Zmotion XPLC108E Manual
  1. Manuals
  2. Brands
  3. Zmotion Manuals
  4. Controller
  5. XPLC108E
  6. Manual

Zmotion XPLC108E Manual

Pulse+bus motion controller
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual

Advertisement

Table of Contents
loading

Related Manuals for Zmotion XPLC108E

Summary of Contents for Zmotion XPLC108E

  • Page 2 This manual is copyrighted by Shenzhen Technology Co., Ltd., without the written permission of the Zmotion Technology, no person shall reproduce, translate and copy any content in this manual. The above-mentioned actions will constitute an infringement of the copyright of the company's manual, and Zmotion will investigate legal responsibility according to law.
  • Page 3 ⚫ Zmotion will not take any legal responsibility for personal safety accidents and property losses caused by failure to comply with the contents of this manual or illegal operation of products. Safety Level Definition According to the level, it can be divided into "...
  • Page 4 ◆ Improper installation of the controller may result in misoperation, failure and fire. Wiring ◆ The specifications and installation methods of the external wiring of the equipment shall comply with the requirements of local power distribution regulations. ◆ When wiring, all external power supplies used by the system should be disconnected before operation.

  • Page 5: Table Of Contents

    XPLC108E Motion Controller User Manual V1.5 Content Chapter I Production Information..................3 1.1. Product Information ..................3 1.2. Function Features ....................3 1.3. System Frame ....................4 1.4. Hardware Installment ..................4 Chapter II Product Specification ..................7 2.1. Basic Specification .................... 7 2.2.
  • Page 6 XPLC108E Motion Controller User Manual V1.5 3.5.2. Basic Usage Method ................27 3.6. AD/DA Analog Input / Output ................27 3.6.1. Analog Input / Output Specification & Wiring ........28 3.6.2. Basic Usage Method ................29 3.7. ETHERNET ....................... 29 3.8.

  • Page 7: Chapter I Production Information

    XPLC108E Motion Controller User Manual V1.5 Chapter I Production Information 1.1. Product Information XPLC108E is a kind of economical multi-axis motion controller that integrates Basic, PLC and HMI programming methods. XPLC108E economical multi-axis motion controller is a kind of standalone motion...

  • Page 8: System Frame

    ◆ Support multi-file and multi-task programming in ZBasic. ◆ A variety of program encryption methods to protect the intellectual property rights of customers. 1.3. System Frame 1.4. Hardware Installment The XPLC108E motion controller is installed horizontally with screws, and each controller should be fastened with 4 screws.
  • Page 9 XPLC108E Motion Controller User Manual V1.5 → Unit: mm → Mounting Hole Diameter 4.5mm Non-professionals are strictly prohibited to operate. Specifically, ⚫ professionals who had been trained related electrical equipment, or who master electrical knowledge. Please be sure to read the product instruction manual and safety ⚫...
  • Page 10 XPLC108E Motion Controller User Manual V1.5 places with corrosive gases and flammable gases places with many conductive powders such as dust and iron powder, oil mist, salt, and organic solvents...

  • Page 11: Chapter Ii Product Specification

    XPLC108E Motion Controller User Manual V1.5 Chapter II Product Specification 2.1. Basic Specification Item Description Model XPLC108E XPLC106E Basic Axes Max Extended Axes Type of Basic Axes EtherCAT bus axes/pulse axes/encoder Digital IO There are 32 inputs and 32 outputs.

  • Page 12: Interface Definition

    XPLC108E Motion Controller User Manual V1.5 helical interpolation and continuous interpolation. 8 axes EtherCAT control, it doesn’t support circular interpolation, XPLC108E helical interpolation and continuous interpolation. 2.3. Interface Definition → Interface Description Mark Interface Number Description IO power state: it lights when IO power is...

  • Page 13: Work Environment

    XPLC108E Motion Controller User Manual V1.5 conducted. Run state: it lights when runs normally Error state: it lights when runs incorrectly RS232 RS232 serial port (port0) Use MODBUS_RTU protocol RS485 RS485 serial port (port1) Use MODBUS_RTU protocol EtherCAT bus interface, connect to EtherCAT...
  • Page 14 XPLC108E Motion Controller User Manual V1.5 Frequency 5-150Hz Displacement 3.5mm(directly install)(<9Hz) vibration Acceleration 1g(directly install)(>9Hz) Direction 3 axial direction Shock (collide) 15g, 11ms, half sinusoid, 3 axial direction Degree of Protection IP20...

  • Page 15: Chapter Iii Wiring, Communication Configuration

    XPLC108E Motion Controller User Manual V1.5 Chapter Wiring, Communication Configuration 3.1. Power Input, CAN Communication Interface The power supply input adopts a 5Pin (there are all 5 terminals) screw-type pluggable wiring terminal, and the interval (means the gap distance between two ports) should be 3.81mm.

  • Page 16: Power Specification

    XPLC108E Motion Controller User Manual V1.5 3.1.1. Power Specification → Specification Item Main Power IO Power Voltage DC24V(-5%~5%) DC24V(-5%~5%) The current to open ≤0.5A ≤0.15A The current to work ≤0.4A ≤0.1A Anti-reverse connection Valid Valid Overcurrent Protection Valid Valid 3.1.2. CAN Communication Specification & Wiring The CAN interface of the controller adopts the standard CAN communication protocol, which mainly includes three ports, CANL, CANH and the public end.
  • Page 17 XPLC108E Motion Controller User Manual V1.5 parties are connected together. In CAN bus left and right sides, connect a 120Ω resistor respectively (please see below graphic). → Wiring Notes: ⚫ As above, the daisy chain topology is used for wiring (the star topology structure cannot be used).

  • Page 18: Basic Usage Method

    XPLC108E Motion Controller User Manual V1.5 → Cable Requirements: Shielded Twisted Pair, and the shielded cable is grounded. 3.1.3. Basic Usage Method (1) Please follow the above wiring instructions to wiring correctly. (2) After powered on, please use ETHERNET or RS232 to connect to ZDevelop.

  • Page 19: Rs485 Serial Port

    XPLC108E Motion Controller User Manual V1.5 (5) After all the settings are completed, restart the power supply of all stations to establish communication. (6) Note that the "speed" settings of each node on the CAN bus must be consistent, and the "address"...
  • Page 20 XPLC108E Motion Controller User Manual V1.5 The number of nodes can be extended Up to 127 The longer communication distance is, the Communication Distance lower communication rate is, and maximum of 100m is recommended. → Wiring Reference Connect 485A and 485B of RS485 to 485A and 485B of the controller correspondingly, and connect the public ends “EGND”...

  • Page 21: Basic Usage Method

    XPLC108E Motion Controller User Manual V1.5 → Cable Requirements: Shielded Twisted Pair, and the shielded cable is grounded. 3.2.2. Basic Usage Method (1) Please follow the above wiring instructions to wiring correctly. (2) After powered on, please use ETHERNET or RS232 or RS485 to connect to ZDevelop.

  • Page 22: Rs232 Serial Port

    XPLC108E Motion Controller User Manual V1.5 3.3. RS232 Serial Port RS232 is in one standard DB9 male socket and supports MODBUS_RTU protocol and custom communication. → Interface Definition: Terminal Name Type Function 1、4、 Spare Reserved 6、7、8 Input RS232 signal, receive data...

  • Page 23: Basic Usage Method

    XPLC108E Motion Controller User Manual V1.5 → Wiring Notes: ⚫ The wiring of RS232 is as above, it needs to cross-wiring for sending and receiving signals, and it is recommended to use a double-female head cross line when connecting to a computer.

  • Page 24: In Digital Input & Latch & Single-Ended Encoder

    XPLC108E Motion Controller User Manual V1.5 RS232 (there is default parameter, which can be connected directly) and RS485 (there is default parameter, which can be connected directly, but for hardware, adapter head is needed) to connect to ZDevelop. (3) Please use the "ADDRESS" and "SETCOM" commands to set and view the protocol station number and configured parameters, see "ZBasic Programming Manual"...
  • Page 25 XPLC108E Motion Controller User Manual V1.5 → Terminal Definition Function 2 Terminal Name Type Function 1 IO power ground / EGND IO public end EGND Latch A Input 0 Latch B Input 1 Input 2 Input 3 NPN type, digital input...

  • Page 26: Digital Input Specification & Wiring

    XPLC108E Motion Controller User Manual V1.5 IN28 Input 28 IN29 Input 29 IN30 Input 30 IN31 Input 31 Note: IN0-1 support latch A and latch B function, IN26-31 can be configured as 24V encoder. When ATYPY=0, they are general inputs (ordinary inputs).

  • Page 27: Basic Usage Method

    XPLC108E Motion Controller User Manual V1.5 → Wiring Note: The wiring principle of input IN (0-31) is shown in the figure above. The external ⚫ signal source can be an optocoupler, a key switch or a sensor, etc., all can be connected as long as the requirements on output of electric level can be achieved.

  • Page 28: Out Digital Output

    XPLC108E Motion Controller User Manual V1.5 3.5. OUT Digital Output The digital output adopts 4 sets of screw-type pluggable terminals with a spacing of 3.81mm. And digital outputs can be configured as single-ended pulse axis function. → Terminal Definition Terminal...

  • Page 29: Digital Output Specification & Wiring

    XPLC108E Motion Controller User Manual V1.5 OUT20 Output 20 DIR5 OUT21 Output 21 PUL5 OUT22 Output 22 DIR4 OUT23 Output 23 PUL4 EGND IO power ground/IO public end 5V power output generated from IO power OUT24 Output 24 DIR3 OUT25...
  • Page 30 XPLC108E Motion Controller User Manual V1.5 Voltage level DC24V +300mA (the max output current of OUT28- Max output current OUT31 is 500mA) Max leakage current when off 25μA Respond time to conduct 12μs Respond time to close 80μs Overcurrent protection...

  • Page 31: Basic Usage Method

    3.81mm. → Terminal Definition Terminal Name Type Function Analog output terminal: AOUT(0) Output Analog output terminal: AOUT(1) AGND Public End Analog public end Analog input terminal: AIN(0) Input Analog input terminal: AIN(1) Note: XPLC108E internal ADDA uses internal power.

  • Page 32: Analog Input / Output Specification & Wiring

    XPLC108E Motion Controller User Manual V1.5 3.6.1. Analog Input / Output Specification & Wiring → Specification DA（0-1） Item AD (0-1) Resolution 12-bit 12-bit Data range 0-4095 0-4095 Signal range 0-10V input 0-10V output Data refresh ratio 1KHz 1KHz Voltage input impedance / 300KΩ...

  • Page 33: Basic Usage Method

    “AOUT” command, also, data of each channel can be checked through “ZDevelop/View/AD/DA”. Please refer to “ZBasic” for details. 3.7. ETHERNET XPLC108E motion controller has a 100M network port, and it supports MODBUS_TCP protocol and custom communication, the default IP address is 192.168.0.11. The pin definition is as follows:...
  • Page 34 XPLC108E Motion Controller User Manual V1.5 The Ethernet port of the controller can be connected to a computer, HMI, etc. through an Ethernet cable, and using point to point connection method. The schematic diagram is as follows: The controller can also be connected to the interchanger through an Ethernet cable, and then use interchanger to connect to other devices, then multi-point connection can be achieved.

  • Page 35: Ethercat Bus Interface

    XPLC108E Motion Controller User Manual V1.5 3.8. EtherCAT Bus Interface XPLC108E motion controller has a 100M EtherCAT communication interface, and it supports EtherCAT protocol. In addition, EtherCAT driver or EtherCAT expansion module can be connected. The pin definition is as follows:...
  • Page 36 XPLC108E Motion Controller User Manual V1.5 → Specification Item Specification Communication protocol EtherCAT protocol Valid service CoE(PDO, SDO), FoE IO adopts input and output synchronization / DC- Synchronization method distributed clock Physical level 100BASE-TX Duplex mode Full duplex Topology linear topology...
  • Page 37 XPLC108E Motion Controller User Manual V1.5 Isolation cross skeleton Connector Crystal head with iron shell Cable material Cable length Less than 100m Use RJ45 network cable connection method: When installing, hold the crystal head that is with the cable and insert it into the RJ45 ⚫...

  • Page 38: Chapter Iv Expansion Module

    XPLC108E Motion Controller User Manual V1.5 Chapter IV Expansion Module The controller can expand digital IO, analog IO, pulse axis and other resources through CAN bus (ZIO series expansion modules). For details, please refer to "ZIO Expansion Card Hardware Manual". Also, through EtherCAT bus (EIO series expansion cards) expansion of these resources also can be achieved, please refer to each EIO hardware manual for details.
  • Page 39 XPLC108E Motion Controller User Manual V1.5 → Wiring Note: XPLC108E controller uses the dual power, and ZIO expansion module uses dual-  power. When using, main power supply of expansion module and main power supply of controller can share one power. When they use different power supplies, controller power EGND needs to connect to expansion module power GND, otherwise CAN may be burnt out.

  • Page 40: Can Bus Expansion Resource Mapping

    XPLC108E Motion Controller User Manual V1.5 4.1.2. CAN Bus Expansion Resource Mapping The ZCAN expansion module generally has an 8-bit DIP switch, dial ON to take effect, and the meaning of the DIP is as follows: 1-4: they are used for ZCAN expansion module IO address mapping, the corresponding value is 0-15.
  • Page 41 XPLC108E Motion Controller User Manual V1.5 command. There are also four speed parameters that can be selected. The communication speed must be consistent with the communication speed of the expansion module that corresponds to the combination value, then they can communicate with each other.
  • Page 42 XPLC108E Motion Controller User Manual V1.5 The initial IO mapping number of the analog AD starts from 8 and increases in multiples of 8. The initial IO mapping number of the analog DA starts from 4 and increases in multiples of 4. The allocation of digital IO numbers corresponding to different dial code...
  • Page 43 XPLC108E Motion Controller User Manual V1.5 can be selected to expand two pulse axes. These two pulse axes need to be mapped and bound with the axis No., then access. Extended axes need to perform axis mapping operations, using the AXIS_ADDRESS command to map, and the mapping rules are as follows: AXIS_ADDRESS(axis No.)=(32*0)+ID...

  • Page 44: Ethercat Bus Expansion

    XPLC108E Motion Controller User Manual V1.5 ALMRM indicator light is on, please check whether the wiring, resistor and dial setting are correct, and whether the CANIO_ADDRESS command of the controller is set as the master end (32), and whether the CAN communication speed is consistent.

  • Page 45: Ethercat Bus Expansion Resource Mapping

    XPLC108E Motion Controller User Manual V1.5 Involved number concepts in above figure are as follows: the bus-related command parameters will use the following numbers: Slot number (slot): The slot number refers to the number of the bus interface on the controller, and the slot number of the EtherCAT bus is 0.
  • Page 46 XPLC108E Motion Controller User Manual V1.5 only through the IO number. The IO number of the EtherCAT bus expansion module is set through the bus command NODE_IO, and the input and output are configured at the same time. When IO mapping, first check the maximum IO number of the controller itself (including the external IO interface and the interface in the pulse axis), and then use the command to set.
  • Page 47 XPLC108E Motion Controller User Manual V1.5 Example: AXIS_ADDRESS(0)=(0<<16)+0+1 'the first drive on the EtherCAT bus, drive number 0, bound as axis 0 AXIS_ADDRESS(1)=(0<<16)+1+1 'the second drive on the EtherCAT bus, drive number 1, bound as axis 1 If the first node is EIO16084, and EIO16084 is connected to drive, then driver 0 here...

  • Page 48: Chapter V Program & Applications

    5.1. ZDevelop Software Usage ZDevelop is a PC-side program development, debugging and diagnostic software for the ZMoiton series motion controllers of Zmotion Technology. Through it, users can easily edit and configure the controller program, quickly develop applications, diagnose system operating parameters in real time, and watch the motion controller. The running program is debugged in real time and supports Chinese and English bilingual environments.
  • Page 49 XPLC108E Motion Controller User Manual V1.5 Click “File” – “New File”, select file type to build, here select Basic, click “OK”. Double click “AutoRun”, enter task number 0.
  • Page 50 XPLC108E Motion Controller User Manual V1.5 Edit program program editing window, click “save”, built basic file will be saved under “zpj.” project automatically. “Save all” means all files under this project will be saved. Click “controller – connect”, if no...
  • Page 51 XPLC108E Motion Controller User Manual V1.5 parameters port address, then click “connect”. Click “Ram/Rom” – “download RAM download ROM”, if it is successful, there is print indication, the same time, program downloaded into controller runs automatically. RAM: it will not...
  • Page 52 XPLC108E Motion Controller User Manual V1.5 Click “Debug” – “Start/Stop Debug” to call “Task” “Watch” window, because it was downloaded before, here select “Attach the current”. Click “View” – “Scope” to open oscilloscope. Note: ⚫ When opening an project, choose to open the zpj file of the project. If only the Bas file is opened, the program cannot be downloaded to the controller.

  • Page 53: Pc Upper-Computer Program Application

    Mac, Android, and wince, and provides dll libraries in various environments such as vc, c#, vb.net, and labview, as shown in the figure below. PC software programming refers to "ZMotion PC Function Library Programming Manual". The program developed using the PC software cannot be downloaded to the controller, and it is connected to the controller through the dll dynamic library.
  • Page 54 XPLC108E Motion Controller User Manual V1.5 Select development language “Visual C++” and the select program type “MFC application type”. Select “Based on basic box”, click “next” or “finish” Find function library provided manufacturer. Routine below (64-bit library) Copy all DLL related library files under the above path to the newly created project.
  • Page 55 XPLC108E Motion Controller User Manual V1.5 zmotion.lib Item". Related header 2) Add static files: libraries and zauxdll2.h, related zmotion.h header files in sequence in the pop-up window. Declare relevant header files and define controller connection handle, so far the project is...

  • Page 56: Chapter Vi Run And Maintain

    XPLC108E Motion Controller User Manual V1.5 Chapter VI Run and Maintain The correct operation and maintenance of the device can not only guarantee and extend the life cycle of the equipment itself, but also take technical management measures according to the pre-specified plan or the corresponding technical conditions to prevent equipment performance degradation or reduce the probability of equipment failure.

  • Page 57: Common Problems

    XPLC108E Motion Controller User Manual V1.5 Should be within the range of Whether the device is subjected to vibration resistance vibration or shock impact resistance Keep good ventilation and Is the heat dissipation good heat dissipation The mounting screws should...
  • Page 58 XPLC108E Motion Controller User Manual V1.5 invalid. and whether the "input" view can watch the signal change of the limit sensor. Check whether the mapping of the limit switch is correct. Check whether the limit sensor is connected to the common terminal of the controller.
  • Page 59 XPLC108E Motion Controller User Manual V1.5 Check master-slave configuration, communication speed configuration, etc. Check the DIP switch to see if there are multiple expansion modules with the same ID. Use twisted-pair cables, ground the shielding layer, and use dual power supplies for severe interference...

Table of Contents