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Zmotion VPLC532E 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

    VPLCE532E 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 ..................7 2.1. Basic Specification ....................
  • Page 6 VPLCE532E Vision Motion Controller User Manual V1.5 3.6. DA Analog Output .................... 25 3.6.1. Analog Output Specification & Wiring ..........26 3.6.2. Basic Usage Method ................27 3.7. USB Interface....................27 3.8. HDMI Interface ....................28 3.9. LAN Ethernet ....................29 3.10.

  • Page 7: Chapter I Production Information

    Chapter I Production Information 1.1. Product Information VPLC532E is a kind of bus type vision motion controller. The controller itself supports 32-axis at most that can achieve all kinds of complex motion control functions, such as, electronica cam, linear, circular, continuous trajectory processing, robot, etc., and machine vision applications, positioning, measurement, detection, and identification.
  • Page 8 VPLCE532E Vision Motion Controller User Manual V1.5 ◆ There is one HDMI interface, which means high-definition display is supported. ◆ There are two voltage type analog outputs, 0-10V, 12 bits. ◆ Support up to 32 axes linear interpolation, any circular interpolation, helical interpolation, and spline interpolation.

  • Page 9: System Frame

    VPLCE532E Vision Motion Controller User Manual V1.5 1.3. System Frame 1.4. Hardware Installment VPLC532E motion controller is fixed by screws in horizontal installment method, each controller needs 4 screws to be fixed. (Unit: mm, Mounting Hole Diameter 4.5mm, Thickness: 53mm)
  • Page 10 VPLCE532E 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 11: Chapter Ii Product Specification

    VPLCE532E Vision Motion Controller User Manual V1.5 Chapter II Product Specification 2.1. Basic Specification Item Description Model VPLC532E Basic Axes Max Extended Axes Type of Basic Axes EtherCAT, 6 local pulse axes. General IO: 24 inputs, 12 outputs Digital IO IO in Axis interface: 6 pulses axes have 12 inputs and 12 outputs.

  • Page 12: Order Information

    VPLCE532E Vision Motion Controller User Manual V1.5 2.2. Order Information Model Description 6 axes, point to point, linear, circular, electronic cam, continuous VPLC532E-6 trajectory motion, robot command. 16 axes, point to point, linear, circular, electronic cam, continuous VPLC532E-16 trajectory motion, robot command.
  • Page 13 VPLCE532E Vision Motion Controller User Manual V1.5 RS232 RS232 (port 0) serial port Use MODBUS_RTU protocol RS485 RS485 (port 1) serial port Use MODBUS_RTU protocol EtherCAT bus interface, connect to EtherCAT EtherCAT EtherCAT bus interface bus drive and EtherCAT bus expansion module Use MODBUS_TCP protocol, expand the number of network ports through the...

  • Page 14: Work Environment

    VPLCE532E Vision Motion Controller User Manual V1.5 2.4. Work Environment Item Parameters Work Temperature -10℃-55℃ Work relative Humidity 10%-95% non-condensing Storage Temperature -40℃～80℃ (not frozen) Storage Humidity Below 90%RH (no frost) Frequency 5-150Hz Displacement 3.5mm(directly install)(<9Hz) vibration Acceleration 1g(directly install)(>9Hz) Direction 3 axial direction Shock (collide)

  • Page 15: Chapter Iii Wiring & Communication

    VPLCE532E Vision Motion Controller User Manual V1.5 Chapter III Wiring & Communication 3.1. Power Input, CAN Communication Interface The power supply input adopts a 3Pin screw-type pluggable wiring terminal, and the interval (means the gap distance between two ports) should be 3.81mm. This 3Pin terminal is controller power supply.

  • Page 16: Rs232, Can Communication Specification & Wiring

    VPLCE532E Vision Motion Controller User Manual V1.5 → Terminal Definition Terminal Name Function 485B 485 differential data B / - 485A 485 differential data A / + EGND Communication public end CANL CAN differential data L / - CANH CAN differential data H / + 3.2.1.
  • Page 17 VPLCE532E Vision Motion Controller User Manual V1.5 → Wiring Reference Connect 485A and 485B of RS485 to 485A and 485B of the controller, and connect both public ends of RS485 communication together. Connect the CANL and CANH of the standard CAN module to the CANL and CANH of the other side correspondingly.

  • Page 18: Basic Usage Method

    VPLCE532E Vision Motion Controller User Manual V1.5 ⚫ When there are multiple slave stations, please connect a 120Ω terminal resistor in parallel to each end of the CAN bus for matching the circuit impedance. Please connect a 120Ω terminal resistor in parallel to each end of the CAN bus for ⚫...
  • Page 19 VPLCE532E Vision Motion Controller User Manual V1.5 (4) Please use the "CANIO_ADDRESS" command to set the master's "address" and "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”...

  • Page 20: Rs232 Serial Port

    VPLCE532E Vision Motion Controller User Manual V1.5 3.3. RS232 Serial Port RS232 is in one standard DB9 male socket, which supports MODBUS_RTU protocol and custom communication. → Terminal Definition Terminal PIN No. Name Type Function 1,4,6,7,8,9 Spare Reserved Input RS232 signal, receive Output RS232 signal, send Output...

  • Page 21: Basic Usage Method

    VPLCE532E Vision 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. Please be sure to connect the public ends of each communication node to prevent ⚫...

  • Page 22: In Digital Input & High-Speed Latch Port

    VPLCE532E Vision Motion Controller User Manual V1.5 connected directly, but for hardware, adapter head is needed) to connect to ZDevelop. Please use the "ADDRESS" and "SETCOM" commands to set and view the protocol ➢ station number and configured parameters, see "ZBasic Programming Manual" for details.

  • Page 23: Digital Input Specification & Wiring

    VPLCE532E Vision Motion Controller User Manual V1.5 input Input 2 Input 3 Input 4 Input 5 NPN type, Input 6 low-speed Input 7 input EGND IO public end EGND IO public end Input 8 Input 9 IN10 Input 10 NPN type, IN11 Input 11 low-speed...
  • Page 24 VPLCE532E Vision Motion Controller User Manual V1.5 Item High-Speed Input (IN0-3) Low-Speed Input (IN4-23) NPN leakage type, the input is triggered when there is low- Input mode electric level Frequency <100kHz <5kHz Impedance 3.3KΩ 4.7KΩ Voltage level DC24V DC24V The voltage to open <15V <14.5V The voltage to close...

  • Page 25: Basic Usage Method

    VPLCE532E Vision Motion Controller User Manual V1.5 system, this connection also can be omitted. 3.4.2. Basic Usage Method (1) Please follow the above wiring instructions to wiring correctly. (2) After powered on, please select LAN1, LAN2, RS232 or RS485 to connect to ZDevelop. (3) State values of relative input ports can be read directly through “IN”...

  • Page 26: Digital Output Specification & Wiring

    VPLCE532E Vision Motion Controller User Manual V1.5 public end 5V power outputs, max 300mA OUT0 Output 0 PWM 0 PUL6 NPN, Hardware OUT1 high- Output 1 PWM 1 DIR6 comparison speed OUT2 Output 2 PWM 2 PUL7 output OUT3 Output 3 PWM 3 DIR7 OUT4...
  • Page 27 VPLCE532E Vision Motion Controller User Manual V1.5 conduct value) Respond time to 3μs 80μs close Overcurrent Support Support 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.
  • Page 28 VPLCE532E Vision Motion Controller User Manual V1.5 → Pulse Wiring Here, use OUT0 and OUT1 to connect to driver, when wiring is done, when OUT0 and OUT1 are configured through ATYPE (6) = 1. OUT 0 is PUL6, OUT1 is DIR6, and corresponding pulse driver axis No.

  • Page 29: Basic Usage Method

    VPLCE532E Vision Motion Controller User Manual V1.5 same power supply system, this connection can also be omitted. 3.5.3. Basic Usage Method (1) Please follow the above wiring instructions to wiring correctly. (2) After powered on, please use LAN1, LAN2, RS232 or RS485 to connect to ZDevelop. (3) Open or close output port directly through “OP”...

  • Page 30: Analog Output Specification & Wiring

    VPLCE532E Vision Motion Controller User Manual V1.5 Output Analog output terminal AOUT (1) Analog public end DAGND Public end 3.6.1. Analog Output Specification & Wiring →Specification Terminal DA (01) Resolution 12-bit Data range 0-4095 Signal range 0-10V output Data refresh ratio 1KHz Voltage output load >10KΩ...

  • Page 31: 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. USB Interface The VPLC532E motion controller provides 4 USB communication interfaces, USB3.0 interface can be compatible with below USB2.0, which can connect to camera, keyboard, mouse, U disk, etc.

  • Page 32: Hdmi Interface

    VPLCE532E Vision Motion Controller User Manual V1.5 DATA- DATA+ SSRX- SSRX+ SSTX- SSTX+ → Specification Item USB3.0 Highest Communication Ratio 5.0Gbps Max Output Current of VCC (5V) 500mA Whether Isolates 3.8. HDMI Interface There is one standard HDMI high-definition multimedia display interface, which can connect to the touch screen.

  • Page 33: Lan Ethernet

    HOT PLUG DETECT TMDS CLOCK+ 3.9. LAN Ethernet There are 2 1000M ethernet ports on VPLC532E, 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 34: Ethercat Bus Interface

    1000Mbps, the ethernet cable should be above CAT 5e at least. 3.10. EtherCAT Bus Interface VPLC532E 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 35 VPLCE532E Vision Motion Controller User Manual V1.5 Physical level 100BASE-TX Duplex mode Full duplex Topology linear topology 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...

  • Page 36: Axis Differential Pulse Axis Interface

    VPLCE532E Vision Motion Controller User Manual V1.5 ⚫ In order to ensure the stability of communication, please fix the cables with cable ties. When disassembling, press the tail mechanism of the crystal head, and pull out the ⚫ 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.

  • Page 37: Axis Interface Signal Specification & Wiring

    VPLCE532E Vision Motion Controller User Manual V1.5 Reserved Reserved Negative pole of 5V power of pulse/encoder signal OVCC Positive pole of IO 24V power OUT18- Digital output, recommended to 23/CLR clear driver alarm Digital input, recommended as IN30-35/INP position on-site signal Encoder differential input signal A+ Encoder differential input signal B+ Encoder differential input signal Z+...
  • Page 38 VPLCE532E Vision Motion Controller User Manual V1.5 Signal type Differential input signal EA/EB/EZ Voltage range 0-5V Maximum frequency 5MHz NPN leak type, it is triggered Input method when low electric level is input. Frequency ＜5kHz Impedance 6.8KΩ Voltage level DC24V IN24-35 The voltage to open <10.5V...
  • Page 39 VPLCE532E Vision Motion Controller User Manual V1.5...

  • Page 40: Basic Usage Method

    VPLCE532E Vision Motion Controller User Manual V1.5 → Wiring Note:  The wiring principle of the differential pulse axis interface is shown in the figure above, and the wiring methods of different types of drivers are different, please connect carefully. ...
  • Page 41 VPLCE532E Vision Motion Controller User Manual V1.5 Refer to BASIC Routine: BASE(0,1) 'select axis 0 and axis 1 ATYPE = 1,1 'set axis 0 and axis 1 as pulse axes UNITS = 1000,1000 'set pulse amount as 1000 pulses SPEED = 10,10 'set axis speed as 10*1000 pulse/s ACCEL = 1000,1000 ‘set axis acceleration as 1000*1000 pulse/s/s...

  • Page 42: Chapter Iv Expansion Module

    Chapter IV Expansion Module The controller can expand digital IO, analog IO, pulse axis and other resources through CAN bus or EtherCAT bus expansion modules. For Zmotion, ZIO series CAN expansion module, EIO series EtherCAT expansion modules, or ZMIO310 series vertical bus expansion modules can be used.
  • Page 43 VPLCE532E Vision Motion Controller User Manual V1.5 → Wiring Note: VPLC532E 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 44: Can Bus Expansion Resource Mapping

    VPLCE532E 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 45 VPLCE532E 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 46 VPLCE532E 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 47 VPLCE532E Vision Motion Controller User Manual V1.5 → Axis Mapping: 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.

  • Page 48: Ethercat Bus Expansion

    VPLCE532E 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 (32), and whether the CAN communication speed is consistent. 4.2.

  • Page 49: Ethercat Bus Expansion Resource Mapping

    VPLCE532E 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 50 VPLCE532E Vision Motion Controller User Manual V1.5 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 51 VPLCE532E Vision Motion Controller User Manual V1.5 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 52: 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 53 VPLCE532E 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 54 VPLCE532E 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 55 VPLCE532E 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 56 VPLCE532E 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 57: 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 58 VPLCE532E 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 59 VPLCE532E 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 60: Chapter Vi Run And Maintain

    VPLCE532E 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 61: Common Problems

    VPLCE532E 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 62 VPLCE532E 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 63 VPLCE532E 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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