Zmotion VPLC532E 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.

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............................................................................................7
2.2. Order Information..............................................................................................8
2.3. Interface Definition............................................................................................8
2.4. Work Environment ...........................................................................................10
Chapter III Wiring & Communication.................................................................................11
3.1. Power Input, CAN Communication Interface ..................................................11
3.1.1. Power Specification..............................................................................11
3.2. RS485, CAN Communication Interface ...........................................................11
3.2.1. RS232, CAN Communication Specification & Wiring...........................12
3.1.2. Basic Usage Method ............................................................................14
3.3. RS232 Serial Port ............................................................................................16
3.3.1. RS232 Communication Port Specification & Wiring............................16
3.3.2. Basic Usage Method ............................................................................17
3.4. IN Digital Input & High-Speed Latch Port .......................................................18
3.4.1. Digital Input Specification & Wiring .....................................................19
3.4.2. Basic Usage Method ............................................................................21
3.5. OUT Digital Output & PWM & Hardware Comparison Output & Single-ended
Pulse 21
3.5.2. Digital Output Specification & Wiring...................................................22
3.5.3. Basic Usage Method ............................................................................25

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. EtherCAT Bus Interface................................................................................30
3.11. AXIS Differential Pulse Axis Interface .........................................................32
3.11.1. AXIS Interface Signal Specification & Wiring.......................................33
3.11.2. Basic Usage Method ............................................................................36
Chapter IV Expansion Module ...........................................................................................38
4.1. CAN Bus Expansion.........................................................................................38
4.1.1. CAN Bus Expansion Wiring...................................................................38
4.1.2. CAN Bus Expansion Resource Mapping ..............................................40
4.2. EtherCAT Bus Expansion.................................................................................44
4.2.1. EtherCAT Bus Expansion Wiring...........................................................44
4.2.2. EtherCAT Bus Expansion Resource Mapping ......................................45
Chapter V Program & Applications....................................................................................48
5.1. ZDevelop Software Usage...............................................................................48
5.2. PC Upper-Computer Program Application .....................................................53
Chapter VI Run and Maintain ............................................................................................56
6.1. Regular Inspection and Maintenance .............................................................56
6.2. Common Problems..........................................................................................57

VPLCE532E Vision Motion Controller User Manual V1.5
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.
VPLC532E motion controller can be applied in 3C electronics, lithium, printing and
packaging equipment, medical equipment, robot, semiconductor, and laser.
1.2. Function Features
◆Support 32 axes motion control at most.
◆Pulse output mode: pulse / direction or dual-pulse.
◆IO can be expanded through ZCAN and EtherCAT bus, 4096 isolated inputs and 4096
isolated outputs can be extended at most.
◆There are 24 NPN inputs, among them, 4 are high-speed inputs, 12 are low-speed
inputs, and high-speed inputs can be configured as latch signal.
◆There are 12 NPN outputs, among them, 4 are high-speed outputs, they can be
configured as high-speed comparison and PWM. 8 are general outputs, and max
output current can reach 300mA, which can drive some solenoid valve directly.
◆There are 2 USB3.0 interfaces and 2 USB2.0 interfaces to connect to camera, mouse,
keyboard, U disk, and other external devices.
◆There are one RS485, one RS232, one CAN bus interface, one 100M EtherCAT
interface and two 1000M ethernet interfaces.

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.
◆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.

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)

VPLCE532E 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.
⚫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 -10° C- 55°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
e) places with direct sunlight

VPLCE532E Vision Motion Controller User Manual V1.5
Chapter II Product Specification
2.1. Basic Specification
Item
Description
Model
VPLC532E
Basic Axes
32
Max Extended Axes
32
Type of Basic Axes
EtherCAT, 6 local pulse axes.
Digital IO
General IO: 24 inputs, 12 outputs
IO in Axis interface: 6 pulses axes have 12 inputs and
12 outputs.
Max Extended IO
4096 inputs and 4096 outputs.
PWM
4
AD/DA
2 general DAs, 0-10V
Max Extended AD/DA
512 ADs, 512 DAs.
Pulse Bit
64
Encoder Bit
64
Speed and Acceleration Bit
64
Highest Pulse Frequency
10MHz
Motion Buffer of Each Axis
4096
Array Space
320000
Program Space
64MByte
Flash Space
8G
Power Supply Input
24V DC input
Communication Interfaces
RS232, RS485, USB, ETHERNET, CAN, EtherCAT
Dimension
184mm*140mm*53mm

VPLCE532E Vision Motion Controller User Manual V1.5
2.2. Order Information
Model
Description
VPLC532E-6
6 axes, point to point, linear, circular, electronic cam, continuous
trajectory motion, robot command.
VPLC532E-16
16 axes, point to point, linear, circular, electronic cam, continuous
trajectory motion, robot command.
VPLC532E
32 axes, point to point, linear, circular, electronic cam, continuous
trajectory motion, robot command.
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

VPLCE532E Vision Motion Controller User Manual V1.5
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
LAN
1000M Ethernet
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
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.
E+24V
Main power supply
1
24V DC power, it supplies the power for
controller.
E5V
5V power supply output
1
It is used to provide PWM or used for
common anode when single-ended axis
expands.
CAN
CAN bus interface
1
Connect to CAN expansion modules and
other CAN devices.
IN
General digital input port
24
NPN type, the power is supplied by internal
24V power supply, 4 are high-speed inputs,
IN0-3 have the function of high-speed latch.
OUT
General digital output
port
12
NPN Leakage type, the power is supplied by
internal 24V power supply, OUT0-3 have
functions of PWM and hardware comparison
output.
DA
Analog output
2
The resolution is 12-bit, 0-10V.
Axis
Pulse axis interface
6
Include differential pulse output and
differential encoder input.
HDMI
HDMI display interface
1
Used to connect to displayer, support HD
display.

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)
vibration
Frequency
5-150Hz
Displacement
3.5mm(directly install)(<9Hz)
Acceleration
1g(directly install)(>9Hz)
Direction
3 axial direction
Shock (collide)
15g, 11ms, half sinusoid, 3 axial direction
Degree of Protection
IP20

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.
→Terminal Definition:
Terminal
Name
Type
Function
E+24V
Input
Positive side of DC input
EGND
Input
Negative side of DC input
FG
Earthing
Protect, shield
3.1.1. Power Specification
→Specification
Item
Description
Voltage
DC24V (-5%~5%)
The current to open
≤1.2A
The current to work
≤1A
Anti-reverse connection
YES
Overcurrent Protection
YES
3.2. RS485, CAN Communication Interface
Communicate interface uses 5Pin screw-pluggable wiring terminal with a spacing of
3.81mm, and RS485 communication and CAN communication can be achieved through
connecting corresponding terminals.

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.RS485, CAN Communication Specification & Wiring
RS485 serial port supports MODBUS_RTU protocol and custom communication,
which contains 485A, 485B and public end.
The CAN interface of the controller adopts the standard CAN communication
protocol, which mainly includes three ports, CANL, CANH and the public end. And it can
connect to CAN expansion modules and other standard CAN devices.
→Specification
Item
RS485 (port 1)
CAN
Maximum Communication Rate
(bps)
115200
500K
Terminal Resistor
No
120Ω
Topological Structure
Daisy Chain Topology
Daisy Chain Topology
The number of nodes can be
extended
Up to 127
Up to 16
Communication Distance
The longer communication distance is, the lower
communication rate is, and maximum of 100m is
recommended.
Note: for CAN communication, the baud rate only supports 500K.

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. 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,
the branch structure also can be used.
⚫Please be sure to connect the public ends of each node on the RS485/CAN bus to
prevent the RS485/CAN chip from burning out.

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
matching the circuit impedance and ensuring communication stability.
⚫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.
3.1.2. Basic Usage Method
(1) Please follow the above wiring instructions to wiring correctly.
(2) After powered on, please use LAN1 or LAN2 or RS232 or RS485 to connect to
ZDevelop.
(3) Please use “ADDRESS” and “SETCOM” commands to set parameters and check
protocol station No. Please refer to “Basic Manual”.

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” to view the CAN status intuitively, and refer to the
“ZBasic Programming Manual” for details.
(5) Please according to specific manual, set parameters related to the third party
equipment correctly to match each node’s parameters.
(6) Correctly set the "address" and "speed" of the slave station expansion module
according to the manual of the slave station.
(7) After all the settings are completed, restart the power supply of all stations to
establish communication.
(8) 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.

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
NC
Spare
Reserved
2
RXD
Input
RS232 signal, receive
3
TXD
Output
RS232 signal, send
5
EGND
Output
RS232 communication
public end
3.3.1.RS232 Communication Port Specification & Wiring
→Specification
Item
RS232 (port0)
Maximum Communication Rate (bps)
115200
Terminal Resistor
No
Topology Structure
Connect correspondingly
(1 to 1)
The number of nodes can be extended
1
Communication Distance
The Longer communication distance is,
the lower communication rate is,
maximum 10m is recommended.
→Wiring Reference