(1) one XPLC516E Linux motion controller

(2) one 24V DC power supply

(3) one network cable

(4) one display screen with HDMI interface

(5) one HDMI connecting line

(6) one keyboard

(7) one mouse

A. development software

• ZDevelop software: ZMotion provides powerful ZDevelop development environment, it supports ZBasic, ZPlc ladder of diagram and ZHmi configuration development, and hybrid program is valid. At the same time, there is simulator for offline operation. What's more, ZDevelop can achieve real-time watch and debug for the program of motion controller that is running.
  

• Qt software : XPLC516E controller is with Linux system itself, which means XPLC516E supports human-machine interaction interface through Qt development. Qt development through virtual Ubuntu system is valid, it is also useful by installing Qt software in controller to develop.

• WinSCP software : this is used to transfer files between PC and controller. If using Qt of virtual Ubuntu system to develop project, we can download developed Qt project into XPLC516E controller.

B. development platform

Controller Linux desktop, XPLC516E motion controller supports Linux OS, and provides Qt software (version 5.5.1), also, embedded Qt development is valid. In ZMotion Technology, there are Qt dynamic link library with powerful and full functions and function library manual of motion control that is easy to understand, including strong portability of codes, then, motion control development becomes easier, and period of intelligent equipment development can be reduced greatly.

For controller hardware interfaces, please refer to above, connect mouse and keyboard to displayer with HDMI interface, then install Qt software to develop the project.

--Windows Qt development & Linux Qt development--both is OK.

(1) New build one Qt project using Qt software.

(2) Copy dynamic library and related files (libzmotion.so, zaux.cpp, zaux.h, zmotion.h) into new built Qt project.

(3) Add dynamic library (libzmotion.so) into Qt project.

a. right click the project, then click "Add Library".

b. select the second "External library", and click "next".

c. click "Browse" to view library files, and select dynamic library copied just now, then click "next".

d. click "finish", dynamic library is added successfully.

Note: the name of dynamic library must be started with "lib", then, it can be identified

(4) Add head files (zmotion.h, zaux.h) in Qt project.

a. right click "Headers", click "Add Existing Files...".

b. find zmotion.h file that is copied and entered in project just now, double click zmotion.h, then, head file "zmotion.h" can be added into project.

c. repeat above two steps, add zaux.h file into project also.

(5) Add cpp source file (zaux.cpp) into Qt project.

a. right click "Sources", click "Add Existing Files...".

b. find "zaux.cpp"file that is copied and entered in project just now, double click "zaux.cpp", then, source file "zaux.cpp" can be added into project.

(6) Add #include “zmotion.h",  #include “zaux.h" into widget.h, and define link handle of controller.

(7) Use slot function of button, connect controller through Ethernet.

a. add one button in UI design interface of Qt, and rename it as "link". Then, right click "link" -- Go to slot... to jump into slot function of this button.

b. check ZMotion PC Program Manual to know how to use Ethernet for connecting function.

c. edit codes in slot function according to PC manual -- ZAux_OpenEth.

(8) Controller achieves interpolation motion -- codes achievement process.

a. add one button in UI design interface of Qt, and rename it as "move". Then, right click "move" -- Go to slot... to jump into slot function of this button.

b. check ZMotion PC Program Manual to know the usage of multi-axis interpolation motion interface function.

c. next, edit codes in slot function according to PC manual -- ZAux_Direct_Move for achieving multi-axis interpolation.

(9) Compile Qt program, then test function achievement effect.

a. compile Qt project.

b. click "link" button, connect to controller, at the same time, use ZDevelop software to connect with controller for watching axis parameters.

Note: when upper computer uses Ethernet to connect to controller, controller and PC should be in the same net segment.

(10) Download Qt program developed by PC into controller for running. Qt project on PC can be downloaded into controller through U disk or WicSCP software.

That's all, thank you for your reading -- How to use open Linux platform of ZMotion XPLC516E motion controller (1) ? -- detailed steps through Qt development

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ZMOTION Technology  has attracted experienced talents from famous companies or institutions, such as Huawei, ZET, Huazhong University of Science and Technology etc. ZMOTION insists self- innovating and collaborating with comprehensive universities, to research basic knowledge of motion control. Due to its concentration and hard work in motion control technology, ZMOTION already become one of the fastest growing industrial motion control companies in China, and is also the rare company who has managed core technologies of motion control and real time industrial control software completely.             

ZMotion Technology  provides motion control card, motion controller , vision motion controller, expansion module and HMI. ( more keywords  for ZMOTION: EtherCAT motion control card, EtherCAT motion controller, motion control system, vision controller, motion control PLC, robot controller, vision positioning...)