Here, Zmotion Technology starts one theme "How to Develop EtherCAT Motion Controller by Python & Qt", and will show whole information, from beginning connection, simple motion, to complex motion.

Today, Part One

--How to Build Connection--

--How to Achieve Single-Axis Motion--

Before Development: Configure Development & Parser

Step 1:Install Pyside2 Software Package (QT Library)*

File→ Settings→ Project pythonProject

Step 2: Set Custom Control

File→ Settings→ Tools→ External Tools→ +→ Fill in -- OK

*custom QtDesinger*

Target: used to generate .ui file

Name: QtDesigner

Group: Qt

Program: designer.exe in the PySide2

For Example: C:\Python\Python39\Scripts\pyside2-designer.exe

Working directory: $ProjectFileDir$

*custom Pyside2-uic*

Target: convert made .ui file to .py file

Name: Pyside2-uic

Group: Qt

Program: Scripts\pyside2-uic.exe under Python

For Example: C:\Python\Python39\Scripts\pyside2-uic.exe 

Arguments: $FileName$ -o $FileNameWithoutExtension$.py

Working directory: $FileDir$

*custom Pyside2-rcc*

Target: convert image to .py file

Name: Pyside2-rcc

Group: Qt

Program: Scripts\pyside2-rcc.exe under Python

For Example: C:\Python\Python39\Scripts\pyside2-rcc.exe 

Arguments: $FileName$ -o $FileNameWithoutExtension$_rc.py

Working directory: $FileDir$

After configured, it can be used in pycharm menu directly.

It is time to do Motion Control!

(1) Build New Project

(2) Set UI Interface

a. tool -- Qt -- QtDesigner

b. set project Ui: drag control to interface, the do ui setting

c. after setting, save the file

(3) Run UI in Python

a. add "python" file, right click, New -- Python File

b. in Ui_Weiget file, add UI processing type

from PySide2.QtCore import QFile

from PySide2.QtUiTools import QUiLoader

class UiInterFace:

    def __init__(self):

        # load UI definition from file

        q_state_file = QFile("mainWeiget.ui")

        q_state_file.open(QFile.ReadOnly)

        q_state_file.close()

        # dynamically create one corresponding window object from UI definition

        self.ui = QUiLoader().load(q_state_file)

c. same as "a", add main operation file "Main", and add main entry running function

from PySide2.QtWidgets import QApplication

from Ui_Weiget import UiInterFace

if __name__ == "__main__":

    app = QApplication([])  #load all controls

    ui_interface = UiInterFace()   #create window object

    ui_interface.ui.show()    #control of main window, all are shown in the interface

    app.exec_()             #enter QApplication event

d. at this time, in Main file, click "RUN" button, then it can operate program.

(4) Add Library File & Python Library Function

a. get corresponding Python library file and examples from here or contact us directly.

b. paste them into your project.

c. in ui python file, import ZAUXDLL type of zauxdllPython file at the beginning of file, and create ZAUXDLL object in the interface.

d. needed commands

All commands can be referred from here.

--connect to controller--

“ZAux_OpenEth”: connect to controller through ethernet

It only needs filling in IN parameter “Ipaddr” (IP address) to do connection, then when connected, it will output one parameter “Phandle”, the value should be 0, which means success, if it is not 0, please refer to error code. More details, please go to PC manual.

--see whether current motion is in motion or not--

“ZAux_Direct_GetIfIdle”: read whether current motion is in the motion.

It needs filling in IN parameters “handle” (connection handle) and “iaxis” (axis No.). Also, it will return one parameter “pfValue”, then you could know the state, 0 means in motion, -1 means no motion. For robotic arm, the situation is different. More details, please go to PC manual.

--set pulse amount--

“ZAux_Direct_SetUnits”: set pulse amount

When it is 1, which means the unit is 1 pulse. There are 3 IN parameters need filling, “handle” (connection handle), “iaxis” (axis No.), and “fValue” (the pulse amount that is set). More details and examples, please go to PC manual.

--set motion speed--

“ZAux_Direct_SetSpeed”: set axis speed, the unit is units/s.

Also, there are 3 IN parameters, they are “handle” (connection handle), “iaxis” (axis No.), and “fValue” (the speed that is set). For multi-axis motion and speed modification, please go to PC manual.

--single-axis continuous motion--

“ZAux_Direct_Single_Vmove”: make single-axis move in one directly continuously.

3 IN parameters “handle” (connection handle), “iaxis” (axis No.), and “idir” (the direction, -1 means negative, 1 means positive). Please note when former VMOVE doesn’t finish, now VMOVE will replace former one directly, that is, no need to CANCEL it.

--single-axis absolute motion--

“ZAux_Direct_Single_MoveAbs”: make single-axis do absolute motion

3 IN parameters “handle” (connection handle), “iaxis” (axis No.), and “fdistance” (absolute distance). Please note it is absolute motion.

--single-axis stop motion--

“ZAux_Direct_Single_Cancel”: cancel single-axis

Same, 3 IN parameters, “handle” (connection handle), “iaxis” (axis No.), and “imode” (cancel mode, there are 4 modes, 0-4, 0 is the default mode, please refer to PC manual command details)

(1) How to Build the Connection

#connect to controller, controll default IP is 192.168.0.11, here uses IP that is input in comboBox

def on_btn_open_clicked(self):

    strtemp = self.ui.comboBox.currentText()

    print("now ip: ", strtemp)

    if self.Zmc.handle.value is not None:

        self.Zmc.ZAux_Close()

        self.time1.stop()

        self.ui.setWindowTitle("Single-Axis Motion")

    iresult = self.Zmc.ZAux_OpenEth(strtemp)#connect to controller

    if 0 != iresult:

        QMessageBox.warning(self.ui, "hint", "Connect Failed")

    else:

        QMessageBox.warning(self.ui, "hint", "Connect Succeeded")

        str_title = self.ui.windowTitle() + strtemp

        self.ui.setWindowTitle(str_title)

        self.Up_State()  #refresh function

        self.time1.start(100)#open timer

(2) How to do Axis Motion

#axis operation function

def on_btn_Run_clicked(self):

    if self.Zmc.handle.value is None:

        QMessageBox.warning(self.ui, "alarm", "No Controller Connected")

        return

    # get axis motion state, 0 -- running，-1 -- not to run

    isidle=self.Zmc.ZAux_Direct_GetIfIdle(self.axis_Num)[1].value

    isidle=int(isidle)

    if self.mode == 1 and not isidle:

        QMessageBox.warning(self.ui, "alarm", "not stopped")

        return

    # set pulse amount

    str_tmp = self.ui.edit_Units.text()

    float_tmp = float(str_tmp)

    self.Zmc.ZAux_Direct_SetUnits(self.axis_Num, float_tmp)#set pulse amount

    # set motion speed

    str_tmp = self.ui.edit_Speed.text()

    float_tmp = float(str_tmp)

    self.Zmc.ZAux_Direct_SetSpeed(self.axis_Num, float_tmp)#set motion speed

    # set acceleration

    str_tmp = self.ui.edit_Accel.text()

    float_tmp = float(str_tmp)

    self.Zmc.ZAux_Direct_SetAccel(self.axis_Num, float_tmp)#set acceleration

    # set deceleration

    str_tmp = self.ui.edit_Decel.text()

    float_tmp = float(str_tmp)

    self.Zmc.ZAux_Direct_SetDecel(self.axis_Num, float_tmp)#set deceleration

    # set S curve

    str_tmp = self.ui.edit_Sramp.text()

    float_tmp = float(str_tmp)

    self.Zmc.ZAux_Direct_SetSramp(self.axis_Num, float_tmp)# set S curve

    if 0 == self.mode:

        # single-axis continuous motion

        self.Zmc.ZAux_Direct_Single_Vmove(self.axis_Num, self.direction)

    elif 1 == self.mode:

        str_tmp = self.ui.edit_Distance.text()

        float_tmp = float(str_tmp)

        # single-axis relative motion

        self.Zmc.ZAux_Direct_Single_Move(self.axis_Num, -float_tmp if self.direction == -1 else float_tmp)

(3) How to Stop Axis Motion

#stop axis motion

def on_btn_Stop_clicked(self):

    if self.Zmc.handle.value is None:

        QMessageBox.warning(self.ui, "alarm", "No Controller Connected")

        return

    #get axis motion state, 0 -- running，-1 -- not to run

    isidle=self.Zmc.ZAux_Direct_GetIfIdle(self.axis_Num)[1].value

    if isidle:

        QMessageBox.warning(self.ui, "alarm", "stopped")

        return

    #stop single-axis motion

    self.Zmc.ZAux_Direct_Single_Cancel(self.axis_Num, 2)

(4) Video Tutorial

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