>ECI1000 Motion Control Card (Pulse)
>ECI2000 Motion Control Card (Pulse / EtherCAT)
>ECI3000 Motion Control Card (Pulse / EtherCAT)
>PCI EtherCAT PC-Based Motion Control Card
>PCIe EtherCAT PC-Based Motion Control Card
>Free Vision & Motion Development RTSys
>VPLC532E Vision Motion Controller
XPCIE1032H is one EtherCAT PCI Express motion control card developed by Zmotion Technology.
*XPCIE1032H Introduction Video*:https://youtu.be/B1ktSxIRa44
*XPCIIE1032H Lesson 1- Lesson 11*: https://youtu.be/0C96S5_hVf0
*XPCIE1032H Lesson 12 Video: https://youtu.be/R8x689ya9oc
And one software kernel is built.
--XPCIE1032H Card & MotionRT7 Soft Kernel--
P 1D/2D/3D PSO (high-speed hardware position comparison output): suit to vision fly-shooting, precise dispensing, laser energy control, etc.
P in PC Windows development, it can achieve real-time, and the instruction interaction speed is faster 10 times than traditional PCI / PCIe.
Average Value | C++ LOCAL | C# LOCAL | Traditional PCI / PCIe | PLC EtherNET |
Period of one command reading with 1W times | 4.70us | 5.3us | 64us | 500us-10ms |
Period of one command reading with 10W times | 3.90us | 5.7us | 65us | 500us-10ms |
Period of multi-command reading with 1W times | 6.20us | 8.85us | 472us | 500us-10ms |
Period of multi-command reading with 10W times | 5.50us | 8.37us | 471us | 500us-10ms |
This lesson mainly shows how to use PT / PVT motion algorithms for moving the motor to required distance in one certain time with planned speed.
[PT / PVT Motion Introduction]
[C# Routine Introduction & Codes]
[C# PT Modes Running]
[C# PVT Modes Running]
(1) What is PV Motion
It drives the motor to move configured distance in a certain time.
--PT Algorithm--
The PT algorithm calculates a suitable velocity curve between the user-defined "position and time" points. That is, the PT algorithm ensures that the trajectory calculation of the control card meets each known point and time. For the segment speed, it is simply calculated by the difference between position and time.
--PT C# Command--
* Relative PT Motion: ZAux_Direct_MultiMovePt
* Absolute PT Motion: ZAux_Direct_MultiMovePtAbs
--PT Motion Applications--
PT algorithm is mainly used for the motion that is with closer distance / low speed.
In a word, it is popular in low-performance motion system, because it is a simple algorithm (small calculation, fast speed). If the space between points is too large, each acceleration will be not continuous, then the motion will be very rough. Therefore, recommend the span is within several sampling points.
(2) What is PVT Motion
It drives the motor to move configured distance in one certain time with speed planning, and the end speed can be specified. In small segment motion, the speed will be automatically planned according to former speed and end speed, making it continuous.
--PVT Algorithm--
The PVT algorithm calculates a suitable Jerk parameter (non-constant acceleration) between the user-defined "position & speed & time" points. That is, the PVT algorithm ensures that the trajectory calculation of the control card meets each known point and time.
--PVT C# Command--
* Relative PVT Motion: ZAux_Direct_MultiMovePvt
* Absolute PVT Motion: ZAux_Direct_MultiMovePvtAbs
--PT Motion Applications--
PVT algorithm is mainly used for smoothing trajectory and tracking trajectory. And the space between points can be small or big (for complex path, they should be close, for simple path, they can be far). What’s more, the point can be specified manually, but it is hard to set suitable speed for each point.
(3) PV / PVT Motion Descriptions
a. Drive motor move configured distance in one certain time.
b. Speed, acceleration, deceleration are planned according to set time and position. Please remember to configure quick deceleration / deceleration, otherwise it will not stop by stop command while encountering abnormal situation.
c. Generally, PC will calculate corresponding coordinates in each period, then send to the motion controller.
d. Moving speed = (motion distance / time length) * 1000 units / ms
e. Don’t move long distance in a short time, the pulse frequency will be too high, you can move several small segments.
(1) PT / PVT C# Commands
* ZAux_Direct_MultiMovePt
* ZAux_Direct_MultiMovePtAbs
* ZAux_Direct_MultiMovePvt
* ZAux_Direct_MultiMovePvtAbs
For details, 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) PT / PVT C# Routine UI
(3) PT / PVT C# Routine Introduction
Step 1: connect to XPCIE1032H card
Through C#, connect to XPCIE1032H card by LOCAL method at first.
Step 2: set axis parameters
After connected, write needed axis parameters that will be called while moving corresponding motions.
private void C_Move_Axis_TextChanged()
{
float DposValue = 0;
float MposValue = 0;
int AType = 1; //set axis type
int UnitValue = 100; //set pulse amount
int ret = 0;
for (int i = 0; i < 4; i++)
{
ret += zmcaux.ZAux_Direct_SetAtype(g_handle, i, AType); //set axis type
ret += zmcaux.ZAux_Direct_SetUnits(g_handle, i, UnitValue); // set pulse amount
ret += zmcaux.ZAux_Direct_SetFastDec(g_handle, i, 10000); //set rapid deceleration
ret += zmcaux.ZAux_Direct_SetDpos(g_handle, i, DposValue); //set axis DPOS as 0
ret += zmcaux.ZAux_Direct_SetMpos(g_handle, i, MposValue); //set axis MPOS as 0
}
}
Step 3: move
For this C# example, there are 4 kinds of motions:
a. PT motion (no planned speed & trajectory)
b. PT motion (cosine function)
c. PVT motion (no planned speed & trajectory)
d. PVT motion (cosine function)
Please see next chapter for running details.
(1) PT Motion (no planned speed & trajectory)
Usually, PT motion is used together with trigonometric functions. If PT motion is used directly, the motion and speed curve will not smooth.
Step 1: enter PT motion parameters, and select relative PT or absolute PT.
Step 2: open RTSys, connect RTSys with XPCIE1032H card by LOCAL.
“lesson 6 shows how to use RTSys debug C# program”.
Step 3: open RTSys “SCOPE” tool, set 8 channels, and set corresponding parameters as below shown, then start oscilloscope.
Step 4: in C#, open PT motion. When it starts to move, corresponding data will be capture by SCOPE automatically because there is trigger function in program.
(2) PT Motion (cosine function)
Usually, PT motion is used together with trigonometric functions.
Here, take the example of cosine.
A * COS (ωx + ψ) + C | |
A | Amplitude: determine the peak and valley values of the curve |
ω | Angular frequency: affect the periodicity of the curve, period T = 2π/ω |
ψ | Phase angle: the horizontal offset of the curve |
C | Constant: shift the entire curve up and down |
Step 1: enter PT cosine motion parameters, and select motion axis.
Step 2: open RTSys, connect them, and open SCOPE tool, set parameters (same as above)
Step 3: in C#, open PT cosine motion. Corresponding curves are captured.
Note: even though the scope curve starting point is 100, the real axis starts from 0. In this way (set the motion curve starting point as peak value), it is clearer.
(3) PT VS PT (cos)
It can be seen PT motion curves are not smoother than PT cosine motion.
(1) PT Motion (no planned speed & trajectory)
Same as PT, if PVT motion is used directly, the motion and speed curve will not smooth.
Step 1: enter PVT motion parameters, and select relative PT or absolute PT.
Step 2: open RTSys, connect them, and open SCOPE tool, set parameters (same as above)
Step 3: in C#, open PVT motion. Corresponding curves are captured.
(2) PVT Motion (cosine function)
Usually, PVT motion is used together with trigonometric functions.
And the difference between PT and PVT is the end speed, so as long as the real-time speed of the PVT motion is used as the end speed, then the motion curves of PVT motion (cosine) and PT motion (cosine) are the same. The real-time speed of the motion can be derived from the motion distance.
Here, take the example of cosine.
*motion distance: A * COS (ωx + ψ) + C
*motion end speed: -A * ω * SIN (ωx + ψ)
Step 1: enter PVT cosine motion parameters, and select motion axis.
Step 2: open RTSys, connect them, and open SCOPE tool, set parameters.
Step 3: in C#, open PVT cosine motion. Corresponding curves are captured.
Note: even though the scope curve starting point is 200, the real axis starts from 0. In this way (set the motion curve starting point as peak value), it is clearer.
(3) PVT VS PVT (cos)
It can be seen PVT motion curves are not soft, it seems there are 5 speed curves. For PVT cosine curve, it is normal.