Zmotion VPLC516E Manual
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Zmotion VPLC516E Manual

Vision motion controller
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  • 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

    VPLCE516E Vision 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 ....................5 1.4. Hardware Installment ..................5 Chapter II Product Specification ..................8 2.1. Basic Specification ....................
  • Page 6 VPLCE516E Vision Motion Controller User Manual V1.5 3.6. EtherCAT Bus Interface ................... 28 3.7. MPG Handwheel Interface ................30 6.1.1. MPG Handwheel Interface Specification & Wiring ....... 30 3.7.2. Basic Usage Method ................33 Chapter IV Expansion Module ................... 35 4.1.

  • Page 7: Chapter I Production Information

    Chapter I Production Information 1.1. Product Information VPLC516E is a kind of bus type vision motion controller. The controller itself supports 16-axis at most, but can be extended to 32 axes to achieve all kinds of complex motion control, such as, electronica cam, linear, circular, continuous trajectory processing, robot, etc., and machine vision applications, positioning, measurement, detection and...
  • Page 8 VPLCE516E Vision Motion Controller User Manual V1.5 valve directly. ◆ The maximum output current of general digital outputs can reach 300mA, which can directly drive some kinds of solenoid valves. ◆ Interfaces: 4 USB (2 are USB3.0), 1 COM (RS485/RS232), 2 1000M Ethernet, 1 100M EtherCAT.

  • Page 9: System Frame

    VPLCE516E Vision Motion Controller User Manual V1.5 1.3. System Frame 1.4. Hardware Installment Fix the controller to the mounting surface through two M5 screws. When installing, please pay attention to the installation position. Please face the front of the controller (the actual installation surface of the operator) to the operator and make it perpendicular to the wall.
  • Page 10 VPLCE516E Vision Motion Controller User Manual V1.5...
  • Page 11 VPLCE516E Vision Motion Controller User Manual V1.5 ⚫ 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 ⚫ precautions carefully before installation.

  • Page 12: Chapter Ii Product Specification

    VPLCE516E Vision Motion Controller User Manual V1.5 Chapter II Product Specification 2.1. Basic Specification Item Description Model VPLC516E Basic Axes Max Extended Axes Type of Basic Axes Pulse axis / encoder axis / ECAT bus axis Digital IO 16 inputs and 16 outputs.

  • Page 13: Interface Definition

    VPLCE516E Vision Motion Controller User Manual V1.5 4 axes, point to point, linear, circular, electronic cam, continuous VPLC516E-4 trajectory motion, robot structure. 6 axes, point to point, linear, circular, electronic cam, continuous VPLC516E-6 trajectory motion, robot structure. 8 axes, point to point, linear, circular, electronic cam, continuous VPLC516E-8 trajectory motion, robot structure.

  • Page 14: Work Environment

    VPLCE516E Vision Motion Controller User Manual V1.5 Use MODBUS_TCP protocol, expand the number of network ports through the ETHERNET Network port interchanger, and the number of net port channels can be checked through “?*port” command, default IP address is 192.168.0.11 24V DC power, it supplies the power for E+24V Main power supply...
  • Page 15 VPLCE516E Vision Motion Controller User Manual V1.5 Acceleration 1g(directly install)(>9Hz) Direction 3 axial direction Shock (collide) 15g, 11ms, half sinusoid, 3 axial direction Degree of Protection IP20...

  • Page 16: Chapter Iii Wiring & Communication

    VPLCE516E Vision Motion Controller User Manual V1.5 Chapter III Wiring & Communication 3.1. Power Input, CAN Communication Interface The power supply input adopts a 5Pin screw-type pluggable wiring terminal, and the interval (means the gap distance between two ports) should be 3.81mm. This 5Pin terminal is shared by controller power and CAN communication.
  • Page 17 VPLCE516E Vision Motion Controller User Manual V1.5 protocol, which mainly includes three ports, CANL, CANH and the public end. And it can connect CAN expansion modules and other standard CAN devices. → Specification Item Maximum Communication Rate (bps) Terminal Resistor 120Ω...

  • Page 18: Basic Usage Method

    VPLCE516E Vision Motion Controller User Manual V1.5 the branch structure also can be used. Please connect a 120Ω terminal resistor in parallel to each end of the CAN bus for ⚫ matching the circuit impedance and ensuring communication stability. ⚫ Please be sure to connect the public ends of each node on the CAN bus to prevent the CAN chip from burning out.

  • Page 19: In Digital Input & High-Speed Latch Port

    VPLCE516E Vision Motion Controller User Manual V1.5 "speed" according to the needs, and use the "CANIO_ENABLE" command to enable or disable the internal CAN master function, or through "ZDevelop/Controller/State the Controller/Communication Info” to view the CAN status intuitively, and refer to the “ZBasic Programming Manual”...
  • Page 20 VPLCE516E Vision Motion Controller User Manual V1.5 integrated in digital input signals. → Terminal Definition PIN Name Type Function 1 Function 2 Function 3 EGND IO public end Input 0 High-speed latch A NPN type, high- speed input Input 1 High-speed latch B Input 2 Input 3...

  • Page 21: Digital Input Specification & Wiring

    VPLCE516E Vision Motion Controller User Manual V1.5 3.2.1. Digital Input Specification & Wiring → Specification Item High-Speed Input (IN0-1) Low-Speed Input (IN2-15) NPN leakage type, the input is triggered when there is low- Input mode electric level Frequency ＜100kHz ＜5kHz Impedance 3.3KΩ...

  • Page 22: Basic Usage Method

    VPLCE516E Vision Motion Controller User Manual V1.5 → Wiring Note: ⚫ The wiring principle of high-speed digital input IN (0-1) and low-speed digital input IN (2-15) 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 23: Out Digital Output & Pwm & Hardware Comparison Output & Single-Ended

    VPLCE516E Vision Motion Controller User Manual V1.5 (4) Latch function can be set and triggered through “REGIST” instruction, in software, use REG_INPUTS to configure. Please refer to “ZBasic” for details. 3.3. OUT Digital Output & PWM & Hardware Comparison Output & Single-ended Pulse The digital output adopts screw-type pluggable terminals with a spacing of 3.81mm, and the PWM and hardware comparison output functions are integrated in digital output signal.

  • Page 24: Digital Output Specification & Wiring

    VPLCE516E Vision Motion Controller User Manual V1.5 OUT6 Output 6 OUT7 Output 7 OUT8 Output 8 DIR3 OUT9 Output 9 PUL3 OUT10 Output 10 DIR2 leakage, OUT11 high-speed Output 11 PUL2 output OUT12 Output 12 DIR1 OUT13 Output 13 PUL1 OUT14 Output 14 DIR0...
  • Page 25 VPLCE516E Vision Motion Controller User Manual V1.5 protection Isolation method optoelectronic isolation Note: The times in the form are typical based on the resistive load, and may change  when the load circuit changes.  Due to the leak-type output, the shutdown of the output will be obviously affected by the external load circuit, and the output frequency should not be set too high in the application.
  • Page 26 VPLCE516E Vision Motion Controller User Manual V1.5 → Pulse Wiring Here, use OUT8 and OUT9 to connect to driver, when wiring is done, when OUT8 and OUT9 are configured through ATYPE (3) = 1. OUT 8 is DIR3, OUT9 is PUL3, and corresponding pulse driver axis No.

  • Page 27: Basic Usage Method

    VPLCE516E Vision Motion Controller User Manual V1.5 3.3.3. 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. (3) Open or close output port directly through “OP” command, also, it can be opened or closed through “ZDevelop/View/Op”.

  • Page 28: Rs232/Rs485 Communication Interface Specification & Wiring

    VPLCE516E Vision Motion Controller User Manual V1.5 232RXD Input RS232 (port 0) signal receive 232TXD Output RS232 (port 0) signal send 485A/+ Input/output RS485 (port 1) signal A/+ 5V power output (-) & this EGND Output communication public end 485B/- Input/output RS485 (port 1) signal B/- 3.4.1.
  • Page 29 VPLCE516E Vision Motion Controller User Manual V1.5 →Wiring Notes: ⚫ The wiring of RS232 (port0) 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 30: Basic Usage Method

    VPLCE516E Vision Motion Controller User Manual V1.5 ⚫ It should be noted that the equipment grounding (chassis) on the entire line must be good, and the grounding of the chassis should be connected to the standard factory ground pile. 3.4.2. Basic Usage Method Please follow the above wiring instructions to wiring correctly.

  • Page 31: Lan Ethernet

    VPLCE516E Vision Motion Controller User Manual V1.5 3.5. LAN Ethernet There are 2 1000M ethernet on VPLC516E board, and standard RJ45 interface is used. It supports MODBUS_TCP protocol and custom communication. Ethernet factory default IP address is LAN1: 192.168.0.11, LAN2: 192.168.1.11, etc.

  • Page 32: Ethercat Bus Interface

    VPLCE516E Vision Motion Controller User Manual V1.5 5e at least. 3.6. EtherCAT Bus Interface VPLC516E motion controller has a 100M EtherCAT communication interface, and it supports EtherCAT bus protocol. In addition, EtherCAT driver or EtherCAT expansion module can be connected.
  • Page 33 VPLCE516E Vision Motion Controller User Manual V1.5 Transfer media Cable Transfer distance It is less than 100M between 2 nodes Process data Maximum 1486 bytes of one single frame Synchronization shaking <1us of two slave stations Refresh 1000 digital input and output about is 30us →...

  • Page 34: Mpg Handwheel Interface

    VPLCE516E Vision Motion Controller User Manual V1.5 connector and the module in a horizontal direction. Please use tube-type pre-insulated terminals and cables with appropriate wire diameters to connect the user terminals. 3.7. MPG Handwheel Interface This product provides a special interface for the local handwheel encoder axis, which is a double-row standard DB15 female seat.
  • Page 35 VPLCE516E Vision Motion Controller User Manual V1.5 Item IN (16-27) Mode (input) NPN leakage it is triggered when low electric inputs. Frequency (input) <5kHz is recommended Impedance (input) 510Ω Max voltage (input) The current to open (input) <2.8 The current to close (input) >2.9A Min current (input) -1.8mA...
  • Page 36 VPLCE516E Vision Motion Controller User Manual V1.5 → Wiring Note The wiring principle of handwheel encoder axis interface is shown above, please ⚫ connect carefully due to diversified handwheel designs. ⚫ Please use STP, especially in bad environments, and make sure the shielding layer is fully grounded.

  • Page 37: Basic Usage Method

    VPLCE516E Vision Motion Controller User Manual V1.5 compatible with 5-24V electric level input, and they can be as 24V standard general inputs. 3.7.2. Basic Usage Method (1) Refer to above handwheel wiring graphic, correctly connect the handwheel and controller. (2) After powered on, please select ETHERNET or RS232 to connect to ZDevelop. (3) Configure axis No., if there is no default AXIS axis No.
  • Page 38 VPLCE516E Vision Motion Controller User Manual V1.5 ‘axis 0 connects to manual pulse axis at the synchronous ration of 100...

  • Page 39: Chapter Iv Expansion Module

    VPLCE516E Vision 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 40 VPLCE516E Vision Motion Controller User Manual V1.5 → Wiring Note: VPLC516E controller uses the single 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 41: Can Bus Expansion Resource Mapping

    VPLCE516E Vision 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 42 VPLCE516E Vision 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 43 VPLCE516E Vision 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 IDs is as follows: DIP 1-4 Starting AD...
  • Page 44 VPLCE516E Vision Motion Controller User Manual V1.5 When the CAN bus expansion mode is used to expand the pulse axis, ZIO16082M 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 45: Ethercat Bus Expansion

    VPLCE516E Vision 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. 4.2.

  • Page 46: Ethercat Bus Expansion Resource Mapping

    VPLCE516E Vision 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 47 VPLCE516E Vision Motion Controller User Manual V1.5 The program on the controller can access the resources on the expansion module 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.
  • Page 48 VPLCE516E Vision Motion Controller User Manual V1.5 AXIS_ADDRESS( axis number )=(slot number<<16)+driver number+1 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 is the first pulse driver connected to EIO16084, otherwise it is the EtherCAT driver.

  • Page 49: 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 50 VPLCE516E Vision 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 51 VPLCE516E Vision 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 controller, select connect to simulator.
  • Page 52 VPLCE516E Vision 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 save when power off.
  • Page 53 VPLCE516E Vision 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 54: 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 55 VPLCE516E Vision 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. static Right- library...
  • Page 56 VPLCE516E Vision 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 57: Chapter Vi Run And Maintain

    VPLCE516E Vision 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 58: Common Problems

    VPLCE516E Vision 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 Whether the basic unit and the tightened without...
  • Page 59 VPLCE516E Vision 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 60 VPLCE516E Vision 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 (the main power supply of the expansion module and the IO power supply are separately powered) Check IP address of PC, it needs to be at the same...

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