Zmotion VPLC516E User manual

Foreword
The motion controller provides rich interface, and it has excellent motion control performance, which
can meet the expansion requirements of various projects.
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.
For details about the ZMC controller software and the introduction and routine of each command,
please refer to the ZBASIC software manual.
Information contained in this manual is only for reference. Due to improvements in design and
functions and other aspects, Zmotion Technology reserves the final interpretation! Subject to change
without notice!
Pay attention to safety when debugging the machine!
Please be sure to design an effective safety protection device in the machine, and add an error
handling program in the software, otherwise Zmotion has no obligation or responsibility for the loss
caused.
In order to ensure the safe, normal and effective use of the product, please be sure to read this
product manual carefully before installing and using the product.

Safety Statement
⚫This chapter describes the safety precautions required for the correct use of this product. Before
using this product, please read the instructions for use and correctly understand the relevant
information on safety precautions.
⚫This product should be used in an environment that meets the design specifications, otherwise
it may cause equipment damage or personal injury, and malfunctions or component damage
caused by failure to comply with relevant regulations are not within the scope of product quality
assurance.
⚫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 " Danger " and " Caution ". Failure to operate as required
may result in moderate injury, minor injury or equipment damage.
Please keep this guide in a safe place for reading when needed, and be sure to hand this manual to
the end user.
Install
Danger
◆When the controller is disassembled, all external power supplies used by the
system should be disconnected before operation, otherwise it may cause
misoperation or damage to the equipment.
◆It is forbidden to use in the following places: places with dust, oil fume, conductive
dust, corrosive gas and flammable gas; places exposed to high temperature,
condensation, wind and rain; places with vibration and shock. Electric shock, fire
and misuse can cause product damage and deterioration.
Notice
◆Avoid metal shavings and wire ends falling into the hardware circuit board during
installation.
◆After installation, ensure that there are no foreign objects on the hardware circuit
board.
◆When installing, make it tightly and firmly with the mounting frame.

◆Improper installation of the controller may result in misoperation, failure and fire.
Wiring
Danger
◆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.
◆When powering on and running after the wiring work is completed, the terminals
attached to the product must be installed.
◆Cable terminals should be well insulated to ensure that the insulation distance
between cables will not be reduced after the cables are installed on the terminal
block.
Notice
◆Avoid metal shavings and wire ends falling into the hardware circuit board during
installation.
◆The cable connection should be carried out correctly on the basis of confirming
the type of the connected interface.
◆It should be confirmed that the cables pressed into the terminals are in good
contact.
◆Do not bundle the control wires and communication cables with the main circuit
or power supply wires, etc., and the distance between the wires should be more
than 100 mm, otherwise noise may cause malfunction.
◆If the controller is not installed properly, it may cause electric shock or equipment
failure or malfunction.

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............................................................................................8
2.2. Order Information..............................................................................................8
2.3. Interface Definition............................................................................................9
2.4. Work Environment ...........................................................................................10
Chapter III Wiring & Communication.................................................................................12
3.1. Power Input, CAN Communication Interface ..................................................12
3.1.1. Power Specification..............................................................................12
3.1.2. CAN Communication Specification & Wiring .......................................12
3.1.3. Basic Usage Method ............................................................................14
3.2. IN Digital Input & High-Speed Latch Port .......................................................15
3.2.1. Digital Input Specification & Wiring .....................................................17
3.2.2. Basic Usage Method ............................................................................18
3.3. OUT Digital Output & PWM & Hardware Comparison Output & Single-ended
Pulse 19
3.3.2. Digital Output Specification & Wiring...................................................20
3.3.3. Basic Usage Method ............................................................................23
3.4. COM Serial Port ...............................................................................................23
3.4.1. RS232/RS485 Communication Interface Specification & Wiring ........24
3.4.2. Basic Usage Method ............................................................................26
3.5. LAN Ethernet ...................................................................................................27

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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. CAN Bus Expansion.........................................................................................35
4.1.1. CAN Bus Expansion Wiring...................................................................35
4.1.2. CAN Bus Expansion Resource Mapping ..............................................37
4.2. EtherCAT Bus Expansion.................................................................................41
4.2.1. EtherCAT Bus Expansion Wiring...........................................................41
4.2.2. EtherCAT Bus Expansion Resource Mapping ......................................42
Chapter V Program & Applications....................................................................................45
5.1. ZDevelop Software Usage...............................................................................45
5.2. PC Upper-Computer Program Application .....................................................50
Chapter VI Run and Maintain ............................................................................................53
6.1. Regular Inspection and Maintenance .............................................................53
6.2. Common Problems..........................................................................................54

VPLCE516E Vision Motion Controller User Manual V1.5
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
identification.
VPLC516E motion controller can be applied in 3C electronics, lithium, printing and
packaging equipment, medical equipment, semiconductor and laser.
1.2. Function Features
◆Support 16 axes motion control, which can be extended to 32 axes.
◆Pulse output mode: pulse / direction.
◆AXIS interface supports encoder position measurement, which can be configured as
handwheel input mode.
◆Specialized handwheel input interface.
◆Maximum pulse output frequency of each axis is 500KHz.
◆IO can be expanded through ZCAN and EtherCAT bus, 4096 isolated inputs and 4096
isolated outputs can be extended at most.
◆There are 16 NPN general inputs, 2 are high-speed inputs, 14 are low-speed inputs,
and high-speed inputs can be configured as latch signal.
◆There are 16 NPN general outputs, 12 are high-speed outputs, 4 are low-speed
outputs, and output max current can reach 300mA, which can drive some solenoid

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.
◆Support point to point, linear interpolation, circular interpolation, continuous
interpolation, robot.
◆Support electronic cam, electronic gear, position latch, synchronous follow, virtual
axis and other functions.
◆Support hardware comparison output (HW_PSWITCH2), hardware timer, precision
output when in motion.
◆Support pulse closed loop, pitch compensation, etc.
◆Support multi-task and multi-file programming in Basic.
◆A variety of program encryption methods to protect the intellectual property rights of
customers.
◆Support power failure detection and power failure storage.

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.
(Unit: mm, Mounting Hole Diameter 4.5mm)

VPLCE516E Vision Motion Controller User Manual V1.5

VPLCE516E Vision Motion Controller User Manual V1.5
Installation
attention
⚫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.
⚫Before installation, please ensure that the product is powered off.
⚫Do not disassemble the module, otherwise the machine may be
damaged.
⚫Avoid direct sunlight installation.
⚫In order to facilitate ventilation and controller replacement, 2-3cm
should be left between the upper and lower parts of the controller
and the installation environment and surrounding components.
⚫Considering the convenient operation and maintenance of the
controller, please do not install the controller in the following
places:
a) places where the surrounding ambient temperature exceeds
the range of -20°C-60°C
b) places where the ambient humidity exceeds the range of 10%-
95% (non-condensing)
c) places with corrosive gases and flammable gases
d) places with many conductive powders such as dust and iron
powder, oil mist, salt, and organic solvents

VPLCE516E Vision Motion Controller User Manual V1.5
Chapter II Product Specification
2.1. Basic Specification
Item
Description
Model
VPLC516E
Basic Axes
16
Max Extended Axes
32
Type of Basic Axes
Pulse axis / encoder axis / ECAT bus axis
Digital IO
16 inputs and 16 outputs.
Max Extended IO
4096 inputs and 4096 outputs.
PWM
2
AD/DA
0
Max Extended AD/DA
512 ADs, 512 DAs.
Pulse Bit
64
Encoder Bit
64
Speed and Acceleration Bit
64
Highest Pulse Frequency
500KHz
Motion Buffer of Each Axis
4096
Array Space
1280000
Program Space
64MByte
Flash Space
512MB
Power Supply Input
24V DC input
Communication Interfaces
RS232, RS485, USB, ETHERNET, CAN, EtherCAT
Dimension
162*47*119mm
2.2. Order Information
Model
Description

VPLCE516E Vision Motion Controller User Manual V1.5
VPLC516E-4
4 axes, point to point, linear, circular, electronic cam, continuous
trajectory motion, robot structure.
VPLC516E-6
6 axes, point to point, linear, circular, electronic cam, continuous
trajectory motion, robot structure.
VPLC516E-8
8 axes, point to point, linear, circular, electronic cam, continuous
trajectory motion, robot structure.
VPLC516E
16 axes, point to point, linear, circular, electronic cam, continuous
trajectory motion, robot structure.
2.3. Interface Definition
→Interface Description
Mark
Interface
Number
Description
POW
The led that indicates the
current state.
1
Power state: it lights when power is
conducted.
RUN
1
Run state: it lights when runs normally
ALM
1
Error state: it lights when runs incorrectly
RS232
RS232 (port 0) serial port
1
Use MODBUS_RTU protocol
RS485
RS485 (port 1) serial port
1
Use MODBUS_RTU protocol
EtherCAT
EtherCAT bus interface
1
EtherCAT bus interface, connect to EtherCAT
bus drive and EtherCAT bus expansion
module

VPLCE516E Vision Motion Controller User Manual V1.5
ETHERNET
Network port
2
Use MODBUS_TCP protocol, expand the
number of network ports through the
interchanger, and the number of net port
channels can be checked through “?*port”
command, default IP address is 192.168.0.11
E+24V
Main power supply
1
24V DC power, it supplies the power for
controller.
E5V
5V power supply
1
It is used to provide PWM or used for
common anode when single-ended axis
expands.
USB
USB3.0/2.0
4
Compatible with USB2.0 and USB1.0
interfaces, they can be connected to external
equipment, such as, camera, mouse,
keyboard, U disk.
CAN
CAN bus interface
1
Connect CAN expansion modules and CAN
equipment of other standards.
IN
Digital IO input port
16
NPN type, the power is supplied by internal
24V power supply.
OUT
Digital IO output port
16
NPN Leakage type, the power is supplied by
internal 24V power supply.
Axis
Pulse axis interface
16
Each interface includes differential pulse
output and differential encoder input.
MPG
Handwheel
1
5-24V handwheel signa input
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)
vibration
Frequency
5-150Hz
Displacement
3.5mm(directly install)(<9Hz)

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

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.
→Terminal Definition:
Terminal
Name
Type
Function
EGND
Input
Power ground
CANL
Input/output
CAN differential data -
EARTH
Earthing
Protect, shield
CANH
Input/output
CAN differential data +
E+24V
Input
Power 24V input
3.1.1. Power Specification
→Specification
Item
Description
Voltage
DC24V(-5%~5%)
The current to open
≤0.5A
The current to work
≤0.4A
Anti-reverse connection
Valid
Overcurrent Protection
Valid
3.1.2. CAN Communication Specification & Wiring
The CAN interface of the controller adopts the standard CAN communication

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
CAN
Maximum Communication Rate (bps)
1M
Terminal Resistor
120Ω
Topological Structure
Daisy Chain Topology
The number of nodes can be extended
Up to 16
Communication Distance
The longer communication distance is, the
lower communication rate is, and maximum
of 100m is recommended.
→Wiring Reference
Connect the CANL and CANH of the standard CAN module to the CANL and CANH of
the other side correspondingly. And public ends of the CAN bus communication both
parties are connected together. In CAN bus left and right sides, connect a 120Ωresistor
respectively (please see below graphic).
→Wiring Notes:
⚫As above, the daisy chain topology is used for wiring (the star topology structure
cannot be used). When the use environment is ideal and there are no many nodes,

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.
⚫Please use STP (Shielded Twisted Pair), especially in bad environments, and make
sure the shielding layer is fully grounded.
⚫When on-site wiring, pay attention to make the distance between strong current and
weak current, it is recommended for the distance to be more than 20cm.
⚫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.
→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.
(3) Please use the "CANIO_ADDRESS" command to set the master's "address" and

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” for details.
(4) Correctly set the "address" and "speed" of the slave station expansion module
according to the manual of the slave station.
(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" settings cannot cause conflicts, otherwise the "ALM" alarm light will be
on, and the communication establishment will fail or the communication will be
disordered.
3.2. IN Digital Input & High-Speed Latch Port
The digital input adopts screw-type pluggable terminals, and the gap distance
between terminals should be 3.81mm. In addition, the high-speed latch function is

VPLCE516E Vision Motion Controller User Manual V1.5
integrated in digital input signals.
→Terminal Definition
PIN
Name
Type
Function 1
Function 2
Function 3
2
EGND
/
IO public end
/
/
4
IN0
NPN type, high-
speed input
Input 0
High-speed latch A
EA1
6
IN1
Input 1
High-speed latch B
EB1
8
IN2
NPN type, low-
speed input
Input 2
/
EZ1
10
IN3
Input 3
/
/
12
IN4
Input 4
/
/
14
IN5
Input 5
/
/
16
IN6
Input 6
/
/
18
IN7
Input 7
/
/
20
IN8
Input 8
/
/
22
IN9
Input 9
/
/
24
IN10
NPN type, low-
speed input
Input 10
/
/
26
IN11
Input 11
/
/
28
IN12
Input 12
/
/
30
IN13
Input 13
/
/
32
IN14
Input 14
/
/
34
IN15
Input 15
/
/
36
EGND
/
IO public end
/
/