What happened to the the motion extension library in ctrlX V2.06 SDK example?

Hi,sir

I had developed the motion application SDK in ctrlX v1.14, and I used several functions from motion extension library like below, however, I can not find the related or similar library in v2.06, what happened to these library?

I need to use these library functions to change and read the axis and kinematics parameter like position/velocity/acceleration limitation and motion units, and so on.

#include "motion/core/extension/i_axs_cfg.h"
#include "motion/core/extension/i_kin_cfg.h"
#include "motion/core/extension/i_obj.h"
#include "motion/core/extension/i_obj_axs.h"
#include "motion/core/extension/i_obj_kin.h"
#include "motion.lib.jobs/motion/jobs/defines/cmd_defs.h"

As well as the ethercat master library in V1.14 is missing in V2.06, I need this library to read and write directly from ethercat master to slave driver;

#include "comm.ethercat.master/comm/ethercat/master/fbs/parameter_generated.h"

Best reply by CodeShepherd

The interfaces mentioned by you were never part of the official SDK and are not supported nor intended to be used by customer.

The official way of reading and writing motion configuration data is using the data layer, as it is the official configuration interface of the ctrlX MOTION. See official online documentation "Motion System Configuration".

Access to drive parameter can also directly be done via the EtherCat master in the data layer:
- fieldbuses/ethercat/master/instances/<name of instance>/device_access/soe/parameter
- fieldbuses/ethercat/master/instances/<name of instance>/device_access/coe/sdo

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CTRLXMOTION

SDK

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