Introduction
The new version of the RTSys motion control integrated development platform has arrived with powerful tools such as "program intellectual property protection tools," "oscilloscope," "manual motion," and "fault diagnosis"!
Last time, we introduced the advantages and main functions of the RTSys platform, and gave you a basic overview of RTSys installation and main windows. For details, click → RTSys New Version Released: Independent, Controllable, and Easy-to-Use Motion Control Integrated Development Platform (Part 1). This time, we'll introduce tools that open up various shortcuts for users! A single development platform can handle programming, debugging, diagnostics, and intellectual property protection.
This issue mainly introduces the following functions:
I. RTSys Program Intellectual Property Protection Tools
II. Commonly Used RTSys Debugging Tools
III. RTSys Program Debugging and Diagnostic Tools
IV. RTSys User Help Documentation
01 Program Intellectual Property Protection Tools
The RTSys software provides users with a variety of intellectual property protection tools, including: controller locking, ZAR file generation for download, and compilation into Lib files. All three methods can protect the user's program from easy tampering or viewing, providing strong program confidentiality.
The main functional differences between these three tools are as follows:
1. Controller Lock: Protects the program within the controller from easy modification. Locking the controller prevents the program from being downloaded to it from the host computer. 2. Generate ZAR File: Protects the source code from easy viewing. An encrypted ZAR file is generated; the program content cannot be viewed, but it can still be downloaded to the controller. 3. Compile to Lib File: Protects the program from easy viewing or modification. Compiling to a lib library file only allows viewing the global SUB sub-function definitions; the sub-function content and the main program are not viewable.
▶▶▶ Controller Lock & Unlock
Locking the controller involves setting a password to lock it, primarily to protect downloaded programs. Once locked, the host computer program will be unable to download to the controller, but generated ZAR files can still be downloaded. Unlocking the controller requires entering the correct password. The password can be set to numbers, letters, and special symbols, with a maximum length of 16 characters. (Note: The password uses an irreversible encryption algorithm; once forgotten, it cannot be retrieved!) Operating the controller after locking it will display a message prompt. Unlocking the controller requires entering the password.
▶▶▶ Generate ZAR file
Generating a dedicated ZAR encrypted download file from project files allows for independent program downloads. This ensures that the downloaded file can be sent to end users without concerns about program leakage. The file extension is .zar. RTSys provides two encryption methods: 1. Binding Controller ID: After binding a unique controller ID, the ZAR file is only usable by that controller. (The controller ID is the unique serial number of the controller at the factory. The controller ID can be viewed in "Controller Status" or via the command SERIAL_NUMBER.) 2. Binding with Password: After setting a password, the correct password must be entered before the ZAR file can be downloaded to the controller for decryption. ZAR files can be generated in the RTSys software by clicking "Controller" → "Generate ZAR File" in the menu bar.
To download ZAR files, go to the "Controller" menu in the RTSys software and click "Download ZAR File". (For detailed instructions, please refer to the RTSys User Manual.)
▶▶▶ Compile to Lib
To ensure program confidentiality and prevent modification, the "Compile to Lib" function in RTSys software can compile a program file into a library file and save it with the filename extension ".zlb". This function applies to a single program file. After debugging the source program and confirming it is error-free, click "File" → "Compile Lib" in the menu bar, and save the generated .zlb file in the folder of your project's .zpj directory.
After compiling, add the Lib file back to the project. Right-click in the software's "Project View" window, click "Add to Project," select the compiled Lib file, and add it. The result will look like the image below.
02 Commonly Used Debugging Tools in RTSys
▶▶▶ Oscilloscope
The RTSys software provides an oscilloscope acquisition tool, which can convert signals invisible to the naked eye into graphics, facilitating the study of various signal changes. The oscilloscope utilizes data processed internally by the controller and displays it graphically. It can display various signals, such as axis parameters and axis status. Therefore, the oscilloscope is an extremely important part of program debugging and execution. For detailed usage instructions, please refer to the "RTSys User Manual".
The RTSys oscilloscope supports the following functions:
1. Supports data acquisition from multiple data sources, with up to 8 channels simultaneously acquired at a time. Data sources include: DPOS, MPOS, VP_SPEED, MSPEED, FE, MTYPE, MOVE_MARK, IN, OUT, AIN, AOUT, etc.
2. The display mode supports four different dimensions, including: YT mode, XY mode, XYZ mode, and XYZD mode.
3. Supports the use of cursors for data point positioning or interval calculation.
4. Supports channel overlay function and generates new overlay waveform curves, supporting up to 4 overlay channels.
5. Supports loading waveforms for waveform comparison and waveform search.
6. Supports using a magnifying glass to zoom in and view waveform details.
The oscilloscope's YT mode is shown in the following figure:
The XY mode of the oscilloscope is shown in the figure below:
The XYZ mode of the oscilloscope is shown in the following figure:
The XYZD mode of the oscilloscope is shown in the following figure:
▶▶▶ Manual movement
Manual motion tools are mainly used for manually operating motor shafts for initial debugging or verification. They are generally connected to the machine tool through a motion controller, and the tools are used to debug each individual shaft.
This tool allows users to customize the selection of axis numbers and set the corresponding axis parameters to perform basic single-axis movements such as jogging or inching.
▶▶▶ Input/Output Ports
The input port tool supports viewing the input port status and defining special inputs (origin, limit, alarm). It can monitor changes in the controller's input port status in real time.
The output port tool allows you to view the status of each output port on the controller or expansion module. It also supports changing the on/off state of the output ports.
▶▶▶ Registers
This feature allows you to view the values of controller registers in batches. You can select different types of registers to view and import/export data. For detailed usage instructions, please refer to the "RTSys User Manual". Note: Do not exceed the register range when reading; otherwise, an error message will be displayed.
▶▶▶ PWM
This tool reads/sets the controller's PWM duty cycle, frequency, and other related parameters. The number of supported PWM channels is automatically identified and read based on the controller model. This allows users to operate directly within the tool without writing code, greatly improving user convenience.
▶▶▶ SDO
The SDO tool allows direct read/write operations on the EtherCAT data dictionary. It provides two identification methods for device data dictionary reading/writing: "device number and slot number" and "axis number".
03 Program Debugging and Diagnostic Tools
▶▶▶ Program debugging, breakpoints, emergency stop
RTSys provides debugging tools for tracking program execution and the status of various tasks, and also supports real-time global monitoring of variable values (custom global variables can also be added to the monitoring; simply copy and paste the variable name into the "Monitor" window). Breakpoints are tools to assist in program debugging; you can set breakpoints before suspected problematic lines of code, and then use quick debugging tools to run and debug line by line.
Emergency stop is used to immediately stop program execution and the movement of all axes in an emergency.
When entering debugging mode, RTSys provides four download methods:
After selecting the mode for entering debugging, the Tasks and Monitoring window will open.
1) Task Window: Used to view the running status of tasks, the file where the task is located, and the line number of the task. 2) Watch Window: Monitors variables in the project. It can display valid expressions such as global variables and file module variables; local variables are not supported. Parameter values are automatically obtained and displayed during program runtime. Alternatively, in debug mode, you can select a variable in the program editing area, right-click, and select "Add to Watch" to add it to the watch list, or modify or add watch items by double-clicking the watch list name. After entering debug mode, you can use the quick debug tool for debugging. The toolbar is described in the table below:
If the program and the controller are inconsistent, or if the program is modified but not downloaded in time, the line number specified for debugging will be offset.
When the program is paused, the movement that has already entered the buffer will not be paused.
▶▶▶ Fault Diagnosis
Quickly view detailed controller status and fault information. Supports viewing controller model, date, version number, task running status, and error message prompts, facilitating on-site fault identification and program stall location for customers. The Run and Alm lights can also be manually switched on and off, making it easy to quickly locate the currently connected controller among many others. Task running status:
Error message:
▶▶▶ Bus Fault Diagnosis
View the controller's currently supported buses (EtherCAT or RTEX) and device information for all nodes connected to those buses. See the *ETHERCAT command help for the meaning of the printed information. Additionally, packet loss detection for connected devices is supported in "More Information".
05. Help Documentation: ZhengMotion provides users with relevant usage and development documentation, including controller usage introductory documentation, RTSys development environment usage help documentation, RTBasic syntax help documentation, RTPLC syntax help documentation, RTHmi syntax help documentation, RTNc help documentation, and RTVision visual syntax help documentation. Explanations of all relevant commands and introductions to some functions can be viewed within the documentation. (Click on the far right of the menu bar → "Help Documentation," and select the corresponding help document according to your needs.)
The RTBasic help diagram is shown below:
1. RTSys installation package download address:
https://nas.zmotion.com.cn:36888/sharing/SCa6nsPi1
2. Download link for the RTSys portable version:
https://nas.zmotion.com.cn:36888/sharing/FdyG7gquh
That concludes our presentation on RTSys, a self-controllable and easy-to-use motion control integrated development platform (Part 2).
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.
This article is original content from Zheng Motion Technology. We welcome everyone to reprint it for mutual learning and to jointly improve China's intelligent manufacturing level. Copyright belongs to Zheng Motion Technology. Please indicate the source if you reprint this article.
