Today, the motion assistant will share with you the hardware wiring of the EtherCAT motion control card ECI2828 and how to use LabVIEW to read and write hardware peripherals and perform homing motion.
I. ECI2828 Hardware Introduction
The ECI2828 series motion control card supports up to 16-axis linear interpolation, arbitrary circular interpolation, spatial circular interpolation, helical interpolation, electronic cams, electronic gears, synchronous following, virtual axes, and robot commands; it uses an optimized network communication protocol to achieve real-time motion control.
The ECI2828 series motion control card supports Ethernet and a RS-232 communication interface to connect to a computer, receive commands from the computer, and can connect to various expansion modules via EtherCAT and CAN buses to expand the number of input/output points or motion axes.
Applications for the ECI2828 series motion control card can be developed using software such as VC, VB, VS, C++, and C#. The program requires the dynamic library zmotion.dll to run. During debugging, the ZDevelop software can be connected to the controller simultaneously for easier debugging and observation.
Typical connection configuration diagram of ECI2828 series
II. Motion Control Development using LabVIEW
1. Download the LabVIEW Vi function library "zauxdll" folder from the "CD-ROM data" to your computer, and then copy it to the LabVIEW/user.lib folder under the LabVIEW installation path.
Zauxdll function library path
Paste the path to the Zauxdll function library.
2. Review the PC function manual and familiarize yourself with the relevant function interfaces.
(1) The PC function manual is also included in the CD-ROM materials. The specific path is as follows: "CD-ROM materials\8.PC functions\Function library 2.1\ZMotion function library programming manual V2.1.pdf"
(2) PC programming typically involves connecting the controller and industrial PC via the network port. The network port connection function interface is ZAux_OpenEth(); if the connection is successful, this interface will return a connection handle. By manipulating this connection handle, control of the controller can be achieved.
ZAux_OpenEth() Interface Description:
(3) Use the axis parameter setting related instructions to operate the link handle "g_handle" to set the axis parameters of the controller. The axis parameter setting related instructions are as follows.
Axis type settings:
Axis pulse equivalent setting:
For details on other axis parameter setting instructions, please refer to "ZMotion Function Library Programming Manual V2.1.pdf".
(4) Use the single-axis motion related instructions to operate the link handle "g_handle" to perform single-axis motion control on the controller. The single-axis motion related instructions are as follows.
Single-axis homing motion:
Set the positive limit signal:
Set negative limit signal:
Set signal inversion:
Set the origin signal:
3. Develop the homing motion using LabVIEW.
(1) Create a new Vi, right-click the mouse in the front panel, and select controls to design the UI.
(2) After designing the UI interface on the front panel, enter the program block diagram and you will see the corresponding terminals of each control.
(3) Right-click in the program editing box, select "Programming" - "Structure" - "Tile Sequence Structure", then right-click on the tile sequence structure and select "Add Frame in Front" to achieve the following effect and initialize the local variables.
(4) In the program editing box, select “Tile sequence structure” with the mouse, then right-click and select “Add frame after”. Then add “While loop” in the added frame, and add “Event structure” in “While loop”. Use “timeout handling” in the event structure to monitor the motion state, motion speed and motion position of the controller in real time.
(5) Select the event structure, right-click and select Add Event Branch, select Change the “Connection” value, and then use the “Z Aux Open Eth.vi” function in the event branch to connect the controller to realize the function of connecting the controller button.
(6) Select the event structure, right-click and select Add Event Branch, select the "Disconnect" value to change, and then use the "Z Aux Close.vi" function in the event branch to disconnect the controller to realize the function of the disconnect button.
(7) Select the event structure, right-click and select Add Event Branch, select "Start Zero" value change, and then use the relevant Vi function in the event branch to set the controller motion parameters and start the motion to realize the function of the motion button.
A. By calling the Vi function related to axis parameter settings in frame 0 of the "cascaded sequence structure" in this event branch, the controller axis parameters are set first.
B. Configure signal points, origin signals, positive and negative limits, and analog quantity settings by calling the "Cascading Sequence Structure" in the first frame of this event branch.
C. The action to return to zero is invoked in frame 2 of the "cascading sequence structure" within this event branch, calling "Z Aux Direct Single Datum.vi".
(8) Select the event structure, right-click and select Add Event Branch, select Change the “Stop” value, and then use the “Z Aux Direct Single Cancel.vi” function in the event branch to stop the axis movement of the controller to realize the function of the stop button.
(9) Select the event structure, right-click and select Add Event Branch, select "Coordinate Zeroing" value change, and then use the "Z Aux Direct Set Dpos.vi" function in the event branch to set the controller axis position to 0, so as to realize the function of the coordinate zeroing button.
III. Debugging and Monitoring
Compile and run the routines, and connect to the ZDevelop software for debugging, monitoring the axis parameters and motion status of the motion control.
1. Connect to ZDevelop software to monitor the controller status through the axis parameters on the right side of the software. Alternatively, click "View" → "Oscilloscope" to open the oscilloscope and monitor the axis movement.
2. Run the host computer software for debugging and monitoring.
3. Debug the video.
That concludes this second part of our discussion on building intelligent equipment using EtherCAT motion control cards and LabVIEW.
For more exciting content, please follow the "Zheng Motion Assistant" WeChat official account. For related development environment and example code, please contact Zheng Motion's technical sales engineer: 400-089-8936.
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