PSO: position synchronized output.

Specifically, it captures real-time encoder feedback position “MPOS” (pulse output position without encoder), then compares MPOS with the position that has already been set under comparison mode. In this way, control output OP synchronously output signals at high-speed, like below shown.

Generally, PSO and the laser (or dispensing spraying valve, etc.) output the signal at the same time to do phase synchronization. That is, the trajectory’s all phases (acceleration, deceleration, constant speed) trigger the output switch with the space of constant space / time, to make pulse energies process evenly on the object.

*PSO Properties*

It can output signals  stably and at  high-speed.

Its output  accuracy is high enough, no need to consider the total speed, signals can be output with one fixed distance.

*PSO Function*

For one motion trajectory that uses PSO will be like right one:

Line motions are fast,  even in corner deceleration, stable output is also achieved.

And as we all know, corner processing is just one small part, compared to other normal actions. When it is processed well by PSO,  increasing the production capacity.

For Zmotion Technology, use  ZAux_Direct_HwPswitch2 function to do PSO in C# (and other PC languages). It makes controller’s high-speed IO output the signal, the respond speed can be up to us level.

“Position Latch”: record current encoder position by controller’s high-speed IN ports.

Specifically, when the latch signal is triggered, reading current position information into position register, clearing the former one latched position at the same time. Namely, the position of the last trigger is read.

Applications: packaging, printing, dispensing, vision fly-shooting, etc.

For Zmotion Technology, use  ZAux_Direct_Regist function to latch position in C# (and other PC languages).

Not all Zmotion motion controllers support PSO function / position latch function.

XPCIE1032H card supports PSO and latch both.

It can be seen it has 16 inputs and 16 outputs.

XPCIE1032H 16 inputs are 8 high-speed inputs and 8 normal inputs.

Among 8 high-speed inputs,  IN0-IN3 can be configured as  latch IN.

XPCIE1032H 16 outputs are all high-speed outputs. And they  OUT0-OUT15 support hardware comparison output  PSO function / precise output.

(1)    Related Commands of the C# Program of PSO & Latch

Except above described  “ZAux_Direct_HwPswitch2” and  “ZAux_Direct_Regist” commands, the commands in the form will also be used to do PSO and latching.

For much information, please refer to  Zmotion PC programming manual.

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

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

Including the C# library file.

How to call the PC library file, please review lesson 2 .

(2)    C# Program of PSO & Latch Introduction

It can be known this program contains   connection, state showing, PSO, latch, and motion.

(3)    C# Program PSO & Latch Running Effect

After coding, it is time to compile and run the program. RTSys also can be connected to help debug, watching motion control axis parameters and motion situation.

Before testing, do wiring for latch IN and PSO OP.

*How to test it*

Step 1: connect to XPCIE1032H card through LOCAL.

Step 2:  open PSO hardware position comparison at first.

Step 3: set high-speed comparison output OUT0 as PSO function, the comparison axis is axis 0, compare 4 points: 100, 200, 300, 400, and the first comparison output state as 1 (ON).

Step 4:  open encoder latch function, set the latch axis No. as 3, choose latch mode 3.

Step 5: select axis 0 as motion axis (check axis 0), and enter the distance as 5000, at last, connect IN0 and OP0.

Then, when the axis moves 100, 200, 300, and 400, electric level will be triggered and changed, at the same time, save latched position.

Operation Effect of SCOPE Data