ZMC408CE supports hardware comparison output for 8 channels, hardware timers, and precise output during motion, as well as 8-channel PWM output, corresponding to output ports OUT0-7, supporting simultaneous triggering of hardware comparison output for 8 channels.
ZMC408CE Video Introduction
1. Create a LabVIEW project.
2. Download the LabVIEW Vi function library folder “zauxdll” from the “CD materials” to your computer, then copy it to the LabVIEW installation path under LabVIEW/user.lib.
Zauxdll function library paste path
3. Introduction to relevant PC functions.
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Command 3 |
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Command prototype |
int32 __stdcall ZAux_OpenEth(char *ipaddr, ZMC_HANDLE * phandle) |
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Command description |
Ethernet connection to the controller. |
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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 toerror codesdescription. |
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Command example |
Connect the controller via Ethernet |
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Detailed description |
1. The Ethernet port uses RJ45 standard cable, with a communication speed of 100Mbit/s. 2. The factory default IP address of the controller is 192.168.0.11, and the port number is 502. The communication device on the opposite side must be in the same subnet as the controller to connect. 3. The most commonly used method to connect the controller. 4. ZMC_HANDLE type: A specific data definition type used for connecting to the control card in the Zmotion library; |
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Command 228 |
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Command prototype |
int32 __stdcall ZAux_Direct_GetTable(ZMC_HANDLE handle, int tabstart, int numes, float *pfValue) |
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Command description |
Read data from the TABLE. |
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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 toerror codesdescription. |
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Command example |
Usage of Table register |
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Detailed description |
It is a large array built into the controller, with a data type of 32-bit floating point (64-bit floating point for series 4 and above), not saved when powered off. |
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Command 27 |
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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 desired position sent by the controller, unitunits. |
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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 toerror codesdescription. |
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Command example |
Get basic motion parameters of the axis |
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Detailed description |
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Command 37 |
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Command prototype |
int32 __stdcall ZAux_Direct_GetMspeed(ZMC_HANDLE handle, int iaxis, float *pfValue) |
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Command description |
Read the current real-time axis feedback speed, unitunits. |
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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 toerror codesdescription. |
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Command example |
float fValue; ret = ZAux_Direct_GetMspeed(handle, 0, &fValue); //Read the current feedback speed of axis 0. handle: continuous handle of the controller |
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Detailed description |
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Command 38 |
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Command prototype |
int32 __stdcall ZAux_Direct_GetVpSpeed (ZMC_HANDLE handle, int iaxis, float *pfValue) |
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Command description |
Read the real-time motion speed of the axis sent by the controller, unitunits/s. |
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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 toerror codesdescription. |
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Command example |
float fValue; ret = ZAux_Direct_GetVpSpeed(handle, 0, &fValue); //Read the current command motion speed of axis 0. handle: continuous handle of the controller |
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Detailed description |
1. When multiple axes are in motion, the main axis returns the interpolated motion speed, not the individual speed of the main axis. 2. Non-main axes return the corresponding individual speed, consistent with feedback speed effects. 3. The planned speed is designed for displaying the composite speed of multiple axes by default, and it has no negative values unless the value of bit0 of SYSTEM_ZSET(zbasic command, PC can use this function: ZAux_Direct_SetParam(handle, “SYSTEM_ZSET”, axis number, set value)）is set to 0, it can be used to display the command speed of a single axis, which can be positive or negative. |
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Command 29 |
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Command prototype |
int32 __stdcall ZAux_Direct_GetMpos(ZMC_HANDLE handle, int iaxis, float *pfValue) |
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Command description |
Read the measured feedback position of the axis, unitunits. |
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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 toerror codesdescription. |
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Command example |
Get basic motion parameters of the axis |
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Detailed description |
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Command 3 |
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Command prototype |
int32 __stdcall ZAux_Direct_Cam(ZMC_HANDLE handle,int iaxis, int istartpoint, int iendpoint, float ftablemulti, float fDistance) |
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Command description |
The electronic cam, the CAM command decides the axis motion based on the data stored in the TABLE. |
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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 toerror codesdescription. |
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Command example |
Cam table example routine |
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Detailed description |
Note: Two or more CAM commands can operate simultaneously using the same segment of TABLE data area. The total motion time is determined by the set speed and the fourth parameter, and the actual speed of motion is automatically matched according to the TABLE trajectory and time. TABLE data needs to be set manually, the first data is the guide point, recommended to set as 0. TABLE data * table multiplier this ratio = number of pulses sent. Please ensure that the distance parameter passed by the command * units is an integer number of pulses, otherwise, floating-point numbers will cause slight errors in motion. |
4. Data source acquisition for motion control in LabVIEW.
(2) In the program editing box, add a “While loop” in the added frame, and add an “event structure” inside the “While loop”, right-click to select add event branch, select “timeout” event, obtain the current number of sampling points from the data source, and import the data source data into the oscilloscope for waveform display.
(3) Select the event structure, right-click to select add event branch, in the loop structure, when the handle is empty, automatically obtain the current IP of the controller, then in this event branch use the “Z Aux Open Eth.vi” function to connect to the controller, to achieve the function of connecting the controller button.
(4) Select the event structure, right-click to select add event branch, select “disconnect” value change, then in this event branch use the “Z Aux Close.vi” function to disconnect from the controller, to achieve the function of disconnecting the link button.
(5) Select the event structure, right-click to select add event branch, select “trigger” value change, then in this event branch use the “Z Aux Trigger.vi” function to trigger the oscilloscope to capture, to achieve the function of triggering command to capture the data source and store the data in the table register.
(6) Select the event structure, right-click to select add event branch, select “start acquisition” value change, then in this event branch use the “Z Aux Execute.vi” function to call the command SCOPE to start obtaining data source data, and store it in the table register.
(7) Select the event structure, right-click to select event, select “XY graph:” mouse change, then in this event branch, read the coordinates of the mouse position in the XY oscilloscope and XY2 oscilloscope in real-time and display them on the interface.
(8) Select the condition structure, when the sine motion button is pressed, trigger the two segments of sine motion using the tiled sequence structure to execute the two segments of electronic cam motion commands in order, using the “Z Aux Cam.vi” function according to the data previously loaded in the table register for corresponding electronic cam motion.
DIM num_p,scale,m,t 'Variable definitionnum_p=100scale=500FOR p=0 TO num_p TABLE(p,((-SIN(PI*2*p/num_p)/(PI*2))+p/num_p)*scale) 'table stores cam table motion parametersNEXT2. The oscilloscope waveform of the ZDevelop software is shown below.
3. The LabVIEW oscilloscope waveform, the oscilloscope data source is the DPOS data content, consistent with the ZDevelop software oscilloscope dpos waveform.
4. The LabVIEW oscilloscope waveform, the oscilloscope data source is the VP_Speed data content, consistent with the ZDevelop software oscilloscope VP_speed waveform.
This time, the EtherCAT motion controller of Positive Motion technology in LabVIEW for motion control and real-time data acquisition is shared here.
For more exciting content, please follow the “Positive Motion Assistant” public account. For related development environment and example code, please consult Positive Motion technology sales engineers: 400-089-8936.
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About Positive Motion Technology
Shenzhen Positive Motion 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 and specialized new “little giant” enterprise.
Positive Motion Technology has gathered excellent talents from companies like Huawei and ZTE. Striving for innovation, the company currently holds more than fifty intellectual properties including patents and copyrights. While adhering to independent innovation, it actively collaborates with major universities and research institutes to conduct research on basic motion control technologies, making it one of the fastest-growing companies in the domestic industrial control field, and one of the few enterprises in the country that fully masters core motion control technologies and real-time industrial control software platform technologies.
In addition to its main R&D center, Positive Motion Technology has three R&D branches in Zhongshan, Wuhan, and Shanghai. To better serve customers, it has regional service centers in Suzhou and Dongguan, as well as sales and technical service organizations in Foshan, Xiamen, Qingdao, Xi’an, Wuhan, Chengdu, Tianjin, and Zhengzhou.
After years of development and application by numerous partners, Positive Motion Technology’s products are widely used in fields such as 3C electronics, semiconductors, new energy, robotics, packaging and printing, textiles and garments, laser processing, medical pharmaceuticals, CNC machine tools, and traditional processing.
