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XPCIE1032H Function Introduction
XPCIE1032H supports PWM and PSO functions, with 16 input and output general-purpose I/O ports on board, all output ports being high-speed output ports, configurable as 4 PWM output ports or 16 high-speed PSO hardware comparison output ports. The input ports include 8 high-speed input ports, configurable as 4 high-speed color mark latching or two encoder inputs.
XPCIE1032H, paired with the MotionRT7 real-time kernel, connects using the local LOCAL interface, allowing for faster command interaction through high-speed core interaction, with single and multiple command interaction times reaching about 3-5 microseconds.
➜ The advantages of XPCIE1032H combined with the MotionRT7 real-time kernel are as follows:
1. Supports development in various upper computer languages, all series products can call the same set of API function libraries;
2. With the help of core interaction, motion commands can be called quickly, with response times as fast as microseconds, 10 times faster than traditional PCI/PCIe;
3. Solves the non-real-time control system issues of traditional PCI/PCIe motion control cards in a Windows environment;
4. Supports one-dimensional/two-dimensional/three-dimensional PSO (high-speed hardware position comparison output), suitable for applications like visual flying and precise dispensing, and laser energy control;
5. Provides high-speed input interfaces, facilitating position latching;
6. Supports mixed operation of the EtherCAT bus and pulse output, and mixed interpolation.
➜ When developing projects using XPCIE1032H and MotionRT7, the following steps are usually required:
1. Install the driver and perform signature authentication to recognize XPCIE1032H;
2. Open and execute the file “MotionRT710.exe”, configure parameters, and run the motion control real-time kernel;
3. Use ZDevelop software to connect to the controller for parameter monitoring. When connecting, please use PCI/LOCAL mode and ensure that the ZDevelop software version is above 3.10;
4. Complete the control program development, connect to the motion control card via LOCAL link mode to achieve real-time motion control.
➜ Comparing test data results with traditional PCI/PCIe cards and PLC:
|
Average Value |
C++ LOCAL |
C# LOCAL |
Traditional PCI/PCIe Card Interface Interaction |
PLC Network Port Communication Interaction |
|
1w Single Read Interaction Cycle |
4.70us |
5.3us |
64us |
500us-10ms |
|
10w Single Read Interaction Cycle |
3.90us |
5.7us |
65us |
500us-10ms |
|
1w Multiple Read Interaction Cycle |
6.20us |
8.85us |
472us |
500us-10ms |
|
10w Multiple Read Interaction Cycle |
5.50us |
8.37us |
471us |
500us-10ms |
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Turn off the computer power.
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Open the computer case, select an empty XPCIE slot, and use a screwdriver to remove the corresponding cover plate.
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Insert the motion control card into the slot and tighten the screws on the cover plate.
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Remove a cover plate from the adjacent slot and fix the adapter board to that slot with screws.
9. Video demonstration of the XPCIE1032H driver installation.
(1) Open the location of the console program and run the executable file “MotionRt710.exe”.
2. Create a new C# project (VS2022)
4. Unzip the downloaded installation package to find“Zmcaux.cs”, “zauxdll.dll”, “zmotion.dll” and place them in the project files
6. Double-click Form1.cs inside Form1 to open the code editing interface, write using cszmcaux at the beginning of the file, and declare the controller handle g_handle
|
Command1 |
|
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Command Prototype |
int32 __stdcall ZAux_FastOpen(int type, char *pconnectstring, uint32 uims ,ZMC_HANDLE * phandle) |
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Command Description |
Establish a connection with the controller, can specify the wait time for the connection |
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|
Input Parameters |
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Output Parameters |
|
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|
Return Value |
Returns 0 on success, non-zero values refer to error codes explanation. |
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|
Command Example |
Serial connection: ZMC_HANDLE phandle;//Controller connection handle Char comID[32]= “0”;//Serial port ID ZAux_FastOpen(1, comID,1000s ,&phandle); ZMC_HANDLE phandle;//Controller connection handle Char EthID[32]= “192.168.0.11”;//Network port ID ZAux_FastOpen(2, EthID,1000s ,&phandle); ZMC_HANDLE phandle;//Controller connection handle ZAux_FastOpen(ZMC_CONNECTION_LOCAL, “LOCAL1”,3000,&g_handle); |
|
Command2 |
|
||||||
|
Command Prototype |
int32 __stdcall ZAux_Direct_GetDpos(ZMC_HANDLE handle, int iaxis, float *pfValue) |
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|
Command Description |
Read the current position of the axis or the position requested by the controller, unit is units. |
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|
Input Parameters |
|
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|
Output Parameters |
|
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|
Return Value |
Returns 0 on success, non-zero values refer to error code explanation. |
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|
Command Example |
Basic motion parameter setting retrieval |
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|
Detailed Description |
/ |
|
Command3 |
|
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|
Command Prototype |
int32 __stdcall ZAux_DirectCommand(ZMC_HANDLE handle, const char *pszCommand,char *psResponse, uint32 uiResponseLength) |
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|
Command Description |
Send string command to the controller, direct mode (not buffered, a few commands are temporarily unsupported). |
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|
Input Parameters |
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|
Output Parameters |
|
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|
Return Value |
Returns 0 on success, non-zero values refer to error code explanation. |
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|
Command Example |
Usage of online command function |
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|
Detailed Description |
Upper computer calls unwrapped Basic command functions |
|
Command4 |
|
||||
|
Command Prototype |
int32 __stdcall ZAux_Close(ZMC_HANDLE handle) |
||||
|
Command Description |
Close the controller connection. |
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|
Input Parameters |
|
||||
|
Output Parameters |
/ |
||||
|
Return Value |
Returns 0 on success, non-zero values refer to error code explanation. |
||||
|
Command Example |
Close connection to the serial controller |
||||
|
Detailed Description |
/ |
8. Related Programs
private void button4_Click(object sender, EventArgs e){ //LOCAL mode connection int ret = zmcaux.ZAux_FastOpen(5, "LOCAL", 1000, out g_handle); if (ret == 0) { label2.Text = "Connected"; label2.BackColor = Color.Green; MessageBox.Show("Controller connection successful!", "Notice"); } else { MessageBox.Show("Connection failed, please select the correct LOCAL!"); }}private void SingleRun(object sender, EventArgs e){ float dpos = 0; DateTime beforeDT = System.DateTime.Now; for (int i = 0; i <10000; i++) { zmcaux.ZAux_Direct_GetDpos(g_handle, 0, ref dpos); } DateTime afterDT = System.DateTime.Now; TimeSpan ts = afterDT - beforeDT; label14.Text = (ts.TotalMilliseconds).ToString(); label2.Text = ((ts.TotalMilliseconds * 1000) / 10000).ToString(); label16.Text = dpos.ToString();}private void MuchRun(object sender, EventArgs e){ int[] status = { 0, 0, 0, 0 }; float[] dpos = { 0, 0, 0, 0 }; uint[] num = { 0, 0, 0, 0 }; string cmd; int star = 0; StringBuilder cmdBuff = new StringBuilder(2048); string[] tmp = new string[12]; cmd = "?dpos(0),dpos(1),dpos(2),dpos(3),axisstatus(0),axisstatus(1),axisstatus(2),axisstatus(3),in(0),in(1),in(2),in(3)"; DateTime beforeDT = System.DateTime.Now; for (int i = 0; i < 10000; i++) { zmcaux.ZAux_DirectCommand(g_handle, cmd, cmdBuff, 2048); } DateTime afterDT = System.DateTime.Now; TimeSpan ts = afterDT - beforeDT; label23.Text = (ts.TotalMilliseconds).ToString(); label16.Text = ((ts.TotalMilliseconds * 1000) / 10000).ToString(); string s = cmdBuff.ToString(); string[] arrS = new string[20]; for (int i = 0; i < s.Length; i++) { if (s[i] != 9) { arrS[star] += s[i]; } else { star++; continue; } } label24.Text = arrS[0]; label25.Text = arrS[1]; label26.Text = arrS[2]; label27.Text = arrS[3]; label28.Text = arrS[4]; label30.Text = arrS[5]; label32.Text = arrS[6]; label34.Text = arrS[7]; if (Convert.ToInt32(arrS[8]) == 0) { label29.BackColor = Color.Red; label29.Text = "Signal not triggered"; } else { label29.BackColor = Color.Green; label29.Text = "Signal triggered"; } if (Convert.ToInt32(arrS[9]) == 0) { label31.BackColor = Color.Red; label31.Text = "Signal not triggered"; } else { label31.BackColor = Color.Green; label31.Text = "Signal triggered"; } if (Convert.ToInt32(arrS[10]) == 0) { label33.BackColor = Color.Red; label33.Text = "Signal not triggered"; } else { label33.BackColor = Color.Green; label33.Text = "Signal triggered"; } if (Convert.ToInt32(arrS[11]) == 0) { label35.BackColor = Color.Red; label35.Text = "Signal not triggered"; } else { label35.BackColor = Color.Green; label35.Text = "Signal triggered"; }}private void button1_Click(object sender, EventArgs e){ zmcaux.ZAux_Close(g_handle); g_handle = (IntPtr)0; label2.Text = "Not connected"; label2.BackColor = Color.Red;}
10. Effect Demonstration
Complete Code Access Address
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About Zhèng Yùn Technology
Shenzhen Zhèng Yùn Technology Co., Ltd. was established in 2013, focusing on the research of purely domestic motion control technology and the development of general motion control software and hardware platforms and products. It is a national high-tech enterprise and a specialized and innovative “little giant” enterprise.
Zhèng Yùn Technology brings together talented individuals from companies such as Huawei and ZTE. Striving for innovation, the company currently holds more than fifty intellectual property rights, including patents and copyrights. While adhering to independent innovation, it actively collaborates with major universities and research institutes to research basic motion control technologies, making it one of the fastest-growing companies in the domestic industrial control field, and one of the few companies that fully master core motion control technologies and real-time industrial control software platform technologies in the country.
In addition to the main R&D center, Zhèng Yùn Technology has three R&D branches in Zhongshan, Wuhan, and Shanghai. To better serve customers, it has two regional service centers in Suzhou and Dongguan, as well as sales and technical service agencies in Foshan, Xiamen, Qingdao, Xi’an, Wuhan, Chengdu, Tianjin, and Zhengzhou.
After years of development and application by numerous partners, Zhèng Yùn Technology’s products are widely used in various fields such as 3C electronics, semiconductors, new energy, robotics, packaging and printing, textiles and clothing, laser processing, medical pharmaceuticals, CNC machine tools, and traditional processing.
