Therefore, program motion control codes in C#.

Here, introduce one debugging & diagnosis tool  “RTSys” together for you.

It can  help check motion control effect of C# operation.

After C# coding, Today, let’s learn below content:

[What is RTSys]

[How to Use RTSys to Debug the C# Program]

[Scope Debugging Result of C# Program]

Before that, review “ XPCIE1032H card & MotionRT7 soft kernel Advantages”

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.

Some old friends are familiar with  ZDevelop . Zmotion updates it, then  RTSys is made.

RTSys is one free IDE software that can develop, debug, and diagnose.

To install RTSys in your PC, it should be meet below requirements:

A.       Development

Zmotion motion controllers all can be developed by RTBasic language in RTSys except PC languages ( C#/C++/LabVIEW/Python… ), that is, if you don’t use C# to do coding, RTBasic of RTSys is another choice.

RTSys supports  Chinese and English interfaces by default, you can switch them directly, please check RTSys product – System Architecture – E. Also, you could add other languages.

Actually, there are  4 languages: RTBasic, RTPlc, RTHmi, C language (RTVision is mainly for machine vision function).

It is really powerful, integrating  motion control and  machine vision functions.

B.       Debugging & Diagnosis

It can debug Basic file directly, and breakpoint can be added.

For diagnosis, there are specialized bus state diagnosis, troubleshooting functions.

After coding, you can know real-time data in axis parameter window, including its waveform could be captured and shown clearly. In this way, easy to get how your motion control is, also, then you can real-time modify it.

And this part is today’s main knowledge.

(1)    C# Development

At first, develop needed motion in C#.

As usual, call Zmotion encapsulated C# library file. And Zmotion provides corresponding PC motion control commands.

Download Add.:  https://www.zmotionglobal.com/download_list_17.html

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

Here, we take “C# single-axis motion” as the example (it also can be found in above download address).

This is the example UI interface.

It can be seen there is one button of LOCAL connection, the corresponding C# function is  ZAux_FastOpen.

Below shows the routine used PC C# function. Details can be learnt from  PC Programming Manual.

(2)    RTSys Debugging

After connection, you can set axis parameters in UI interface directly.

Then, select axis, move it with needed mode.

Next, enter RTSys to debug the program.

The first step is to connect RTSys to your controller.

Find controller, click controller.

Then, connection window appears.

Here, please select LOCAL, same as C#.

Note: RTSys supports simulation operation:  you could connect to simulator, that is, if you don’t have real controller, simulator is valid to run the program and debug in advance.

After connection, you can know controller basic state by clicking  “state the controller”.

It can be known there are  4 parts.

a.  Basic info: connected controller basic information, like, controller model, max tasks, IP address, version No.

b.   ZCanNode: connected controller’s local resources, including axes, IO, AIO numbers, and expanded resources by CAN.

c.   Slot0Node: all connected EtherCAT devices’ No., device ID, DIP.

d.   Communication Config: CAN information & serial configuration information (RS232, RS485, RS422).

In right side, you will see one window, whose name is  axis parameter, all kinds of parameters’ changes can be watched clearly.

After setting parameters in C#, here, RTSys axis parameters will be synchronized.

For example , SPEED means axis speed. When the speed is set in C# through ZAux_Direct_SetSpeed command, in RTSys, view SPEED value, it should be same as you configured value. If they are not consistent, may C# speed value is not set successfully.

In tool menu, there are many tools.

Let’s see the  IN & OP at first. You can select needed IO range.

In C# program, use ZAux_Direct_GetIn to read input state, use ZAux_Direct_GetOp to read output state and use ZAux_Direct_SetOp to set output state.

After C#, you can check whether they are operated successfully by these two windows.

Click Tool, find  register, and open it.

You can select register type, set MODBUS / VR / TABLE values, at the same time, view program values.

In C# program, use ZAux_Direct_MoveTable to modify TABLE register value of buffer. Correspondingly, VR and MODBUS value also can be read and written.

Click Tool, find  manual, and open it.

It can control the corresponding axis to move required motion,

Click Tool, find  SCOPE, and open it.

It can capture real-time data during moving.

For C# program, you only need to compile directly to run it, then scope will capture automatically.

Please note “ TRIGGER ” command must be added in program. Otherwise, click ON, then click manual trigger, download it into RAM/ROM at last to do sampling.

For Basic program and more SCOPE details, please refer to RTSys manual / RTBasic manual.

Let’s  run the C# routine, use SCOPE to capture axis 0 DPOS and MSPEED.

Follow below steps:

Step 1: open the oscilloscope.

Step 2: select axis 0, select DPOS and MSPEED for data source.

Step 3: select YT mode.

Step 4: click ON.

Step 5: run C# program

The corresponding operation waveform is like this: