECI|.
**RTmotion** is an C++ library created by Intel Corporation. **RTmotion** implements part of the single axis motion control function blocks defined in parts `1&2 <https://www.plcopen.org/download_file/force/9f19d854-2dbf-4e07-a2ff-e5ff1a3e293a/342/>`__ (PDF), `3 <https://www.plcopen.org/download_file/force/1f500e89-0c3c-467f-908b-85cd73e51a22/342/>`__ (PDF) and `5 <https://www.plcopen.org/download_file/force/a43abb73-7d50-4037-8da6-41fb9ae6a3c6/342/>`__ (PDF) of PLCopen motion control standard. The figure below shows the connections between **RTmotion** and other components in |ECI|.

.. image:: ../assets/overview/softmotion_overview.png
:width: 85%
Expand Down Expand Up @@ -128,7 +128,7 @@ RTmotion provides basic trajectory interpolation and motion control in real-time
* ``MC_CamTableSelect``: Selects the CAM tables by setting the connections to the relevant tables.
- State Management

* RTmotion manages the axis states through a motion kernel in accordance with the state diagram defined in the section 2.1 of the PLCopen motion control part `1&2 <https://plcopen.org/downloads/plcopen-motion-control-part-1-version-20>`_.
* RTmotion manages the axis states through a motion kernel in accordance with the state diagram defined in the section 2.1 of the PLCopen motion control part `1&2 <https://plcopen.org/downloads/plcopen-motion-control-part-1-version-20>`__.
- S-Curve Trajectory Plan

* RTmotion supports trajectory planning with the continuous of acceleration to avoid generating torque spike that could damage the servo motor or influence control accuracy. Please refer to Level-2 5.1 for the details of s-curve planning.
Expand Down
Loading