XPCIE1032H is one EtherCAT PCI Express motion control card developed by Zmotion Technology.
*XPCIE1032H Introduction Video*:https://youtu.be/B1ktSxIRa44
*XPCIIE1032H Learning Videos*: https://www.youtube.com/watch?v=0C96S5_hVf0&list=PLvzEuQVKptq7aDErj5Q46hYGUYZODWHkW&pp=gAQB
*XPCIE1032H Lesson 8 Video: https://youtu.be/LyzzxW5807w
And one software kernel is built.
--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 in PC Windows development, it can achieve real-time, and the instruction interaction speed is faster 10 times than traditional PCI / PCIe.
Average Value | C++ LOCAL | C# LOCAL | Traditional PCI / PCIe | PLC EtherNET |
Period of one command reading with 1W times | 4.70us | 5.3us | 64us | 500us-10ms |
Period of one command reading with 10W times | 3.90us | 5.7us | 65us | 500us-10ms |
Period of multi-command reading with 1W times | 6.20us | 8.85us | 472us | 500us-10ms |
Period of multi-command reading with 10W times | 5.50us | 8.37us | 471us | 500us-10ms |
In lesson 7, PSO and encoder latch knowledge were shown.
Today, let’s see some details of 1D PSO: how to do single-axis PSO for vision fly-shooting?
Take last lesson’s C# routines as example, showing PSO modes operations for you.
[What is PSO & Related C# Commands]
[PSO Modes Description & Running Effect]
A. PSO Introduction
PSO: position synchronized output.
The right-one uses PSO: line motions are fast, even in corner deceleration, stable output is also achieved. Corner processing is just one small part of the whole trajectory. When it is processed well by PSO,increasing the production capacity.
For details, please check Lesson 7 PSO & Encoder Latch.
B. How to Achieve PSO
For Zmotion Technology, use ZAux_Direct_HwPswitch2 function to do PSO in C# (and other PC languages). It makes controller’s high-speed IO output the signal, the respond speed can be up to us level.
ZAux_Direct_HwPswitch2 (handle, axisnum, mode, opnum, opstate) | |
Handle | Connection handle |
Axisnum | The axis No. to compare output |
Mode | Compare modes: l Mode 1 – open comparator l Mode 2 – stop and delete uncompleted comparison points l Mode 3 – vector comparison l Mode 4 – vector comparison, single-point l Mode 5 – vector comparison, period pulse mode l Mode 6 – vector comparison, period pulse mode, used together with ZAux_Direct_HwTimer command. |
Opnum | The output No. of PSO. |
Opstate | The first comparison point’s output state: 0—FF, 1-ON. |
ModePara1~4 | Each modes need different parameters. |
ZAux_Direct_HwTimer (handle, mode, cyclonetime, optime, reptim, opstate, opnum) | |
Mode | 0 – stop, 2 – start |
cyclonetime | The period type, the unit is us |
optime | The valid type, the unit is us |
reptime | Repeat times |
Opstate | Start timing when the OUT state becomes not this state. |
Opnum | The output that supports PSO |
For details, please refer to Zmotion PC Programming Manual. Download Add.:https://www.zmotionglobal.com/download_list_17.html Contact Us: https://www.zmotionglobal.com/contactus.html Including the C# library file. How to call the PC library file, please review lesson 2. | |
(1) Mode 1: Single-Axis Comparison
A. How to Set
Step 1: specify controller’s high-speed output port.
Step 2: set the first comparison point’s output state.
Step 3: set which axis to do comparison.
Step 4: set comparison points into TABLE register, enter t he first point (absolute position) TABLE No. for modepara1, enter the last point (absolute position) TABLE No. for modepara2 (OUT will be inverted after meeting set comparison point).
Step 5: set comparison motion direction (direction of point 1: 0 = inverse, 1 = forward, - = no direction).
Step 6: open comparison.
Step 7: move axis.
B. C# Operation
--C# Configurations--
Set OUT0, the first point’s output state is 1 (ON), and the axis is 0.
4 points (100, 200, 300, 400) here, that is, when the axis arrives 100, 200, 300, 400, triggering level to invert once.
--SCOPE Data Showing--
RTSys is Zmotion own free IDE debugging tool. It can help debug C# programs. You can check corresponding article (lesson 6).
(2) Mode 2: Clear Comparison Modes
For mode 2, no need modepara1~modepara4 parameters and opstate.
Set 2 for mode. Then, before using, use this mode to clear uncompleted data. At the same time, while moving, it also can be called to stop comparison.
(3) Mode 3: Single-Axis Vector Comparison
A. How to Set
Please set 3 for mode.
Steps are same as mode 1. The difference is the needed parameters in step 4: here, mainly for vector distance, not the absolute distance. And no need modepara3 and modepara4.
B. C# Operation
--C# Configurations--
Also, same as mode 1: OUT 0, ON state, axis 0, 4 points (100, 200, 300, 400).
When the axis 0 arrives vector distance 100, 200, 300, 400, triggering level to invert once
--SCOPE Data Showing--
(4) Mode 4: Single-Axis Vector Comparison with One Point
A. How to Set
Please set 4 for mode.
Steps are same as mode 3. And here is only for one single point, only modepara1 (vector distance of the point = the current motion distance) should be filled in.
B. C# Operation
--C# Configurations--
OUT 0, ON state, axis 0, 1 point 100.
When it arrives vector distance 100, triggering level to invert once, the comparison ends.
--SCOPE Data Showing--
(5) Mode 5: Period Position Comparison, Output with Valid Distance
A. How to Set
Please set 5 for mode.
Steps are same as mode 4. But under mode 5, 4 parameters are needed:
*ModePara1: comparison point vector distance (current motion distance)
*ModePara2: repeat period = how many valid states
*ModePara3: period distance, valid state distance each time
*ModePara4: valid state distance (<period distance)
B. C# Operation
--C# Configurations--
OUT 0, ON state, axis 0, the point is 80, it will compare 5 times (repeat period), and the period is 100, valid distance is 20.
When it arrives the vector distance >80, then each 100 space, it will output pulses at configured position.
--SCOPE Data Showing--
This is one interpolation motion (300 & 400) of axis0 0 and axis 1, when it is at vector 80, 180, 280, 380, 480, corresponding period position pulses are ou