Foreword
Before, we share "How To Use Open Linux Platform of ZMotion XPLC516E Through Qt Development (1)". And we talked about why XPLC516E controller embeds Linux Operating System, what advantages it has, XPLC516E open type Linux platform controller and Qt development under Linux. Then, today we are going to learn "How To Develop Motion Control of XPLC516E Linux Motion Controller ?
For ZMotion Technology XPLC516E Linux motion controller, Qt program can use local interface to link with controller, and directly do memory interaction, the speed is about 200us, which is faster one order of magnitude than PCI / PCIE data interaction.
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01 Hardware Connection
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Connect mouse, keyboard, displayer, bus servo of EtherCAT and industrial camera to XPLC516E Linux motion controller.
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02 Recommendation: use LOCAL interface
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Qt project developed by PC can be connected to controller through net port, then, Qt program can be run on PC directly, or be downloaded into controller.
At the same time, ZMotion Technology Linux controller XPLC516E supports connection between controller and local interface of Qt program. I mentioned before, they can directly do memory interaction, and speed is faster than PCI / PCIE, so it is recommended to use local interface to build the connection with controller.
( Please note, Qt project developed needs downloading into controller )
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03 Download Qt project developed by PC into controller
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(1) Qt project download method
Also, there are two ways, download Qt project into controller through U disk, another, connect net port of controller to PC first, then download through WinSCP software. When U disk is inserted, there will show U disk icon in the desktop of controller Linux os. Double click U disk icon, enter file management, then download Qt project.
Download through WinSCP software, refer to below connecting method:
In addition, project can be developed directly through Qt software that is downloaded from controller, in this way, no need to download developed project. For detailed development process, please refer to Linux_Qt development steps of PC.
(2) Replace dynamic library
Download dynamic library (zmotion.so) of ARM platform into controller, and rename the dynamic library as libzmotion.so, then replace the dynamic library that is in the Qt project developed by PC.
(3) Compile and run
At last, use Qt software that is downloaded from controller to compile the project, then, it's time to run.
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04 XPLC516E Open Linux Platform
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XPLC516E motion controller is with Linux operating system, and it supports HMI development by Qt machine.
Qt program can use LOCAL interface to link with controller, then use direct memory interaction for fast-speed. What's more, ZMotion provides PC library function (zmotion.so), then you could do motion control programming according to ZMotion PC Library Manual, and achieve linear interpolation, any circular interpolation, space arc, helical interpolation, electronic cam, electronic gear, synchronous follow, virtual axis setting, etc.
At the same time, it supports the third party's vision, controller has camera drive.
API related to camera acquisition can be directly called according to sdk of camera drive, or be called directly by the third party's vision software.
That's all, thank you for your reading -- How to use open Linux platform of ZMotion XPLC516E motion controller (2).
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This article is edited by ZMOTION, here, share with you, let's learn together. ZMOTION: DO THE BEST TO USE MOTION CONTROL.
Note: Copyright belongs to ZMotion Technology, if there is reproduction, please indicate article source. Thank you.
ZMOTION Technology has attracted experienced talents from famous companies or institutions, such as Huawei, ZET, Huazhong University of Science and Technology etc. ZMOTION insists self- innovating and collaborating with comprehensive universities, to research basic knowledge of motion control. Due to its concentration and hard work in motion control technology, ZMOTION already become one of the fastest growing industrial motion control companies in China, and is also the rare company who has managed core technologies of motion control and real time industrial control software completely.
ZMotion Technology provides motion control card, motion controller , vision motion controller, expansion module and HMI. ( more keywords for ZMOTION: EtherCAT motion control card, EtherCAT motion controller, motion control system, vision controller, motion control PLC, robot controller, vision positioning...)
Reference
Linux OS: https://en.wikipedia.org/wiki/Linux
Qt: https://en.wikipedia.org/wiki/Qt_(software)
WinSCP: https://en.wikipedia.org/wiki/WinSCP
XPLC516E controller: http://www.zmotionglobal.com/pro_info_259.html
ZMotion Technology: http://www.zmotionglobal.com/index.html
ZMotion PC Program Manual: http://www.zmotionglobal.com/index.html
Application: APPLICATIONS,ZMOTION TECHNOLOGY (zmotionglobal.com )
Video description: https://youtu.be/DMb1Ij1dDog
More articles: Technical Support,ZMOTION TECHNOLOGY (zmotionglobal.com)
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