RTmotion-Documentation
  • RTmotion Concept and Application Interface
    • 1. Intel® Edge Controls for Industrial RTmotion Overview
      • 1.1. RTmotion Requirements
      • 1.2. RTmotion Features
    • 2. RTmotion Configuration
      • 2.1. ECI-BKA configurations
      • 2.2. Configurations with hybrid cores
    • 3. RTmotion Applications
      • 3.1. Logistics control
      • 3.2. SMT machine control with flying-trigger
      • 3.3. 100-axis control with EcoStruxure* Automation Expert
      • 3.4. AMR control
      • 3.5. Robot arm control
      • 3.6. Inspection machine control
    • 4. RTmotion Function Blocks
      • 4.1. MC_Stop
        • 4.1.1. MC_STOP inputs/outputs
        • 4.1.2. MC_STOP diagram
      • 4.2. MC_Halt
        • 4.2.1. MC_Halt inputs/outputs
        • 4.2.2. MC_Halt diagram
      • 4.3. MC_MoveAbsolute
        • 4.3.1. MC_MoveAbsolute inputs/outputs
        • 4.3.2. MC_MoveAbsolute diagram
      • 4.4. MC_MoveRelative
        • 4.4.1. MC_MoveRelative inputs/outputs
        • 4.4.2. MC_MoveRelative diagram
      • 4.5. MC_MoveAdditive
        • 4.5.1. MC_MoveAdditive inputs/outputs
        • 4.5.2. MC_MoveAdditive diagram
      • 4.6. MC_MoveSuperimposed
        • 4.6.1. MC_MoveSuperimposed inputs/outputs
        • 4.6.2. MC_MoveSuperimposed diagram
      • 4.7. MC_MoveVelocity
        • 4.7.1. MC_MoveVelocity inputs/outputs
        • 4.7.2. MC_MoveVelocity diagram
      • 4.8. MC_Homing
        • 4.8.1. MC_Homing inputs/outputs
        • 4.8.2. MC_Homing diagram
      • 4.9. MC_TorqueControl
        • 4.9.1. MC_TorqueControl inputs/outputs
        • 4.9.2. MC_TorqueControl diagram
      • 4.10. MC_Home
        • 4.10.1. MC_Home
        • 4.10.2. MC_Home drive parameters setting
      • 4.11. MC_Jog
        • 4.11.1. MC_Jog
        • 4.11.2. MC_Jog Diagram
      • 4.12. MC_Power
        • 4.12.1. MC_Power inputs/outputs
      • 4.13. MC_Reset
        • 4.13.1. MC_Reset inputs/outputs
      • 4.14. MC_SetPosition
        • 4.14.1. MC_SetPosition inputs/outputs
      • 4.15. MC_ReadStatus
        • 4.15.1. MC_ReadStatus inputs/outputs
      • 4.16. MC_ReadAxisInfo
        • 4.16.1. MC_ReadAxisInfo inputs/outputs
      • 4.17. MC_ReadAxisError
        • 4.17.1. MC_ReadAxisError inputs/outputs
      • 4.18. MC_ReadCommandPosition
        • 4.18.1. MC_ReadCommandPosition inputs/outputs
      • 4.19. MC_ReadCommandVelocity
        • 4.19.1. MC_ReadCommandVelocity inputs/outputs
      • 4.20. MC_ReadCommandAcceleration
        • 4.20.1. MC_ReadCommandAcceleration inputs/outputs
      • 4.21. MC_ReadActualPosition
        • 4.21.1. MC_ReadActualPosition inputs/outputs
      • 4.22. MC_ReadActualVelocity
        • 4.22.1. MC_ReadActualVelocity inputs/outputs
      • 4.23. MC_ReadActualTorque
        • 4.23.1. MC_ReadActualTorque inputs/outputs
      • 4.24. MC_ReadActualAcceleration
        • 4.24.1. MC_ReadActualAcceleration inputs/outputs
      • 4.25. MC_ReadDigitalInput
        • 4.25.1. MC_ReadDigitalInput inputs/outputs
      • 4.26. MC_ReadDigitalOutput
        • 4.26.1. MC_ReadDigitalOutput inputs/outputs
      • 4.27. MC_WriteDigitalOutput
        • 4.27.1. MC_WriteDigitalOutput inputs/outputs
      • 4.28. MC_SetControllerMode
        • 4.28.1. MC_SetControllerMode inputs/outputs
      • 4.29. MC_ReadRawPosition
        • 4.29.1. MC_ReadRawPosition inputs/outputs
      • 4.30. MC_SetOverride
        • 4.30.1. MC_SetOverride
      • 4.31. MC_ReadMotionState
        • 4.31.1. MC_ReadMotionState inputs/outputs
      • 4.32. MC_CamTableSelect
        • 4.32.1. MC_CamTableSelect inputs/outputs
        • 4.32.2. MC_CamRef class
        • 4.32.3. MC_CAM_ID struct
      • 4.33. MC_CamIn
        • 4.33.1. MC_CamIn inputs/outputs
        • 4.33.2 Definition of MasterAbsolute
        • 4.33.3 Interaction of MC_CamIn.StartMode and MC_CamTableSelect.SlaveAbsolute
        • 4.33.4 Definition of StartMode
        • 4.33.5. Combination effect of StartMode, MC_CamTableSelect.Periodic and MC_CamTableSelect.MasterAbsolute on execution
        • 4.33.6. MC_CamIn Diagram
      • 4.34. MC_CamOut
        • 4.34.1. MC_CamOut inputs/outputs
      • 4.35. MC_GearIn
        • 4.35.1. MC_GearIn inputs/outputs
        • 4.35.2. MC_GearIn Diagram
      • 4.36. MC_GearOut
        • 4.36.1. MC_GearOut inputs/outputs
        • 4.36.2. MC_GearOut Diagram
      • 4.37. MC_GearInPos
        • 4.37.1. MC_GearInPos inputs/outputs
        • 4.37.2. MC_GearInPos Timing Diagram
        • 4.37.3. MC_GearInPos Executing Diagram
      • 4.38. MC_DigitalCamSwitch
        • 4.38.1. MC_DigitalCamSwitch
        • 4.38.2. McCamSwitch struct and MC_CAMSWITCH_REF struct
        • 4.38.3. McTrack struct
        • 4.38.4. MC_DigitalCamSwitch Executing Diagram
    • 5. RTmotion trajectory planning
      • 5.1. S-curve trajectory planning
    • 6. RTmotion C++ example
      • 6.1. Build RTmotion
      • 6.2. Run RTmotion minimum example
      • 6.3. Run RTmotion with EtherCAT servo
      • 6.4. Run RTmotion with EtherCAT IO
    • 7. Appendix
  • ECI Software License
  • Notices & Disclaimers
    • Benchmarking Disclaimer
    • Warranty Disclaimer
    • Errata Disclaimer
    • IP License Disclaimer
    • Infringement Analysis Disclaimer
    • Trademark & Copyright Notice
RTmotion-Documentation
  • Search

© Copyright 2025, Intel Corporation.