Economical EtherCAT Motion Controller (2) -- ZBasic Achieves Multi-axis Linear Interpolation Motion

XPLC006E Function Introduction

XPLC006E is a kind of multi-axis economical EtherCAT bus motion controller developed by ZMotion Technology, and XPLC series motion controllers can be applied in all kinds of occasions that need offline or online operation.

XPLC006E has 6 motor axes itself, and motion control of 12 axes at most can be achieved (including virtual axes). Also, it supports 12-axis linear interpolation, electronic cam, electronic gear, synchronous follow, virtual axis setting, etc.

In addition, XPLC006E cost-effective controller supports multi-task run synchronously. At the same time, it can do simulation on PC directly. There are several valid programming methods, such as, Basic / PLC ladder diagram / HMI configuration in ZDevelop software and commonly used upper computer software.

For PC upper computer API programming, following interfaces are supported: C#, C++, LabVIEW, VB, matlab, Qt, Linux, .Net, iMAC, Python, ROS, etc.

Actually, according to different axis numbers, there are XPLC004E, XPLC006E and XPLC008E

There is one note: XPLC006E belongs to bus motion controller, which means it only supports EtherCAT bus axes, pulse axes and encoder axes are invalid. Then, it uses EtherCAT bus and drive to communication with refresh cycle of 1ms.

XPLC864E2 Function Introduction

Let's see XPLC864E2, it is upgraded on the basis of XPLC006E, which means, it supports all functions of XPLC006E mentioned above, and usages are basically the same. However, some resource spaces are better than XPLC006E. What's more, XPLC864E2 supports 32 inputs, 32 outputs, 2 ADs and 2 DAs in hardware level, pulse axis and bus axis can be hybrid used. The number of real axes is 8 totally. Except EtherCAT interface, in hardware of output, signal output of 8 axes in pulse direction can be configured, and be with 2 encoder inputs set by input configuration.

Same, XPLC864E2 supports PLC, Basic and HMI configuration programming methods. For PC upper computer API programming, following interfaces are supported: C#, C++, LabVIEW, VB, matlab, Qt, Linux, .Net, iMAC, Python, ROS, etc.

01 Preparations
Firstly, download the latest edition ZMotion program software "ZDevelop V3.10.09" in "ZMotion Technology" -- "Download" or you could just contact me (Aileen -- E: [email protected], T & Wechat & Whatsapp: +86 19925228195)

Then, prepare one XPLC series economy EtherCAT bus motion controller, and do wiring according to above XPLC006E reference wiring.

[ Note: if there is no controller, ZBasic development also can be done -- download the program into simulator. And the simulator is built in ZDevelop software installation package ]

02 Download Basic Program into Controller
(1) New build project item, and download program files into controller for motion. Please refer to below process showing.

Open ".zpj" file -- connect to controller -- download the program -- program can run.

(2) Details of Operation Description

New build project: "File" -- "New Project"

click "New Project", then "Save as.. " interface will appear, select one folder to open, enter file name and save the project, the suffix should be ".zpj".

New build file: "File" -- "New File"

After clicking "New File", below window will pop up. Select the file type as Basic and click "OK". (hybrid program among Basic / Plc /Hmi is valid)

Set file automatic operation: double-click "AutoRun", and enter task No. as 0.

Edit program: when program is edited, click "save all" file, then, edited codes won't lose, and new built Basic file will be automatically saved into file under project ".zpj" .

Connect to controller: edit program well, click "Controller" -- "Connect", when there is no controller, select "connect to simulator".

"Connect to controller" window will pop up after clicking "connect", and can connect through serial port or net port, then select matched serial port parameter or net port IP address, click "connect". Below image shows net port connection, controller IP is 192.168.0.36.

Download the program: click "Download RAM" or "Download ROM", if it is downloaded, there is an indication from command and output window. At the same time, program will be downloaded into controller and automatically run.

If it is successful:

If select "Download RAM", then the program will not be saved when power off, for ROM, it supports power failure storage. And the program downloaded into ROM will automatically run according to task No. when connect to controller again.

[ Note: when there is alarm information "error" in print window, program can't run normally, see below image, instruction reports error ]

03 Check Program Running Situation
Start to debug: "Debug" -- "Start / Stop Debug" to call task adn watch window.

Task window is used to check multi-task running status and task line No., and watch window is used to watch axis parameters, customized variables, input and output status, etc.

Axis parameters checking: this window is an important tool, it can help users know current data and observe whether program runs normally. Please refer to ZDevelop Manual for details.

Oscilloscope acquisition: open oscilloscope window through "View" -- "scope", or shortcut button.

Open "Config" to select Channel Num, Depth, Space and other parameters , then click "OK". Here, we collect 3 channels, DPOS of axis 0, axis 1 and axis 2. When all is configured, click "Start scope" button.

In program, edit "TRIGGER" instruction to trigger oscilloscope acquisition (or manual trigger button), when executing program motion, capture following waveform data.

--there are 3 kinds of modes--

A. XT mode: the curve shows changing of each data source's value with time.

B. XY mode (2D mode): synthetic interpolation trajectories of two axes.

C. XYZ mode (3D mode): synthetic interpolation trajectories of three axes in space.

--interpolation functions description--

XPLC006E economy motion controller has 6 axes, and supports 2-6 axes joint interpolation, then relatively set axis parameters of 2-6 axes. Before motion, select axis No., and send interpolation command, in this way, interpolation command won't be sent to wrong axis.

--6 axes linear interpolation--

BASE(0,1,2,3,4,5) 'select axis No.

MOVE(200,200,100,80,75,100) 'send linear interpolation command

Do 3-axis linear interpolation motion & Watch trajectories of multiple running modes in oscilloscope

--Edit the program "3-axis linear interpolation"--

'emergency stop, clear motion buffer, wait until axis 0 is idle

RAPIDSTOP(2)

WAIT IDLE(0)

GLOBAL CONST AxesNum=3 'define the number of all axes.

AxesInit 'axis parameter initialization

Motion1_job 'move program

END 'main program ends

GLOBAL SUB AxesInit() 'initialization subfunction of axis parameter

FOR i=0 TO AxesNum-1 'initialize axis parameters in bulk

   BASE(i)   DPOS(i)=0   ATYPE(i)=1   UNITS(i)=500     SPEED(i)=100   ACCEL(i)=1000   DECEL(i)=1000   SRAMP(i)=100

NEXT

END SUB

GLOBAL SUB Motion1_job()

TRIGGER 'trigger oscilloscope capture

BASE(0,1,2)

MOVE(200,200,100) '3-axis linear interpolation

END SUB

--motion trajectory under oscilloscope XT mode--

--motion trajectory under oscilloscope XY mode--

--motion trajectory under oscilloscope XYZ mode--

That's all, thank you for your reading -- Economical EtherCAT Motion Controller (2) -- ZBasic Achieves Multi-axis Linear Interpolation Motion

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ZMotion Technology provides motion control card, motion controller , vision motion controller, expansion module and HMI. ( more keywords for ZMOTION: EtherCAT motion control card, EtherCAT motion controller, motion control system, vision controller, motion control PLC, robot controller, vision positioning...)