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Zmotion XPLC864E, Manual

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XPLC864E Motion Controller User Manual V1.5

 

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Axis position limit signal / origin signal port can be configured as any input at will. 

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The maximum output current of general digital outputs OUT28-31 can reach 500mA, 

which can directly drive some kinds of solenoid valves. 

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Interfaces: EtherCAT, RS232, RS485, Ethernet. 

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Support 12 axes linear interpolation, any circular interpolation, helical interpolation. 

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Support electronic cam, electronic gear, position latch, synchronous follow, virtual 

axis and other functions. 

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Support multi-file and multi-task programming in ZBasic. 

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A variety of program encryption methods to protect the intellectual property rights of 

customers. 

 

1.3.

 

  System Frame 

 

 

1.4.

 

  Hardware Installment 

The XPLC864E motion controller is installed horizontally with screws, and each controller 

should be fastened with 4 screws. 

Summary of Contents for XPLC864E

Page 1: ......

Page 2: ...e 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...

Page 3: ...ded 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...

Page 4: ...t 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 duri...

Page 5: ...1 3 1 Power Input CAN Communication Interface 11 3 1 1 Power Specification 12 3 1 2 CAN Communication Specification Wiring 12 3 1 3 Basic Usage Method 14 3 2 RS485 Serial Port 15 3 2 1 RS485 CAN Commu...

Page 6: ...ansion Module 34 4 1 CAN Bus Expansion 34 4 1 1 CAN Bus Expansion Wiring 34 4 1 2 CAN Bus Expansion Resource Mapping 36 4 2 EtherCAT Bus Expansion 40 4 2 1 EtherCAT Bus Expansion Wiring 40 4 2 2 Ether...

Page 7: ...mical multi axis motion controllers can be applied in electronic semiconductor equipment testing equipment assembly equipment locking equipment soldering machine dispensing equipment non standard equi...

Page 8: ...pport 12 axes linear interpolation any circular interpolation helical interpolation Support electronic cam electronic gear position latch synchronous follow virtual axis and other functions Support mu...

Page 9: ...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 sho...

Page 10: ...XPLC864E Motion Controller User Manual V1 5 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...

Page 11: ...inputs and 32 outputs Max Extended IO 512 inputs 512 outputs AD DA 2 general DAs 2 general DAs 0 10V Max Extended AD DA 128 ADs 64 DAs Pulse Bit 32 Encoder Bit 32 Speed and Acceleration Bit 32 Max Pu...

Page 12: ...nterpolation XPLC864E 8 axes EtherCAT control it supports linear interpolation any circular interpolation and helical interpolation XPLC864E2 8 axes EtherCAT control it supports linear interpolation b...

Page 13: ...er state it lights when IO power is conducted POWER 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...

Page 14: ...ower is supplied by IO 24V power IN0 1 have the latch function IN26 31 can be configured as 24V encoder OUT Digital IO output port 32 NPN leakage type power is supplied by IO 24V power OUT16 31 can be...

Page 15: ...rminal Name Type Function 24V Input Power 24V input CANH Input output CAN differential data EARTH Grounding Shield CANL Input output CAN differential data GND Input Main power ground CAN public end No...

Page 16: ...h 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 Res...

Page 17: ...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 Pleas...

Page 18: ...evelop 3 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 thr...

Page 19: ...ts a 5Pin there are all 5 terminals screw type pluggable wiring terminal and the interval means the gap distance between two ports should be 3 81mm RS485 communication and CAN communication can be ach...

Page 20: ...ain 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 use STP Shielded T...

Page 21: ...iring instructions to wiring correctly 2 After powered on please use ETHERNET or RS232 or RS485 to connect to ZDevelop 3 Please use the ADDRESS and SETCOM commands to set and view the protocol station...

Page 22: ...al send data 5 GND Output Negative pole output of DC5V power and 232 communication public end 9 DC5V Output Positive pole output of DC5V power maximum is 300mA 3 3 1 RS232 Communication Interface Spec...

Page 23: ...line when connecting to a computer Please be sure to connect the public ends of each communication node to prevent the communication chip from burning out Please use STP especially in bad environment...

Page 24: ...Programming Manual for details 4 According to their respectively instructions correctly set the relevant parameters of the third party equipment to match the parameters of each node 5 When all is con...

Page 25: ...put 7 EGND IO public end EGND IO public end IN8 NPN type digital input Input 8 IN9 Input 9 IN10 Input 10 IN11 Input 11 IN12 Input 12 IN13 Input 13 IN14 Input 14 IN15 Input 15 EGND IO public end EGND I...

Page 26: ...1 Digital Input Specification Wiring Specification Item Digital Input IN0 31 Input mode NPN type trigger input when in low electricity Frequency 5kHz Impedance 4 7K Voltage level DC24V The voltage to...

Page 27: ...minal of the external input device If the signal area power supply of the external device and the IO power supply of the controller are in the same power supply system this connection also can be omit...

Page 28: ...wer input DC24V OUT0 NPN Leakage digital output Output 0 OUT1 Output 1 OUT2 Output 2 OUT3 Output 3 OUT4 Output 4 OUT5 Output 5 OUT6 Output 6 OUT7 Output 7 EGND IO power ground IO public end NC Spare O...

Page 29: ...T27 Output 27 PUL2 OUT28 Output 28 DIR1 OUT29 Output 29 PUL1 OUT30 Output 30 DIR0 OUT31 Output 31 PUL0 Note Pulse ports can use E5V common anode output or E24V common anode output OUT16 31 can be conf...

Page 30: ...e 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 Wiring Reference Wir...

Page 31: ...RS485 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 Please refer to ZBasic for details 3 6 AD DA Analog Input...

Page 32: ...1KHz Voltage input impedance output load 300K voltage input impedance 33K voltage output load Wiring Reference Wiring Note The analog input output wiring method is as shown in the figure above and the...

Page 33: ...nect to ZDevelop 3 Analog input voltage can be read through AIN command and corresponding analog voltage can be output through AOUT command also data of each channel can be checked through ZDevelop Vi...

Page 34: ...hrough an Ethernet cable and using point to point connection method The schematic diagram is as follows The controller can also be connected to the interchanger through an Ethernet cable and then use...

Page 35: ...5 3 8 EtherCAT Bus Interface XPLC864E motion controller has a 100M EtherCAT communication interface and it supports EtherCAT protocol In addition EtherCAT driver or EtherCAT expansion module can be c...

Page 36: ...data Maximum 1486 bytes of one single frame Synchronization shaking of two slave stations 1us Refresh 1000 digital input and output about is 30us 16 servo axes is about 100us Communication Cable Requ...

Page 37: ...that is with the cable and insert it into the RJ45 interface until it makes a click sound kada In order to ensure the stability of communication please fix the cables with cable ties When disassembli...

Page 38: ...s to connect one 120 ohm resistor externally When connecting multiple CAN expansion modules you only need to dial ON for the eighth digit of the last expansion module which means please do not dial bi...

Page 39: ...re 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 When connecting multiple ZIO expansion modules o...

Page 40: ...invalid It needs to be powered on again to take effect Dial 1 4 to select the CAN address and the controller sets the IO number range of the corresponding expansion module according to the CAN DIP add...

Page 41: ...t number in IN and OP must include IO point in the axis interface use the bit 1 4 to set the ID so as to determine the number range of IO to be expanded If the controller itself contains 28 INs and 16...

Page 42: ...ples of 4 The allocation of digital IO numbers corresponding to different dial code IDs is as follows DIP 1 4 combination value Starting AD number End AD number Starting DA number End DA number 0 8 15...

Page 43: ...rtual axis AXIS_ADDRESS 6 1 32 0 ZCAN expansion module ID 1 axis 0 is mapped to axis 6 ATYPE 6 8 ZCAN extended axis type pulse direction stepping or servo UNITS 6 100 0 pulse equivalent 1000 SPEED 6 1...

Page 44: ...d in this way it supports IO remote expansion 4 2 1 EtherCAT Bus Expansion Wiring After the expansion wiring is completed each EIO expansion module does not need to develop again It only needs to manu...

Page 45: ...sequence of the devices on the bus You can view the total number of devices connected to the bus through the NODE_COUNT slot command Drive number The controller will automatically identify the drive o...

Page 46: ...multiple of 8 Example NODE_IO 0 0 32 set the IO start number of slot 0 interface device 0 to 32 If device 0 is EIO16084 after configuration according to the above syntax the IO numbers corresponding...

Page 47: ...herCAT 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 t...

Page 48: ...ntroller 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 En...

Page 49: ...XPLC864E Motion Controller User Manual V1 5 2 Click File New File select file type to build here select Basic click OK 3 Double click AutoRun enter task number 0...

Page 50: ...basic file will be saved under zpj project automatically Save all means all files under this project will be saved 5 Click controller connect if no controller select connect to simulator Then connect...

Page 51: ...m download RAM download ROM if it is successful there is print indication at the same time program is downloaded into controller and runs automatically RAM it will not save when power off ROM it will...

Page 52: ...ent 8 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 Wh...

Page 53: ...ows linux 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 Li...

Page 54: ...basic box click next or finish 4 Find C function library provided by manufacturer Routine is below 64 bit library 5 Copy all DLL related library files under the above path to the newly created project...

Page 55: ...n lib Related header files zauxdll2 h zmotion h Item 2 Add static libraries and related header files in sequence in the pop up window 7 Declare the relevant header files and define the controller conn...

Page 56: ...of the device can be appropriately adjusted according to the surrounding environment to make it work within the specified standard environment Check item Check content Inspection standards power suppl...

Page 57: ...ng Whether the cable is damaged aged cracked The cable must not have any abnormal appearance 6 2 Common Problems Problems Suggestions Motor does not rotate 1 Check whether the ATYPE of the controller...

Page 58: ...IO board POWER led is ON RUN led is OFF 1 Check whether the power of the power supply is sufficient At this time it is best to supply power to the controller alone and restart the controller after adj...

Page 59: ...an be checked and captured after connection through serial port 3 When net port led is off please check wiring 4 Check whether controller power led POWER and running indicator led RUN are ON normally...

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