ECI2828 series cards support 16 axes at most for linear interpolation, any circular interpolation, space arc, helical interpolation, electronic cam, electronic gear, synchronous follow, virtual axis, robotic arm instructions, etc., and real time motion control can be achieved through optimized communication protocol.

ECI2828 series cards support Ethernet, 232 communication interface connection with computer, then receive instructions from computer. In addition, each expansion module can be connected through EtherCAT bus and CAN bus for expanding inputs, outputs or motion axes.

ECI2828 series cards' application programs can be developed through VC, VB, VS, C++ and several kinds of advanced languages. And there needs the dynamic library "zmotion.dll" for program running. While debugging, ZDevelop software (add internal link) can be developed connected to controller at the same time, then it is more convenient to debug and observe.

There are rich hardware interfaces on ECI2828.It has 8 local pulse axes, virtual axis can reach 16, and each axis is with independent encoder. What's more, there are 24 general inputs (4 high-speed inputs can be used as high-speed latch), 16 general outputs (4 high-speed outputs can be used to achieve PSO of 4 channels), 2 ADs and 2DAs on this motion control card board.

   And:

• One RS232 serial port
  

• One Ethernet interface
  

• One CAN bus interface: connect to expansion module through ZCAN protocol
  

• One CANOPEN interface (valid with software version support)
  

• One EtherCAT bus interface: expand digital IOs, analog IOs, pulse positioning module, etc.
  

• One handwheel interface

（2） Add static library of function library into new built project. (zmotion.lib)

（ 3） Add head files that relate to function library to project (zmcaux.cpp 、 zmcaux.h 、 Zmotion.h)

（4） Declare relevant head files, and define link handle.

2. PC function introduction

（1） PC function library manual can be got from ZMotion Manuals (or zlm@zmotion.com.cn)

（2） For PC programming, there needs to build the connection between upper computer and controller. Like motion control card connection, use net port, details as follow:

（3） If you want to encapsulate Basic instruction as upper computer, the interface that can be directly called must use "online command" interface to do function encapsulation. Below is online command interface description.

（4） Encapsulation example: SPEED of Basic instruction.

3.Qt does encapsulation of Move_Pt instruction to achieve motion of custom curve

（2）Bind one channel function with Click Event of [connect] connect button through Qt to do controller connection.

（3）Update position and speed message of each axis through timer.

（4）Introduction: Basic -- Move_Pt

（5）Move_Pt interface encapsulation

A.Encapsulate interface through "ZAux_DirectCommand()"

（6）One API is encapsulated through sending several move_ptabs commands to process.

B.Qt routine calls the interface encapsulated just now -- MyApi::ZAux_Direct_MovePtAbsS（）

D.Capture waveform to check effects.

b.Qt captures Y=((-sin(PI*2*i/T)/(PI*2))+i/T)*position curve of 500