XPLC006E is a kind of multi-axis economical EtherCAT bus motion controller developed by ZMotion Technology, and XPLC series motion controllers can be applied in all kinds of occasions that need offline or online operation.

XPLC006E has 6 motor axes itself, and motion control of 12 axes at most can be achieved (including virtual axes). Also, it supports 12-axis linear interpolation, electronic cam, electronic gear, synchronous follow, virtual axis setting, etc.

In addition, XPLC006E cost-effective controller supports multi-task run synchronously. At the same time, it can do simulation on PC directly. There are several valid programming methods, such as, Basic / PLC ladder diagram / HMI configuration in ZDevelop software and commonly used upper computer software.

For PC upper computer API programming, following interfaces are supported: C#, C++, LabVIEW, VB, matlab, Qt, Linux, .Net, iMAC, Python, ROS, etc.

→Actually, according to different axis numbers, there are XPLC004E, XPLC006E and XPLC008E

There is one note: XPLC006E belongs to bus motion controller, which means it only supports EtherCAT bus axes, pulse axes and encoder axes are invalid. Then, it uses EtherCAT bus and drive to communication with refresh cycle of 1ms.

Let's see XPLC864E2, it is upgraded on the basis of XPLC006E, which means, it supports all functions of XPLC006E mentioned above, and usages are basically the same. However, some resource spaces are better than XPLC006E. What's more, XPLC864E2 supports 32 inputs, 32 outputs, 2 ADs and 2 DAs in hardware level, pulse axis and bus axis can be hybrid used. The number of real axes is 8 totally. Except EtherCAT interface, in hardware of output, signal output of 8 axes in pulse direction can be configured, and be with 2 encoder inputs set by input configuration.

Same, XPLC864E2 supports PLC, Basic and HMI configuration programming methods. For PC upper computer API programming, following interfaces are supported: C#, C++, LabVIEW, VB, matlab, Qt, Linux, .Net, iMAC, Python, ROS, etc.

I : Hardware Parameters Description

  1.  Fundamental parameters

→ Attention: XPLC series controllers need dual powers to supply, namely, there needs one IO power supply for IO terminal except master power, otherwise, IO can be operated. Board IO indicating light can check whether IO is powered on or not.

Firstly, connect to motion controller or simulator well.

Secondly, "Controller" -- "State the controller", state of current connected controller can be checked.

"Controller status" shows many information, including controller basic information, ZCAN node status, slot node status and communication configuration. We could know axis numbers of connected devices, initial IO No. and other messages from node status.

XPLC864E2 Controller status

From this, we can see basic information includes max virtual axes, max motor axes, tasks, files, spaces of each kind of register, program size, memory size, controller model, software version number and time, IP address, hardware version number, controller hardware ID, configured type of each axis and mapping and others.

A. Controller status -- basicInfo

B. ZCAN Node Info

C. Slot 0 Nodes

D. Communication Info

   3.  Hardware Parameters Checking

In controller status window, commonly used parameters can be viewed directly. All hardware parameters can be viewed through input "?*max". Next, take XPLC006E as example, other models are the same.

        II : Program Method

XPLC series motion controllers need users to do secondnary development, and there are 2 kinds of development environment, one is ZDevelop programming software developed by ZMotion Technology, another is commonly used upper computer software.

Controller supports development under all kinds of operation systems, such as, Windows, Linux, Mac, Android, WinCE, etc., and it provides VC, C#, VB. net, LabVIEW and other dll library of various environment.

Upper computer software programming -- refer to "ZMotion PC Function Library Program Manual"

Note: program developed PC upper computer software can not be downloaded into controller, it needs to connect to controller through dll dynamic library.

When using PC upper computer, controller also can be connected to ZDevelop to watch or debug.

III: Hardware Wiring

Below shows how XPLC006E wiring is.

→ It only supports EtherCAT bus axis control, for pulse axis control, please select other models.

IV: Controller Usage Process

Step 1: hardware wiring

Refer to above wiring (controller structure), connect to master power supply (controller uses 24V DC power), drive equipment, IO equipment, HMI, expansion module, etc

Step 2: System configuration

Set parameters of servo drive, configure PC and needed parameters about serial port or net port for controller connection.

Step 3: Connect to controller

Use serial port or net port to connect PC with controller, then build communication connection.

Step 4: Program development

Select one development way, ZDevelop or upper computer, then refer to relative program manuals and routines to edit the program.

Step 5: Program Debug

Download program into "debug program" function of controller, and ZDevelop can be connected to observe debugging situation. When there is no controller, it is also valid to connect to simulator.

Step 6: Run the program

Run the program, and check the effect. Download into controller through ZDevelop, or the program developed by other upper computer software is connected to the controller through the dynamic library, then motion control will be executed when controller received the command.

V: Application

XPLC series motion controllers are widely used in electronic semiconductor equipment (detection, assembly, locking, soldering), dispensing equipment, printing and packing equipment, textile and garment equipment, medical health equipment, assembly line, etc.

That's all, thank you for your reading -- Economical EtherCAT Motion Controller (1) -- Function Introduction & Application

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ZMOTION Technology   has attracted experienced talents from famous companies or institutions, such as Huawei, ZET, Huazhong University of Science and Technology etc. ZMOTION insists self- innovating and collaborating with comprehensive universities, to research basic knowledge of motion control. Due to its concentration and hard work in motion control technology, ZMOTION already become one of the fastest growing industrial motion control companies in China, and is also the rare company who has managed core technologies of motion control and real time industrial control software completely.            

ZMotion Technologyprovides motion control card, motion controller , vision motion controller, expansion module and HMI. (more keywords for ZMOTION: EtherCAT motion control card, EtherCAT motion controller, motion control system, vision controller, motion control PLC, robot controller, vision positioning...)