RTSys is one free IDE development environment mainly for industrial area, which is developed by Zmotion (national produced). Then, our Zmotion motion controller can match with RTSys for one-stop-shop development and debugging. That is, RTSys can achieve many functions for the hardware motion controller.

While development and debugging, and after controller connection, these basic controller related functions can be used:

You can develop your program as below steps:

Step 1: download & install RTSys

Step 2: open RTSys, switch the Language

Step 3: create one new project and needed files

Step 4: connect to controller.

Step 5: edit your program

When your program is edited, then you can download the program into controller to test it.

In RTSys, there are two downloading methods.

*Download into RAM: your project will be downloaded into controller RAM, run immediately after downloaded, but it doesn’t save project when powered down.

*Download into ROM: your project will be downloaded into controller FLASH, run immediately after downloaded, it will save project when powered down.

When connected to your controller, you could know your controller basic information easily through “Controller State” window in RTSys.

In controller state window, there are 4 parts in total.

[Basic Info]

It mainly includes axes, tasks, files, register space, controller model, firmware version, IP address, etc.

--Basic Info Content--

--Corresponding Description--

[ZCanNodes]

It reads and shows CAN bus information of your controller and other connected CAN devices, which mainly includes CANID, device ID, axes, IN, OUT, AD, DA. And for CANID of LOCAL, it is usually the content of your controller.

[Slot0Nodes]

It reads and shows EtherCAT bus information of your controller, specifically, the device connected to EtherCAT interface of your controller, which mainly includes device node No., manufacturer / device ID, axes, IN, OUT, AD, DA.

[CommunicationInfo]

It shows CAN communication configuration and serial ports parameters configuration (RS232 / RS485 / RS422).

The CAN communication configuration is “CANIO_ADDRESS=32, CANIO_ENABLE=1”.

It can be known from CANIO_ADDRESS and CANIO_ENBALE, now the controller is ZCAN MASTER main station module, and the CAN bus communication velocity is 500kps, CAN is enabled.

Then, modify CANIO_ADDRESS and CANIO_ENABLE to set CAN communication:

--Port 0 is RS232, ModbusSlave, address is 1, VR and MODBUS registers are with different areas--

--Port 1 is RS485, ModbusSlave, address is 1, VR and MODBUS registers are with different areas --

--Baud: serial port baudrate--

--DataBits: data bit--

--StopBits: stop bit--

--Parity: verify bit--

When your controller current firmware can’t meet program requirements, that is, it can’t achieve some command functions, you can update the firmware.

Actually, there are two ways to update it.

[Method 1]

Use “zfirmdown” tool to download zfm firmware file, then update.

[Method 2]

Update in RTSys directly.

Here, we mainly talk about the method 2.

In RTSys, please check current firmware version at first. You can check in controller state window, or open “update firmware” window directly.

You can operate it according above steps.

The latest firmware file can be downloaded from Zmotion website or contact us directly.

Generally, the controller factory IP is 192.168.0.11.

And please note the controller can be connected only when your controller IP and your PC IP are in same segment, that is, former 3 segments are the same, only the last segment is different.

[ correct example]

Controller IP: 192.168.0.11

PC IP: 192.168.0.12

[ wrong example]

Controller IP: 192.168.0.11

PC IP: 191.167.0.12

If they are not in same segment, the connection will fail, at that time, you need to modify your controller IP or PC IP, then make them be consistent.

It is easy to modify controller IP in RTSys.

Open  “modify IP”  window, then enter new IP. After that, it will disconnect automatically, then you can enter new IP to connect.

Except modify in window, you also can enter command to do that, the command is “IP_ADDRESS".

Notes:

*the modification is valid all the time, until it is set next time.

*new IP should be in the range of xxx.xxx.xxx.1 – xxx.xxx.xxx.254.

Zmotion knows your program is very important. Then in RTSys, Zmotion provides 3 kinds of encryption methods. Your program can be protected well without your permission.

(1)    Lock Your Controller: you can set password to lock your controller, then the program can’t be downloaded.

(2)    Make Your Program as ZAR File: your source codes can be protected. No way to check your program content. Even if it can be downloaded.

(3)    Make Your Program as LIB File: your program can’t be checked and modified easily. Because only global sub function definition can be seen, other main contents are encrypted.

You can open the window through “controller” – “lock controller”.

Then, you can set the password, and enter twice. The password can be number, letter, special symbols, but not more than 16 characters. And please remember it! (no way to know it if you forget)

Also, enter the correct password to unlock it.

In this way, your downloaded program can be protected, host computer program can’t be downloaded into controller.

Generate the project as ZAR encryption file, then the ZAR file can be downloaded to controller then run. And, the end user can’t know the source codes .

It can be seen there are two methods.

[bind the controller ID]

When you enter the controller ID, the ZAR file only can be used for this controller. That is, the ZAR file and the controller are bound. Controller ID can be checked in “controller state”, which is unique No.

[bind by password]

You set the password, then ZAR file can be used after entered correct password.

After that, you can select needed storage position.

The ZAR file will be like “xx.zar”.

You also can make your program as Lib file, specifically, make one single program file as one “.lib” file, and save it into .zpj folder.

You can select one file once or several files. After that, the Lib file only will show global sub function definition information, no main program.