--XPCIE1032H Hardware Info--

Axis Control: 4-64 axes

IO control: high-speed digital IO for latch, PWM, PSO, encoder IN.

Interface:  EtherCAT (motion control & IO expansion)

Development: PC programming languages -- C#, C++, Labview, Python, etc.

--XPCIE1032H Software “MotionRT7”--

High-speed kernel interaction brings faster command interaction:  one single command & multi-command interaction time (once) can reach about 3-5us (below shows the test result).

--XPCIE1032H Card & MotionRT7 Soft Kernel--

* 1D/2D/3D PSO (high-speed hardware position comparison output): suit to vision fly-shooting, precise dispensing, laser energy control, etc.

* EtherCAT & pulse axes: hybrid linkage, and hybrid interpolation.

* in PC Windows development, it can achieve real-time, and the instruction interaction speed is faster 10 times than traditional PCI / PCIe.

Through C# development, Zmotion provides one general PC motion control commands.

Download Add.: https://www.zmotionglobal.com/download_list_17.html

Contact Us: https://www.zmotionglobal.com/contactus.html

3 parameters to be entered:

*handle: connection handle

*iaxis: axis No.

*fdistance: relative distance / absolute distance

F. ZAux_Direct_Rapidstop:stop all axes immediately, even the axis is in interpolation, the interpolation also will stop.

G. ZAux_Direct_Single_Cancel:stop one single axis.

parameters to be entered:

*handle: connection handle

*imode: there are 4 modes: mode 0 / mode 1 / mode 2 / mode 3, for details, please refer to command description.

*iaxis: axis No. – this is only needed for single-axis stop.

--Other Basic Axis Parameter Commands--

Here, there is one EtherCAT initialization program.

*EtherCAT motion control card: Zmotion XPCIE1032H – master station.

*EtherCAT drive: Inovance SV660N – slave station 1 – node 1.

*EtherCAT IO Expansion Module: Zmotion EIO16084 – slave station 2 – node 2

Therefore, here takes node 0 (drive – axis 0), and axis 1-4 of node 1 EIO16084 (axis mapping) as example. Connect them by EtherCAT:

B.       Program Parts

a.      Full C# EtherCAT Initialization File.

Please contact us:https://www.zmotionglobal.com/contactus.html

In “Form” design interface, you can find needed control, then drag them to do UI interface design.

EtherCAT routine UI is shown as below: 

b.      Basic Program: EtherCAT Initialization File

Please get EtherCAT initialization Basic file through download page (https://www.zmotionglobal.com/download_list_15.html) or contact us.

Then, according to real situation, set corresponding parameters, for example, drive numbers, axis mapping, node IO.

Based on above hardware parts, basic codes of EtherCAT initialization will be like this: (red are commands, the usage, please check RTBasic Programming Manual).

Step 1: Connect

Connect to XPCIE1032H motion control card through LOCAL, it is triggered by the click event of “connect” button.

private void Local_Connect_Button_Click(object sender, EventArgs e)
{
    if (g_handle == (IntPtr)0)
    {
        Local_DisConnect_Button_Click(sender, e);
    }
    zmcaux.ZAux_FastOpen(5, "local", 1000, out g_handle);
    if (g_handle != (IntPtr)0)
    {
        this.Text = "Connected";
        timer1.Enabled = true;
        Local_Connect_Button.BackColor = Color.Green;
        MessageBox.Show("Connect Succeeded");
    }
    else
    {
        MessageBox.Show("Connect Failed, Please Select Correct LOCAL！");
    }
}

Step 2: Download EtherCAT Initialization File into Card

Download above EtherCAT initialization file of Basic script into controller ROW (be saved when power down) – trigger it by one click event, that is, press button “download bas file” to browse BASIC file to download it.

private void BasFileDownLoad_Btn_Click(object sender, EventArgs e)
{
    if (g_handle == (IntPtr)0)
    {
        MessageBox.Show("No Controller Connected!", "Note");
    }
    else
    {
        int tmpret = 0;
        string strFilePath;
        OpenFileDialog openFileDialog1 = new OpenFileDialog();
        openFileDialog1.InitialDirectory = "\\";
        openFileDialog1.Filter = "Config File(*.bas)|*.bas";
        openFileDialog1.RestoreDirectory = true;
        openFileDialog1.FilterIndex = 1;
 
        if (openFileDialog1.ShowDialog() == DialogResult.OK)               //open configuration file
        {
            strFilePath = openFileDialog1.FileName;
            tmpret = zmcaux.ZAux_BasDown(g_handle, strFilePath, 1);        //download to ROM (be saved when power down)
            if (tmpret != 0)
            {
                MessageBox.Show("File Download Failed!", "Note");
            }
            else
            {
                EcatInitFlag = true;
                MessageBox.Show("File Download Succeeded!", "Note");
            }
        }
    }
}

Step 3: Do EtherCAT Initialization

Trigger initialization by one click event, that is, press button “initialize EtherCAT” to call function “ZAux_Execute”, then it will call Ecat_Init() command in Basic file.

private void EcatInitStart_Btn_Click(object sender, EventArgs e)
{
    if (g_handle == (IntPtr)0)
    {
        MessageBox.Show("No Controller Connected!", "Note");
    }
    else
    {
        int tmpret;
        /*if ((BasFlag == true) && (InitStatus != -1))                       //-1: maybe it is executing initialization
        {*/
            InitStatus = -1;
            StringBuilder buffer = new StringBuilder(10240);
            tmpret = zmcaux.ZAux_Execute(g_handle, "RUNTASK 1,Ecat_Init", buffer, 0);               //run task 1 to run initialization function of Basic file again
            if (tmpret != 0)
            {
                MessageBox.Show("Bus Initialize Failed!", "Note");
                return;
            }
            else
            {   
                MessageBox.Show("Bus Initialize Succeeded!", "Note");
            }
                    
        /*}
        else
        {
            MessageBox.Show("Bas File Not Loaded");
            return;
        }*/
    }
}

Step 4: Configure Axis Position Limit & Drive IO Mapping

Take Inovance drive as the example:

Drive IO mapping starting address is DI1, which is the hard forward position limit switch. If you want to set reverse position limit, please starting address + 1.

It can set axis soft & hard position limit, origin.

For drive IO mapping, use Basic command “Drive_IO”.

Call corresponding PC function to map drive IO.

private void Configure_OK_Button_Click(object sender, EventArgs e)
 {
     StringBuilder buffer = new StringBuilder(10240);
     //set forward soft position limit
     zmcaux.ZAux_Direct_SetFsLimit(g_handle, MoveAxis, Convert.ToSingle(FSLimit_Value.Text));
     //set reverse soft position limit
     zmcaux.ZAux_Direct_SetRsLimit(g_handle, MoveAxis, Convert.ToSingle(RSLimit_Value.Text));          
     //drive IO starting address           
     zmcaux.ZAux_Execute(g_handle, "DRIVE_IO(" + MoveAxis.ToString() + ") = " +DriveStart_IO_Value.Value.ToString(), buffer, 0);
     //set forward hard position limit
     zmcaux.ZAux_Direct_SetFwdIn(g_handle, MoveAxis, DRIVE_Start_IO);
     zmcaux.ZAux_Direct_SetInvertIn(g_handle, DRIVE_Start_IO, 1);
     //set reverse hard position limit
     zmcaux.ZAux_Direct_SetRevIn(g_handle, MoveAxis, DRIVE_Start_IO + 1);
     zmcaux.ZAux_Direct_SetInvertIn(g_handle, DRIVE_Start_IO + 1, 1);
     MessageBox.Show("Axis Config Succeeded!", "Note");
 }

Step 5: Do Continuous Motion for Single-Axis & Cancel Motion

Press down the button (MouseDown) to trigger single-axis continuous motion.

Press up (MouseUp) to trigger cancel, stop the single-axis motion.

//Forward
private void Fwd_Button_MouseDown(object sender, MouseEventArgs e)
{   
    zmcaux.ZAux_Direct_Single_Vmove(g_handle, MoveAxis, 1);
}
 
private void Fwd_Button_MouseUp(object sender, MouseEventArgs e)
{
    zmcaux.ZAux_Direct_Single_Cancel(g_handle, MoveAxis, 2);
}
 
 
//Reverse
private void Rev_Button_MouseDown(object sender, MouseEventArgs e)
{
    zmcaux.ZAux_Direct_Single_Vmove(g_handle, MoveAxis, -1);
}
 
private void Rev_Button_MouseUp(object sender, MouseEventArgs e)
{
    zmcaux.ZAux_Direct_Single_Cancel(g_handle, MoveAxis, 2);
}

Step 6: Modify Axis Basic Parameters in Motion

Directly write the corresponding text (value) to modify, the timer will accept.

//pulse amount (UNITS) changes
private void Units_Value_TextChanged(object sender, EventArgs e)
{
    zmcaux.ZAux_Direct_SetUnits(g_handle, MoveAxis, Convert.ToSingle(Units_Value.Text));
}
 
 
//axis speed changes
private void Speed_Value_TextChanged(object sender, EventArgs e)
{
    zmcaux.ZAux_Direct_SetSpeed(g_handle, MoveAxis, Convert.ToSingle(Speed_Value.Text));
}
 
 
//acceleration changes
private void Accel_Value_TextChanged(object sender, EventArgs e)
{
    zmcaux.ZAux_Direct_SetAccel(g_handle, MoveAxis, Convert.ToSingle(Accel_Value.Text));
}
 
 
//deceleration changes
private void Decel_Value_TextChanged(object sender, EventArgs e)
{
    zmcaux.ZAux_Direct_SetDecel(g_handle, MoveAxis, Convert.ToSingle(Decel_Value.Text));
}

Step 7: Enable Axis

Press button to trigger enable / disable.

private void Enable_Button_Click(object sender, EventArgs e)
{
    if (g_handle == (IntPtr)0)
    {
        MessageBox.Show("No Controller Connected!", "Note");
        return;
    }
    int ret = 0;
 
    if (Enable_Value.Text == "Enabled")
    {
        ret = zmcaux.ZAux_Direct_SetAxisEnable(g_handle, MoveAxis, 0);
    }
    else
    {
        ret = zmcaux.ZAux_Direct_SetAxisEnable(g_handle, MoveAxis, 1);
    }
}

Step 8: Inch Motion

Press corresponding button to achieve inch motion in forward / reverse.

//Select inch direction
private void MoveDirection_CheckedChanged(object sender, EventArgs e)
{
    if (MoveDirection.Checked == false)
    {
        MoveDirection.Text = "Motion Direction: Forward";
        dir = 1;
    }
    else
    {
        MoveDirection.Text = "Motion Direction: Reverse";
        dir = -1;
    }
}
 
 
//open inch motion
private void InchStart_Button_Click(object sender, EventArgs e)
{
    if (g_handle == (IntPtr)0)
    {
        MessageBox.Show("No Controller Connected!", "Note");
    }
    else
    {
                
        if (MoveAbs_RadBtn.Checked == true)        //absolute motion
        {
            zmcaux.ZAux_Direct_Single_MoveAbs(g_handle, MoveAxis, dir * Convert.ToSingle(InchDistance_Value.Text));
        }
        if (MoveOpp_RadBtn.Checked == true)        //relative motion
        {
            zmcaux.ZAux_Direct_Single_Move(g_handle, MoveAxis, dir * Convert.ToSingle(InchDistance_Value.Text));
        }
    }
}

Step 9: Watch Information in Real-Time

It can get axis parameters, initialization information, IO messages in real-time through updating the timer.

//update axis parameters
private void Update_AxisPara()
{
    int CurAxisAtype = 0;
    int CurAxisIdle = 0;
    int CurAxisStatus = 0;
            
    double CurAxisFSLimit = 0;
    double CurAxisRSLimit = 0;
    double CurAxisDpos = 0;
    double CurAxisMpos = 0;
 
    Axis_Para[0] = Convert.ToSingle(Units_Value.Text);
    Axis_Para[1] = Convert.ToSingle(Speed_Value.Text);
    Axis_Para[2] = Convert.ToSingle(Accel_Value.Text);
    Axis_Para[3] = Convert.ToSingle(Decel_Value.Text);         
    MoveAxis = Convert.ToInt32(AxisNum_Value.Text);
 
    zmcaux.ZAux_Direct_GetAtype(g_handle, MoveAxis, ref CurAxisAtype);
    zmcaux.ZAux_Direct_GetDpos(g_handle, MoveAxis, ref CurAxisDpos);
    zmcaux.ZAux_Direct_GetMpos(g_