Zmotion VPLC710 Series User manual

VPLC710 运动控制器硬件手册 V1.0 版

VPLC710 Motion Controller Hardware Manual V1.0
Copyright statement
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.
PCIE controller software involved in details as well as the
introduction and routines of each instruction, please refer to
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 debug the machine! Be
sure to design effective safety devices in the machine, and
add error handling procedures in software. Zmotion has no
obligation or responsibility for the loss.

VPLC710 Motion Controller Hardware Manual V1.0
Foreword
Introduction
VPLC710 is a kind of IPC type product based on X86. And it can make use
of system of extensible, inheritable, multi-domain, information, openness and
visualization through PC - based. EtherCAT bus is configured. In addition, the
linkage axes can reach 16 axes. For motion period, the minimal is 500us.
Therefore, high-speed and high-precision requirements in motion control
areas can be achieved through powerful motion control functions of VPLC710.
What’s more, it supports many functions for automation industry, such as, DI
/ DO, pulse control, handwheel acquisition, etc.
This manual mainly introduces VPLC710 basic specification, wiring and
installment, debug and maintain.
For Readers
Mechanical Engineer + Electrical Engineer + Software Engineer + Systems
Engineer
Use First Time
For users who use VPLC710 firstly, please read this manual seriously. If
there is any question on function and performance, please contact ZMotion
engineers, which is good for use this product correctly.
Get this manual
This manual won’t brought with product, and there is no notification if
updated. Please check in “ZMotion Technologh –Download” for the latest
version.

VPLC710 Motion Controller Hardware Manual V1.0
Content
Chapter I Production Information........................................................................................5
1.1. Product Information ..........................................................................................5
1.2. Nameplate & Models .........................................................................................5
1.3. Optional Configuration ......................................................................................5
1.4. Production Appearance.....................................................................................8
1.5. Specification Parameter....................................................................................9
1.5.1. General Specification .............................................................................9
Pentium 5405U ....................................................................................................................9
1.5.2. Config Parameter Specification ...........................................................10
1.5.3. IO Interface Specification.....................................................................12
1.5.4. Communication Interface Specification ..............................................13
1.6. Interface Definition..........................................................................................14
1.6.1. Standard Interface................................................................................14
1.6.2. RS485/RS232 .......................................................................................14
1.6.3. Input & Output ......................................................................................15
1.6.4. Power Supply........................................................................................18
Chapter II System Configuration .......................................................................................19
2.1. Connection Configuration ...............................................................................19
2.2. Main Properties ...............................................................................................19
2.3. System Framework..........................................................................................20
Chapter III Wiring Reference..............................................................................................22
3.1. Basic Requirements ........................................................................................22
3.1.1. Cable Requirements .............................................................................22
3.1.2. Cable-Arrangment Requirements ........................................................23
3.1.3. Wiring Requirements ............................................................................24
3.2. Terminal Wiring ...............................................................................................24
3.2.1. General Input Wiring.............................................................................25
3.2.2. General Output Wiring ..........................................................................25
3.2.3. Wiring: Input as Encoder ......................................................................25
3.2.4. Wiring: Output ad PWM ........................................................................26
3.2.5. Wiring: Output as Pulse........................................................................26

VPLC710 Motion Controller Hardware Manual V1.0
3.2.6. Wiring: RS485 .......................................................................................27
Chapter IV Installment Wiring ...........................................................................................28
4.1. Installment Environment .................................................................................28
4.2. Installment Size...............................................................................................29
4.3. Installment Method .........................................................................................29
Chapter V Maintain & Problem Processing.......................................................................31
5.1. Maintain Regularly ..........................................................................................31
5.2. Common Problems..........................................................................................32

VPLC710 Motion Controller Hardware Manual V1.0
Chapter I Production Information
1.1. Product Information
VPLC710 is a kind of IPC type product based on X86. It is matched with MotionRT
software to achieve motion control functions, machine vision algorithm and powerful
communication ability on one VPLC710 vision motion controller.
MotionRT is Zmotion motion control real-time kernel software. Now, it has developed
to generation 7 “MotionRT7”. This software is one independent PC software, it has high
compatibility to transplant to Linux or Windows conveniently. And MotionRT is with real-
time Basic language, ladder diagram, configuration (HMI) that are easy to use. Whether it
is a remote application or a local application (VS, QT and other software development),
MotionRT provides a unified standard function interface (zmotion.dll/zmotion.so) to
facilitate the transplantation of various external programs.
It is matched with RtSys (ZDevelop) development software to realize real-time one-
stop-shop development of real-time BASIC, ladder diagram, configuration, machine
vision, in this way, development time can be saved.
1.2. Nameplate & Models
1.3. Optional Configuration
You can select below to configurate for software, such as, axis numbers, motion
control functions, other functions (PSO, vision, robot, etc.).
64 axes versions can be customized, please contact us.

VPLC710 Motion Controller Hardware Manual V1.0
No.
Configuration
Specification description
1
VPLC710-i1-ETH2-V01-
AX4-MO8
Maximum 4 axes are used.
MO0: point to point
MO1: point to point, electronic cam
MO2: point to point, electronic cam, linear
interpolation
MO6: point to point, electronic cam, linear
interpolation, circular interpolation
MO8: point to point, electronic cam, linear
interpolation, circular interpolation, continuous
interpolation
2
VPLC710-i1-ETH2-V01-
AX6-MO8
Maximum 6 axes are used.
MO0: point to point
MO1: point to point, electronic cam
MO2: point to point, electronic cam, linear
interpolation
MO6: point to point, electronic cam, linear
interpolation, circular interpolation
MO8: point to point, electronic cam, linear
interpolation, circular interpolation, continuous
interpolation
3
VPLC710-i1-ETH2-V01-
AX8-MO8
Maximum 8 axes are used.
MO0: point to point
MO1: point to point, electronic cam

VPLC710 Motion Controller Hardware Manual V1.0
MO2: point to point, electronic cam, linear
interpolation
MO6: point to point, electronic cam, linear
interpolation, circular interpolation
MO8: point to point, electronic cam, linear
interpolation, circular interpolation, continuous
interpolation
4
VPLC710-i1-ETH2-V01-
AX16-MO8
Maximum 16 axes are used.
MO0: point to point
MO1: point to point, electronic cam
MO2: point to point, electronic cam, linear
interpolation
MO6: point to point, electronic cam, linear
interpolation, circular interpolation
MO8: point to point, electronic cam, linear
interpolation, circular interpolation, continuous
interpolation

VPLC710 Motion Controller Hardware Manual V1.0
1.4. Production Appearance
Appearance Description:
No.
Name
Numbers
Details
1
Audio interface
1
Output audio
2
LAN1
1
Net port 1, can be configured as EtherCAT
3
LAN2
1
Net port 2, can be configured as EtherCAT
4
USB3.0
2
USB3.0

VPLC710 Motion Controller Hardware Manual V1.0
5
USB3.0
2
USB3.0
6
VGA
1
VGA display interface
7
HDMI
1
HDMI display interface
8
RS485 / RS232
1
RS485 (port1) & RS232 (port0)
9
EtherCAT
1
EtherCAT Bus interface
10
IN
16
Digital inputs
11
OUT
16
Digital outputs
12
24V power supply
2
Power inputs
13
Reset button
1
ON / OFF button
1.5. Specification Parameter
1.5.1. General Specification
Item
Specification
Details
Name
VPLC710-i1-ETH2-V01
/
CPU
Intel CPU
Pentium 5405U
Storage
SSD solid state disk is
built-in
128G (others can be selected)
Memory
DDR4
8G
Main Power
24V*3A
Power should be more than 70W,
voltage is -15%~+20%
Axes
16
EtherCAT bus and 4 local pulse axes
Max Expanded Axes
16
For more axes, please contact us
Basic Axes Type
16
EtherCAT bus axes, pulse axes,
encoder axes, virtual axes
High-Speed Out IO
Frequency
500k
/
High-Speed In IO
Frequency
500k
/
Normal In IO
Frequency
10k
/

VPLC710 Motion Controller Hardware Manual V1.0
Controller Period
1ms by default
Support SERVO_PERIOD to check
and adjust period
VR Save Size when
Power Off
2048
Ferroelectric memory stores power
failure data for about 10 years
heat-dissipating
method
Cooling fin
/
Storage
Temperature
/
-40℃-80℃
Work Temperature
/
-20℃-60℃
Work Humidity
/
10% ~ 95% (non-condensation)
Volume
178mm*186mm*69mm
About 2.277dm^3
Weight
2KG
/
1.5.2. Config Parameter Specification
Turn on MotionRT software, it can configure parameters specification according to
requirements, please see below image, it shows default parameters, behind indicates
supported parameters range, after configurated, click (确认) to save.

VPLC710 Motion Controller Hardware Manual V1.0
Parameter Description:
Item
Default Specification
Details
Total Memory
256MB
Total memory, including all memories
that can save data, such as, array
space, Zar file size, channel size, hmi
resolution, etc., it is better to set the
value that is above 200.
Cpu Usage
90%
CPU usage limit
Hmi num
2
Valid Hmi numbers
Hmi size
5242880KB
Resolution of one hmi
ZVision Latin num
4
Vision channel numbers
ZVision Latin size
5242880KB
One vision channel size
Zar size
33554432KB
Zar file size

VPLC710 Motion Controller Hardware Manual V1.0
Task num
28
Max tasks can be executed
Array Space
25600000KB
Distributed array space
Zvobj num
2048
The number of vision object Avobject
Sub num
4096
Max sub functions
Com num
0
Serial ports
Eth num
0
The number of PORT net-port, set value
should be less than the max value
Ethcustom num
0
The number of customized Ethernet
3Dsolid num
128
3D solid numbers
AutoRunApp
/
Open software automatically when
power on
AutoRunRT
/
Run RT software automatically when
power on
1.5.3. IO Interface Specification
Item
Specification
Details
Inner IOs
16+16
16 inputs and 16 outputs (with
overcurrent protection), and 8 of them
are high-speed inputs to be configured
as encoder inputs. 16 outputs are high-
speed outputs to be configured as
pulse outputs.
Max extended IOs
1024 inputs + 1024
outputs
It is matched with expansion module to
expand IO.
Latches
4
4 inputs can be configured as latch input,
number is IN0-3.
Encoder
2
Reuse input, number is IN0-2, IN4-6
PWM
4
4 outputs can be configured as PWM,
number is OUT0-3.
Hardware
comparison output
4
4 outputs can be configured as hardware
comparison output (PSO function), which
are compatible with precision output,
number is OUT0-3.

VPLC710 Motion Controller Hardware Manual V1.0
Pulse output
4
Reuse output, number is OUT8-15.
IO power input
24V DC input
IO needs to be supplied by external power
independently.
1.5.4. Communication Interface Specification
Item
Specification
Details
LAN
Communication
speed 1000Mbps
Standard 1000M Ethernet interface RJ45, it can be
configured as EtherCAT.
LAN1 Ethernet Factory IP Address: 192.168.0.11
LAN2 Ethernet Factory IP Address: 192.168.1.11
EtherCAT
Communication
speed 1000Mbps
Industrial communication EtherCAT master station
interface, standard Ethernet interface RJ45.
RS232/
RS485
Several kinds of
Baud rate
Support MODBUS_RTU standard protocol, master
station and slave station are valid, default is slave
station. And default communication parameters are
Baud rate 38400, data bit 8, no parity.
VGA
Standard interface
Connect VGA interface externally to show equipment.
HDMI
Standard interface
Connect HDMI interface externally to show equipment.
USB3.0
Standard interface
Both support “plug and then use immediately” and
“hot plug in and out”, it is below compatible with
USB2.0.
Note:
➢EtherCAT specialized minimal communication period is 500us, the maximum
period is 4000us, the accumulative is 500us, and the max equipment number is
16, EtherCAT bus drive and EtherCAT bus expansion module can be connected.
➢LAN Ethernet both can be configured as EtherCAT custom port, the minimal
communication period of EtherCAT custom port is 1000us, the maximum is
4000us, the accumulative is 500us, and the max equipment number is 16.

VPLC710 Motion Controller Hardware Manual V1.0
1.6. Interface Definition
1.6.1. Standard Interface
The USB3.0 interface, VGA interface, HDMI interface, LAN interface, audio interface,
and EtherCAT interface are all standard interfaces, which can be connected and used
through standard wiring cables.
1.6.2. RS485/RS232
VPLC710 series support RS485 protocol local IO communication and RS232 protocol
local debug.
Before use, it needs to configure the number of "com num" and related parameters
on the "Config Window" of the MotionRT software.
By default, the MODBUS_RTU standard protocol is adopted, and at the same time, it
supports configuration as no-protocol mode, and adopts custom communication.
Both support configuration as master or slave.
PIN
Name
Description
2
RS232-RXD
RS232, receive data
3
RS232-TXD
RS232, send data
4
RS485A
RS485 + communication
5
GND
Power ground
7
RS485B
RS485 - communication
9
DC5V
5V power output
1, 6, 8
NC
Spare

VPLC710 Motion Controller Hardware Manual V1.0
Serial port communication specification:
Item
RS232 (port0)
RS485 (port1)
Maximum
Communication Rate
115200(bps)
115200(bps)
Terminal Resistor
No
No
Topological Structure
1 to 1
Daisy Chain Topology
The number of nodes
can be extended
1
127
Communication
Distance
The longer communication
distance is, the lower
communication rate is, and
maximum of 10m is
recommended.
The longer communication
distance is, the lower
communication rate is, and
maximum of 100m is
recommended.
1.6.3. Input & Output
General IO includes 16 inputs and 16 outputs (both are NPN type), when the number
is not enough, expansion is valid.
IO needs to connect 24V DC externally, following shows IO terminal distribution:

VPLC710 Motion Controller Hardware Manual V1.0
IO terminal definition form:
PIN
Signal
Description
Note
1
E24V
External power 24V input
IO Power terminal
2
EGND
External power ground
3
OUT0
Output 0, PWM0
1. Outputs all are high-speed
outputs, but they are
general outputs by default.
2. OUT0-3 can be configured
as PWM output or pulse
output in ZDevelop, at the
same time, hardware
comparison output or
precision output are valid.
3. OUT8-15 can be configured
as 4 pulse outputs.
4
OUT1
Output 1, PWM1
5
OUT2
Output 2, PWM2
6
OUT3
Output 3, PWM3
7
OUT4
Output 4
8
OUT5
Output 5
9
OUT6
Output 6
10
OUT7
Output 7
11
OUT8
Output 8, single-ended DIR3
12
OUT9
Output 9, single-ended PUL3
13
OUT10
Output 10, single-ended DIR2
14
OUT11
Output 11, single-ended PUL2
15
OUT12
Output 12, single-ended DIR1
16
OUT13
Output 13, single-ended PUL1
17
OUT14
Output 14, single-ended DIR0
18
OUT15
Output 15, single-ended PUL0
19
E5V
5V power output
Supply power for external
equipment
20
EGND
External power ground
21
IN0
Input 0, latch R0, encoder EA0
1. IN0-7 are all high-speed
inputs, but they are general
inputs by default.
2. IN0-3 can be configured as
latch input in ZDevelop.
3. IN0-2 and IN4-6 can be
configured as 2 encoder
inputs.
22
IN1
Input 1, latch R1, encoder EA0
23
IN2
Input 2, latch R2, encoder EA0
24
IN3
Input 3, latch R3
25
IN4
Input 4, encoder EA1
26
IN5
Input 5, encoder EB1
27
IN6
Input 6, encoder EZ1
28
IN7
Input 7
29
IN8
Input 8
30
IN9
Input 9
31
IN10
Input 10
32
IN11
Input 11

VPLC710 Motion Controller Hardware Manual V1.0
33
IN12
Input 12
34
IN13
Input 13
35
IN14
Input 14
36
IN15
Input 15
Only 24V encoders can be used, and the pulse input frequency of encoder 0 and
encoder 1 is up to 500kHz, which can be connected to high-speed encoders, the others
are ordinary inputs, and the pulse input frequency is up to 10kHz.
The frequency of the high-speed output port is 500KHz.
The number after the pulse output and encoder input is the default axis number, and
the ATYPE command is used to switch whether the IO port is a general-purpose IO
(ATYPE=0 of the target axis is general-purpose IO, ATYPE=1 is pulse output, ATYPE=3 is
encoder input, ATYPE=4 is pulse output + encoder input).
→High-speed Digital Output Specification
Item
Specification
Channel
16 (OUT0-OUT15)
Mode
Transistor NPN type, OD output
Voltage level
Local power ≤36V
Max output current
+300mA
Max leakage current when off
25μA
Respond time to conduct
1μs (resistive load typical value)
Respond time to close
3μs
Isolation method
Capacitive isolation
Overcurrent protection
Support, action current is 600mA
Respond time
Below 0.5ms
→High-speed Digital Input Specification
Item
Specification
Channel
8 (OUT0-OUT7)
Mode
NPN type
Voltage level
DC24V (-15%~+20%)
Current to input (typical value)
6.8mA

VPLC710 Motion Controller Hardware Manual V1.0
The voltage to open
<15V
Minimal current
2.3mA
Impedance
3.3KΩ
Overcurrent protection
Capacitive isolation
Respond time
Below 10ms
→General Digital Input Specification
Item
Specification
Channel
8 (OUT0-OUT15)
Mode
NPN type
Voltage level
DC24V (-15%~+20%)
Current to input (typical value)
4.8mA
The voltage to open
<14.5V
Minimal current
1.8mA
Impedance
4.7KΩ
Overcurrent protection
Capacitive isolation
Respond time
Below 10ms
1.6.4. Power Supply
PIN
Description
1
DC24V input
It can use 24V*3A to 36V*2A, total
power should be above 70W.
2
DC24V input
3
GND
4
GND

VPLC710 Motion Controller Hardware Manual V1.0
Chapter II System Configuration
2.1. Connection Configuration
External equipment & Software configuration:
1. Wired mouse and keyboard.
2. Displayer.
3. WIN10 operation system (technical version), ZDevelop development platform, all
kinds of operation systems of machine tool industries.
Note: ZDevelop development platform can be downloaded from our website, or
contact us. For host computer development, please contact us for function library file.
There is MotionRT software built in this product, there is no operation system, users
need to install the operation system by yourselves.
2.2. Main Properties
Support motion control function and machine vision function.
Up to 16 axes motion control (EthercCAT axis / encoder axis / pulse axis / virtual axis)
Encoder interface supports encoder position measurement, which can be configured
as handwheel input mode.
16 NPN outputs, some outputs can be configured as hardware comparison output,
PWM, pulse axis and other functions. The output current can reach 300mA, which
can drive sone valve solenoid directly.
16 NPN inputs, some high-speed inputs can be configured as latch and encoder.
There is one 100M EtherCAT interface, and 1024 isolated inputs and 1024 isolated
outputs can be extended through EtherCAT bus.
There are four USB3.0 interfaces, it is compatible below with USB2.0 and USB1.0
interfaces, which can be connected to camera, mouse, keyboard, U disk and other
USB external equipment.