Today, ZMotion shares What EtherCAT Motion Control Card ECI2828 Axis Parameters Are & How To Do EtherCAT Bus Initialization Through LabVIEW. 

Let's begin, learn together !

Generally, the bus initialization file can be edited and programmed by ZMotion development environment "ZDevelop"

We can open ".zpj" project directly. This project includes "ECAT init.bas" file. Or open "ECAT initial.bas" file to modify initialization program.

Before, let's see how LabVIEW programs ?

4.1 LabVIEW Program Structure -- "while" loop structure

As the name suggests, the while loop structure is similar to the while in C language, or the while loop used in the ZMotion development environment ZDevelop, then to scan the program cyclically. We can control whether the while loop ends through BOOL type input, and connect ! to the display control to display the while loop count.

4.2 LabVIEW Program Structure -- "Event Structure"

Event structure is the main structure when we do human-machine interaction. In this structure, we can freely add trigger events of external control.

For example, in front board, we add one "EtherNet connection" control. Then, we could add the event of this control in event structure, when the control is pressed, relative procedure will be executed.

At this time, when we pressed "Ethenet connection" control, one message box will pop up, which shows "press by mouse", this is the character constant that need to be shown.

4.3 LabVIEW Program Structure -- condition structure

This is similar to "if" command of C Language. When "?" is entered as "true" in condition structure, program in "true" will be executed. Also, When "?" is entered as "false" in condition structure, program in "false" will be executed.

4.4 LabVIEW Program Structure -- program running sequence

In LabVIEW, usually, function added at the last will be executed firstly.

Therefore, we could use sequence structure to classify for execution in order.

5.1 Download Initialization File Function

5.2 Function Case in LabVIEW

Following, take routine 8 - bus motion control routine as example to introduce how to use ZAux_BasDown function ?

(1) At first, add "[download Bas file] value change" event in event structure.

Namely, in control interface, when "download Bas file" button is pressed, this event will be triggered.

(2) Next, it is the condition in "condition structure", when the handle is not 0, "true" program in condition structure will be executed.

In "condition structure", there is one "file dialog box" control, which can open one dialog box to select for downloading files. Then, select the bus file that needs to be initialized.

(3) After initialization, we could see axis status is 65, which represents cps position mode is used.

5.3 Axis status display in LabVIEW

Axis status updates real-time, so axis parameters in controller needs to be accessed circularly. Here, we can edit "read axis parameter" program in "timeout" event of event structure. The "timeout" event is executed by default when other events are not triggered.

Here, "timeout" event has two "condition structure", one is the axis parameter reading. In this axis parameter reading condition structure, when the connection handle is not 0, then "condition structure" read by axis parameters is in execution status. Namely, when the controller is connected, axis parameters are in real-time "reading" status all the time.

Another "condition structure" is "bus initialization show program", when one variable among "file download mark", "initialization status" and "connection handle" doesn't meet the requirements, bus node, then read "Bus_InitStatus" initialization completion mark in initialization file and "Bus_TotalAxisNum" bus total axes again.

5.4 EtherCAT interaction in LabVIEW

How to achieve SDO communication program of EtherCAT -- programs in "Set" & "Read" of "event structure".

(1) "Set" event program

It could be seen, only one "ZAux_BusCmd_SDOWrite" function is called in "set" event.

(2) "Read" event program

Also, "read" can be achieved only by calling "ZAux_BusCmd_SDORead" function.

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This article is edited by ZMOTION, here, share with you, let's learn together. ZMOTION: DO THE BEST TO USE MOTION CONTROL.

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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...)