--XPCIE1032H Hardware Info--

Axis Control: 4-64 axes

IO control: high-speed digital IO for latch, PWM, PSO, encoder IN.

Interface:  EtherCAT (motion control & IO expansion)

Development: PC programming languages -- C#, C++, Labview, Python, etc.

--XPCIE1032H Software “MotionRT7”--

High-speed kernel interaction brings faster command interaction:  one single command & multi-command interaction time (once) can reach about 3-5us (below shows the test result).

--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 EtherCAT & pulse axes: hybrid linkage, and hybrid interpolation.

P in PC Windows development, it can achieve real-time, and the instruction interaction speed is  faster 10 times than traditional PCI / PCIe.

After MotionRT7 is installed.

3) Save XPCIE card “Config”

a. at first, stop it, then click UpdateCard to update the card information.

b. click “-->” , it will save current configuration. You can use it directly next time.

c.  after saved, please remember to click OK.

Step 1: New Build C# Project (VS2022)

Step 2: Get Zmotion C# Library File

Download Add.: https://www.zmotionglobal.com/download_list_21.html

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

Step 3: Add Zmotion C# Library File into C# Project

1) Compress downloaded C# library file, then find these 3 files  “Zmcaux.cs”, “zauxdll.dll”, “Zmotion.dll”.

a.  put “Zmcaux.cs” into project root directory file, that is, it is same level ass bin.

b.   put “zaux.dll” and “zmotion.dll” into bin – Debug.

Step 4: Get & Learn Zmotion PC C# Function Command

Zmotion all motion controllers and control cards use the same set of  API function commands.

In C#, call corresponding commands to achieve needed motions.

“PC Programming Manual” Download Add.: https://www.zmotionglobal.com/download_list_17.html

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

Following will one C# routine based on  XPCIE1032H control card and MotionRT7 drive.

This routine tests the one-command interaction speed and multi-command interaction speed.

--Before--

Before that:

Step 1: let’s see which commands it will use.

Ø   ZAux_Direct_GetDpos: read axis current position

Ø   ZAux_DirectCommand: send character string command to controller directly

Ø   ZAux_Close: disconnect

Step 2: design UI interface

In form design interface, please find needed control, then drag them into window to design UI interface.

*C# Routine UI*

--While--

Below shows specific routine codes ( full code file, please contact us ).

a.   “connect” button triggers connection: connect to controller through LOCAL

private void button4_Click(object sender, EventArgs e)
{
    //connect by LOCAL interface
    int ret = zmcaux.ZAux_FastOpen(5, "LOCAL", 1000, out g_handle); 
    if (ret == 0)
    {
        label2.Text = "Connected";
        label2.BackColor = Color.Green;
        MessageBox.Show("Controller Connected!", "Note");
    }
    else
    {
        MessageBox.Show("Controller Connect Failed, Pleasse Choose Correct LOCAL!");
    }
}

b. event process function of  “single-command interaction period”test button: calculate one command’s interaction cycle and total time-consumption.

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();
    label12.Text = ((ts.TotalMilliseconds * 1000) / 10000).ToString();
    label16.Text = dpos.ToString();
}

c.   event process function of  “multi-command interaction period”test button: calculate multi-command’s interaction cycle and total time-consumption.

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;
    label15.Text = (ts.TotalMilliseconds).ToString();
    label13.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] != 32)
        {
            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 = "OFF";
    }
    else
    {
        label29.BackColor = Color.Green;
        label29.Text = "ON";
    }
    if (Convert.ToInt32(arrS[9]) == 0)
    {
        label31.BackColor = Color.Red;
        label31.Text = "OFF";
    }
    else
    {
        label31.BackColor = Color.Green;
        label31.Text = "ON";
    }
    if (Convert.ToInt32(arrS[10]) == 0)
    {
        label33.BackColor = Color.Red;
        label33.Text = "OFF";
    }
    else
    {
        label33.BackColor = Color.Green;
        label33.Text = "ON";
    }
    if (Convert.ToInt32(arrS[11]) == 0)
    {
        label35.BackColor = Color.Red;
        label35.Text = "OFF";
    }
    else
    {
        label35.BackColor = Color.Green;
        label35.Text = "ON";
    }
}

d.   “disconnect” button triggers disconnection: disconnect to controller

private void button1_Click(object sender, EventArgs e)
{    
    zmcaux.ZAux_Close(g_handle);    
    g_handle = (IntPtr)0;    
    label2.Text = "Unconnected";    
    label2.BackColor = Color.Red;
}

--After--

*Test Effect*:

*Video Showing*: https://youtu.be/MYc8r18zh5U