Calling Laser Galvanometer control in the application and development tutorial of motion control card

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Preface

today , Share the application with the motion control card C++ Develop a motion control routine of Laser Galvanometer .

We mainly start from New MFC project , Add a function library to talk about , Finally, through the actual combat of the project —— Explanation of laser galvanometer marking routine , To make everyone familiar with its project development .

Galvanometer shaft ：

ZMC420SCAN Support XY2-100 Galvanometer agreement , Support motion control and galvanometer joint interpolation motion .

The upper computer is connected with the controller through the network port , Get the handle of the corresponding controller , adopt XY2-100 Protocol control galvanometer axis , Control servo or stepping axis through bus protocol or pulse mode .

Local axis number 4/5 Sure ATYPE=21 It is configured as 1 A galvanometer , Local axis number 6/7 Sure ATYPE=21 It is configured as 2 A galvanometer , It can be done by AXIS_ADDRESS Configure the shaft number .

Development process of Laser Galvanometer control

1、 newly build MFC project Add function library （net Latest 4.0 Above version ）

stay VS2017 menu “ file ”→“ newly build ”→“ project ”, Start the create project wizard .

2、 Select the development language as “Visual C++” And program type “MFC/ATL” Medium “MFC Applications ”.

3、 Select type as “ Based on dialog ”, Next step or finish . The next step is to continue to configure , Just finish it directly . Choose the type , Others can be edited in the project ：

4、 Find the CD data provided by the manufacturer , Path as follows (64 Take the location library as an example )：

A、 Go to the CD-ROM and find PC Function folder .

B、 Select function library 2.1.

C、Windows platform .

D、 Select the corresponding function library as needed, and select 64 Location base .

E、 decompression C++ The package , There are C++ Corresponding function library .

F、 The specific path of the function library is as follows ：

5、 Will be provided by the manufacturer C++ Copy the library file and related header file to the new project .

6、 Add static libraries and related header files to the project .

Static library ：zauxdll.lib, zmotion.lib

Related header file ：zauxdll2.h, zmotion.h

A、 Right click the header file first , Then choose :“ add to ”→“ Existing items ”.

B、 In the pop-up window, add the static library and related header files in turn .

7、 Declare the header file used and define the controller connection handle .

Reference the project until the new project is completed .

see PC Function manual Know how to use it

1、 The function manual is also on the CD , The specific path is as follows ：

2、PC Programming , Generally, select the corresponding connection function to connect the controller according to the connection mode of the controller , Returns the controller handle . Then use the returned controller handle , Realize the control of the controller .

3、 For example, connect the controller through the network port , First use ZAux_OpenEth（） Link controller , Get controller handle handle.

4、 Through the obtained controller handle handle, Set the type of Laser Galvanometer axis for the controller .

The value of the third parameter has the following mode choices , When using galvanometer shaft, select shaft type 21 The pattern of , Set the shaft to galvo shaft type , The system cycle and refresh cycle of galvanometer shaft type are much faster than ordinary shafts .

5、 Through the obtained controller handle handle, Control the galvanometer axis of the controller for multi axis motion control , It can be combined with galvanometer axis and ordinary axis for mixed interpolation movement .

Laser galvanometer marking routine for project practice

1、 Routine to establish the connection of the board , And set the corner deceleration and speed parameters of the galvanometer axis , Process the motion track set internally to complete the marking of the circle .

2、 Simple flow chart of routine

3、 Connect the controller through the network port , Get controller connection handle

//ip Connect 
void CMarkDemoDlg::OnBnClickedButton2()
{
    
  // TODO:  Add control notification handler code here 
  char   buffer[256];
  char   item[256] = {
    0};
  float ftemp = 0.0;
  char  atemp[256] = {
    0};          // Storage controller model 
  uint32 uitemp = 0;
  int32 iresult;
  if(NULL != g_handle)
  {
    
    ZMC_Close(g_handle);
    g_handle = NULL;
  }
  GetDlgItemText(IDC_IP_COMBO,buffer,255);  // Get IP Address 
  buffer[255] = '\0';
  iresult = ZMC_OpenEth(buffer, &g_handle);  // Get the results of establishing a connection with the controller 
  if(ERR_SUCCESS != iresult)
  {
    
    g_handle = NULL;
    MessageBox(_T("Connect Failed"));
    SetWindowText(_T("ZControlTest-Connect Failed"));
    return;
  }
  SetWindowText("succse");
  //
  CComboBox   *m_pEthList;
  m_pEthList = (CComboBox *)GetDlgItem(IDC_IP_COMBO);    // obtain ip Address 
  if(NULL == m_pEthList)
  {
    
    return;
  }
  //
  if(CB_ERR != m_pEthList->FindString(0, buffer))
  {
    
    return;
  }
  // Join in 
  m_pEthList->AddString(buffer);  // take ip Add the address to the box 
}

4、 Connect the controller through serial port , Get controller connection handle .

void CMarkDemoDlg::OnBnClickedButton4()
{
    
  // TODO:  Add control notification handler code here 
  int32 iresult;
  uint8 icomid;
  float ftemp = 0.0;
  char  atemp[256] = {
    0};      // Storage controller model 
  uint32 uitemp = 0;
  int m_icombaud;
  if(NULL != g_handle)
  {
    
    ZMC_Close(g_handle);
    g_handle = NULL;
  }
  CComboBox        *m_pParityList;
  m_pParityList = (CComboBox *)GetDlgItem(IDC_COMBO_PARITY);
  m_icombaud = GetDlgItemInt(IDC_BAUD_COMBO);
  ZMC_SetComDefaultBaud(m_icombaud, 8, m_pParityList->GetCurSel(), ONESTOPBIT);
  icomid = GetDlgItemInt(IDC_PORT_COMBO);
  iresult = ZMC_OpenCom(icomid, &g_handle);
  if(ERR_SUCCESS != iresult)
  {
    
    g_handle = NULL;
    MessageBox(_T("Connect Failed"));
    return;                
  }
  SetWindowText("success");
  CString Comname;
  CComboBox   *m_pComList;
  m_pComList = (CComboBox *)GetDlgItem(IDC_PORT_COMBO);
  if(NULL == m_pComList)
  {
    
    return;
  }
  Comname.Format("%d",icomid);
  //
  if(CB_ERR != m_pComList->FindString(0, Comname))
  {
    
    return;
  }
  // Join in 
  m_pComList->AddString(Comname);
}

5、 Use the generated handle to configure axis parameters , Shaft type, etc

int axislist[2] = {
    4,5};
  char cbuf[32]  = {
    };
  // Set the spindle 
  ZAux_Direct_Base(g_handle, 2, axislist);
  // Get the parameters to be set in the edit box 
  int MachSpeed = GetDlgItemInt(IDC_EDIT_SPEED);
  int MachAddSpeed = GetDlgItemInt(IDC_EDIT_ADDSPEED);
  int MachDecSpeed = GetDlgItemInt(IDC_EDIT_DECSPEED);
  float MachDecAngle = GetDlgItemInt(IDC_EDIT_DECANGLE) * 3.14 / 180;
  float MachStopAngle = GetDlgItemInt(IDC_EDIT_STOPANGLE) * 3.14 / 180;
  // Axis initialization 
  for (int i = 4; i <= 5; i++)
  {
    
    // Set the shaft type to galvo shaft type 
    ZAux_Direct_SetAtype(g_handle, i, 21);
    // Set the number of pulses per cycle 
    ZAux_Direct_SetUnits(g_handle, i, 300);
    // set speed 
    ZAux_Direct_SetSpeed(g_handle, i, MachSpeed);
    // Set the acceleration 
    ZAux_Direct_SetAccel(g_handle, i, MachAddSpeed);
    // Set the deceleration 
    ZAux_Direct_SetDecel(g_handle, i, MachDecSpeed);
    // Open the galvanometer axis for continuous interpolation 
    ZAux_Direct_SetMerge(g_handle, i, 1);
    // Set corner deceleration mode and automatic chamfer mode 
    ZAux_Direct_SetCornerMode(g_handle, i, 32+2);
    // Set the corner radius 
    ZAux_Direct_SetZsmooth(g_handle, i, 0.1);
// Set the small circle speed limit radius 
    ZAux_Direct_SetFullSpRadius(g_handle, i, 20);
// Set the deceleration angle 
    ZAux_Direct_SetDecelAngle(g_handle, i, MachDecAngle);
// Set the stop angle 
    ZAux_Direct_SetStopAngle(g_handle, i, MachStopAngle);
// Set up SP Speed 
    ZAux_Direct_SetForceSpeed(g_handle, i, 5000);
  }
  // Turn on the precise output function 
  ZAux_DirectCommand(g_handle, "AXIS_ZSET(4)=2", cbuf, 32);
  ZAux_Direct_SetOp(g_handle, 11, 1);
  ZAux_Direct_Base(g_handle, 2, axislist);
ZAux_Direct_SetOp(g_handle, 1, 1);

6、 The trajectory movement data of this routine is input by itself in the mode of small line segments , In the process of running, the method of arc fitting with multiple small segments is used to speed up the processing operation .

Single circle CAD Trajectories ：

The corresponding part of track data and use code are as follows ：

// A single circle is opposite 
double x1[] = {
    -0.038000, -0.113000, -0.184000, -0.250000, -0.308000, -0.357000, -0.395000, -0.421000, -0.434000, -0.434000, -0.421000, -0.395000, -0.357000, -0.308000, -0.250000, -0.184000, -0.113000, -0.038000, 0.038000, 0.113000, 0.184000, 0.250000, 0.308000, 0.357000, 0.395000, 0.421000, 0.434000, 0.434000, 0.421000, 0.395000, 0.357000, 0.308000, 0.250000, 0.184000, 0.113000, 0.038000};

double yh1[] = {
    0.434000, 0.421000, 0.395000, 0.357000, 0.308000, 0.250000, 0.184000, 0.113000, 0.038000, -0.038000, -0.113000, -0.184000, -0.250000, -0.308000, -0.357000, -0.395000, -0.421000, -0.434000, -0.434000, -0.421000, -0.395000, -0.357000, -0.308000, -0.250000, -0.184000, -0.113000, -0.038000, 0.038000, 0.113000, 0.184000, 0.250000, 0.308000, 0.357000, 0.395000, 0.421000, 0.434000};

Description of small segment to arc function ：

/************************************************************* Description: // The small segment becomes an arc  Input: //handle: Connected controller handle  //pXPos: Line segment x Coordinate arrays  //pYPos: Line segment y Coordinate arrays  //nMaxNum: The maximum number of points  //nMaxFitNum: Maximum number of fitting segments （100~1000） //nAbs:1= absolute ;0= relative ; Means the incoming x、y Is the coordinate data absolute or relative  //refDistance: Reference accuracy  Output: // Return: // Error code  *************************************************************/
int __stdcall ZGraphProcess_SegFitArc(ZMC_HANDLE handle, double *pXPos, double *pYPos, int nMaxNum, int nMaxFitNum, int nAbs, double refDistance);

Use this function to fit multiple small segments into an arc to simplify the operation steps , There is no need to carry out the interpolation operation of each small segment separately .

The code uses a single circle fitting to mark the array circle horizontally and vertically .

int axislist[2] = {
    4,5};
char cbuf[32]  = {
    };
// Set the spindle 
ZAux_Direct_Base(g_handle, 2, axislist);
for (int k = 0; k < 1; k++)
  {
    
    for (int i = 0; i < 5; i++)
    {
    
// Move to a specified location 
      ZAux_DirectCommand(g_handle, "MOVE (0, -15)", cbuf, 32);
      for (int j = 0; j < 5; j++)
      {
    
        ZAux_DirectCommand(g_handle, "MOVE (-15, 0)", cbuf, 32);
        ZAux_Direct_MoveOp(g_handle, 0, 1);
        // Turn small segments into arcs 
        int err_seg = ZGraphProcess_SegFitArc(g_handle, x1, yh1, sizeof(x1)/sizeof(double), 1000, 0, 0.01);
        ZAux_Direct_MoveOp(g_handle, 0, 0);
      }
      ZAux_DirectCommand(g_handle, "MOVE (75, 0)", cbuf, 32);
    }
    ZAux_DirectCommand(g_handle, "MOVE (0, 75)", cbuf, 32);
    
  }

7、 Compile and run the demo ：

1、 Compile and run the teaching routine ：

2、 At the same time through ZDevelop The software connects to the same controller , Monitor the axis parameters of motion control .

Marking 25 The circular time and oscilloscope display graphics are as follows ：