C&M collects several aspects of motion control, real-time computation, and human interface into a single application.
- The Function Block Diagram (Eagle) handles the motion, PLC functions and I/O behavior
- A real-time shell handles communication from the compiled motion program to the fieldbus and HMI (EtherCAT Master stack is embedded in the shell)
- Virtual axis or real axes are selected based on an XML file configuration in the project
- The HMI displays live information, and alters variables during real-time operation