Last week, we shared "Using the Open Linux Platform with Zheng Motion Technology's XPLC516E (Part 1)". Today, the Zheng Motion Technology team continues by sharing "Using the Open Linux Platform with Zheng Motion Technology's XPLC516E (Part 2)". In the previous part, we discussed why Zheng Motion Technology's XPLC516E controller needs to be embedded in a Linux system and what its advantages are. We also systematically introduced the open Linux platform controller XPLC516E and its Qt development under Linux. In this part, we mainly introduce the XPLC516E motion control development demonstration.
The XPLC516E motion controller with positive motion technology allows Qt programs to connect to the controller via a local interface, enabling direct memory interaction at a speed of around 20µs, which is an order of magnitude faster than PCI/PCIE data interaction.
Video Tutorial : "Video Tutorial: Using the XPLC516E Open Linux Platform for Positive Motion Technology (Part 2)"
I. Hardware Connection
Connect the mouse, keyboard, monitor, EtherCAT bus servo, industrial camera, and XPLC516E controller.
II. It is recommended to use the local interface.
A Qt project developed on a PC can be connected to the controller via Ethernet. You can run the Qt program directly on the PC or download it to the controller to run the Qt program.
Meanwhile, the XPLC516E motion controller from Positive Motion Technology supports Qt programs connecting to the controller via a local interface for direct memory interaction, which is faster than PCI/PCIE. Therefore, it is recommended to use the local interface to connect to the controller.
To connect the local interface to the controller, the developed Qt project needs to be downloaded to the controller and run.
3. Download the Qt project developed on the PC to the controller and run it.
1. How to download Qt projects
You can download Qt projects to the controller via USB flash drive, or connect the controller to a PC via its network port and download them using WinSCP software.
When a USB drive is inserted, a USB drive icon will appear on the desktop of the controller's Linux system. Double-clicking the USB drive icon allows you to manage files and download Qt projects.
When downloading WinSCP software, the method for connecting the controller is as follows:
Alternatively, you can develop projects directly using the pre-downloaded Qt software on the controller. This way, you don't need to download the pre-developed project. For specific development processes, you can refer to the Linux_Qt development process for PCs.
2. Replace the dynamic library.
First, download the ARM platform dynamic library (zmotion.so) from the CD-ROM to the controller, and rename the dynamic library to libzmotion.so. Then, replace the dynamic library in the Qt project developed on the PC.
3. Compile and run
Finally, by using the downloaded Qt software on the controller to compile the project, it can be run.
IV. XPLC516E Open Linux Platform
The XPLC516E controller comes with a Linux operating system and supports the development of human-computer interaction interfaces using Qt.
Qt programs can be linked with the local interface and control system using direct memory interaction, resulting in high speed. Additionally, a PC function library (zmotion.so) is provided. Referencing the ZMotion PC function library programming manual, motion control programming can be performed, enabling linear interpolation, arbitrary circular interpolation, spatial circular interpolation, helical interpolation, electronic cams, electronic gears, synchronous following, virtual axis settings, and more.
(Illustration of a phone case)
It also supports third-party vision systems. The controller contains a camera driver, which allows direct access to camera acquisition-related APIs via the camera driver's SDK. It also supports direct access from third-party vision software.
(Supports third-party visuals)
This concludes the second part of "Using the XPLC516E Open Linux Platform with Positive Motion Technology". For more excellent tutorials, please follow the Positive Motion Assistant's WeChat official account.
This article was originally created by Zheng Motion Assistant. We welcome everyone to reprint it for mutual learning and to improve China's intelligent manufacturing capabilities. Copyright belongs to Zheng Motion Technology. Please indicate the source if you reprint this article.
Zheng Motion Technology is a national high-tech enterprise specializing in the research and application of motion control technology. It primarily engages in the research, development, production, sales, and service of motion controllers, motion control cards, IO expansion modules, and integrated motion display and control systems. The company has assembled outstanding talent from companies such as Huawei and ZTE. While adhering to independent innovation, it actively collaborates with major universities to dedicate itself to the research and application of motion control technology. It is one of the fastest-growing companies in China's industrial control field and a leading enterprise in China that has fully mastered core motion control technologies and real-time industrial control software platform technologies.
