Zmotion ZMC006CE, Manual

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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: ...11 3 1 Power Input 11 3 1 1 Power Specification 11 3 1 2 CAN Communication Specification Wiring 12 3 1 3 Basic Usage Method 14 3 2 RS232A RS485 Serial Port 14 3 2 1 RS232A RS485 Specification Wiring...

Page 6: ...erface Signal Specification Wiring 35 3 10 2 Basic Usage 36 Chapter IV Expansion Module 39 4 1 CAN Bus Expansion 39 4 1 1 CAN Bus Expansion Wiring 39 4 1 2 CAN Bus Expansion Resource Mapping 41 4 2 Et...

Page 7: ...interpolation etc ZMC006CE economical multi axis motion controller can be applied in electronic semiconductor equipment testing equipment assembly equipment locking equipment soldering machine dispen...

Page 8: ...linear interpolation arbitrary circular interpolation helical interpolation spline interpolation Support electronic cam electronic gear position latch synchronous follow virtual axis and other functi...

Page 9: ...wledge 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 t...

Page 10: ...ient 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 condu...

Page 11: ...Axis interface IO there are 6 inputs and 6 outputs in total in 6 AXIS axis interfaces Max Extended IOs 4096 inputs and 4096 outputs PWM 2 AD DA 2 general DA outputs 0 10V Max Extended AD DA 520 ADs an...

Page 12: ...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 RS232A RS232A serial po...

Page 13: ...expansion modules and CAN equipment of other standards IN Digital IO input port 24 Leakage type the power is supplied by internal 24V power supply IN0 1 have the latch function OUT Digital IO output p...

Page 14: ...ZMC006CE Motion Controller User Manual V1 5 Direction 3 axial direction Shock collide 15g 11ms half sinusoid 3 axial direction Degree of Protection IP20...

Page 15: ...inal is the power supply of the controller Terminal Definition Terminal Name Type Function E 24V Input Positive of DC power input CANH Input output CAN differential data EARTH Earthing Protect CANL In...

Page 16: ...Rate bps 1M Terminal Resistor 120 Topological Structure Daisy Chain Topology The number of nodes can be extended Up to 16 Communication Distance The longer communication distance is the lower communic...

Page 17: ...o 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...

Page 18: ...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 Communi...

Page 19: ...85 port2 signal B 9 E5V Output Positive pole output of 5V power maximum is 300mA 3 2 1 RS232A RS485 Specification Wiring Specification Item RS232A port0 RS485 port2 Maximum Communication Rate 115200bp...

Page 20: ...computer The wiring of RS485 port2 is above it is 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 t...

Page 21: ...r which can be connected directly but for hardware adapter head is needed to connect to ZDevelop 3 Please use the ADDRESS and SETCOM commands to set and view the protocol station number and configured...

Page 22: ...BUS_RTU protocol and custom communication Interface Definition Terminal PIN Name Type Function 1 4 6 7 8 9 NC Spare Reserved 2 232B RXD Input RS232B signal receive data 3 232B TXD Output RS232B signal...

Page 23: ...uggested Wiring Reference Wiring Notes The wiring of RS232B is as above it needs to cross wiring for sending and receiving signals and it is recommended to use a double female head cross line when con...

Page 24: ...for hardware adapter head is needed to connect to ZDevelop 3 Please use the ADDRESS and SETCOM commands to set and view the protocol station number and configured parameters see ZBasic Programming Man...

Page 25: ...ls and the gap distance between terminals should be 5 08mm In addition the latch function is integrated in digital input signal Terminal Definition Terminal Name Type Function 1 Function 2 EGND Extern...

Page 26: ...18 IN19 Input 19 IN20 Input 20 IN21 Input 21 IN22 Input 22 IN23 Input 23 Note input 0 and input 1 have latch input A and latch input B function 3 4 1 Digital Input Specification Wiring Specification...

Page 27: ...s the requirements on output of electric level can be achieved For the public end please connect the EGND port on the power supply to the COM terminal of the external input device If the signal area p...

Page 28: ...t of screw type pluggable terminals with a spacing of 5 08mm and the PWM function is integrated in digital output signal Terminal Definition Terminal Name Type Function 1 Function 2 EGND NC OUT0 NPN l...

Page 29: ...t when off 25 A Respond time to conduct 12 s Respond time to close 80 s Overcurrent protection Support Isolation method optoelectronic isolation Note The times in the form are typical based on the res...

Page 30: ...vice and the controller power supply are in the same power supply system this connection can also be omitted The E5V port is a 5V power output port which can be used when some loads need to provide an...

Page 31: ...Name Type Function AGND Public End Unique public end of this analog AOUT1 Output Analog output terminal AOUT 1 AOUT0 Output Analog output terminal AOUT 0 3 6 1 AD DA Analog Input Output Specification...

Page 32: ...grounded Cable Requirements Shielded Twisted Pair and the shielded cable is grounded 3 6 2 Basic Usage Method 1 Please follow the above wiring instructions to wiring correctly 2 After powered on plea...

Page 33: ...ecification Item USB2 0 Max Communication Ratio 12Mbps Max Output Current of 5V 500mA Whether Isolates No 3 8 EtherCAT Bus ETHERNET ZMC006CE motion controller has one 100M EtherCAT communication inter...

Page 34: ...Physical level 100BASE TX Duplex mode Full duplex Topology linear topology Transfer media Cable Transfer distance It is less than 100M between 2 nodes Process data Maximum 1486 bytes of one single fr...

Page 35: ...ler can also be connected to the interchanger through an Ethernet cable and then use interchanger to connect to other devices then multi point connection can be achieved The schematic diagram is as fo...

Page 36: ...han 100m Use RJ45 network cable connection method When installing hold the crystal head that is with the cable and insert it into the RJ45 interface until it makes a click sound kada In order to ensur...

Page 37: ...V power negative pole 6 EZ Encoder differential input signal Z 7 EZ Encoder differential input signal Z 8 5V Pulse encoder signal 5V power positive pole 9 Reserved Hang in the air 3 9 1 ENCODER Interf...

Page 38: ...rectional output differential signal 4 DIR Servo step directional output differential signal 5 GND Pulse encoder signal 5V power negative pole 6 IN24 29 ALM Digital input recommended to do drive alarm...

Page 39: ...kHz Input impedance 6 8K Input voltage level DC24V Input opening voltage 10 5V Input closing voltage 10 7V Min input current 1 8mA Max input current 4mA Isolation Optical isolation OUT8 13 Output meth...

Page 40: ...are different please connect carefully Please use twisted pair shielded cables especially in harsh environments and make sure the shielding layer is fully grounded 3 10 2 Basic Usage 1 Please follow t...

Page 41: ...ers related to pulse axis they can be set and checked through relative instructions please see axis parameter and axis status of ZBasic or see ZDevelop View Axis parameter 5 Control corresponding moti...

Page 42: ...s 1000 1000 pulse s s FWD_IN 1 1 prohibit using axis positive hardware position limit REV_IN 1 1 prohibit using axis negative hardware position limit MOVE 10 AXIS 0 axis 0 moves distance of 10 1000 pu...

Page 43: ...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 bit...

Page 44: ...are 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...

Page 45: ...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 46: ...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 47: ...es 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 4...

Page 48: ...ual 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 6 100...

Page 49: ...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 50: ...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 51: ...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 52: ...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 53: ...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 54: ...ZMC006CE 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 55: ...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 56: ...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 57: ...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 58: ...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 59: ...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 60: ...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 61: ...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 62: ...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 63: ...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 64: ...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...