How do you integrate motion control with PLC systems?

Motion control integration: select architecture (centralized PLC with motion module, standalone motion controller networked to PLC, integrated servo drives with EtherCAT/SERCOS). Programming: PLCopen motion function blocks (MC_Power, MC_MoveAbsolute, MC_Home) provide standardized interface, coordinate systems for multi-axis synchronization, electronic gearing and camming. Implementation: configure axis parameters (motor, encoder, limits, tuning), develop motion sequences coordinated with process logic, handle faults and recovery. Network considerations: deterministic communication (EtherCAT <1ms cycle), synchronized timing, and jitter minimization. Include simulation/virtual commissioning.