Zmotion ZMC460N, 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: ...Power Input 11 3 1 1 Power Specification 11 3 2 RS485 CAN Communication Interface 12 3 2 1 RS485 CAN Communication Specification Wiring 12 3 2 2 Basic Usage Method 14 3 3 RS232 Serial Port 16 3 3 1 RS...

Page 6: ...IS Interface Signal Specification Wiring 34 3 11 2 Basic Usage Method 37 Chapter IV Expansion Module 40 4 1 CAN Bus Expansion 40 4 1 1 CAN Bus Expansion Wiring 40 4 1 2 CAN Bus Expansion Resource Mapp...

Page 7: ...series high performance multi axis motion controller can be applied in robots SCARA Delta 6 joints electronic semiconductor equipment testing equipment assembly equipment locking equipment soldering...

Page 8: ...and spline interpolation of 60 axes at most Support electronic cam electronic gear position latch synchronous follow virtual axis etc Support hardware comparison output HW_PSWITCH2 hardware timer prec...

Page 9: ...onals 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 Be...

Page 10: ...troller in the following places a places where the surrounding ambient 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...

Page 11: ...ach pulse axis has 1 input and 1 output Max Extended IO 4096 inputs 4096 outputs PWM 4 AD DA 2 general ADs and 2 general DAs 0 10V Max Extended AD DA 1000 ADs 1000 DAs Pulse Bit 64 Encoder Bit 64 Spee...

Page 12: ...Description ZMC460N 60 axes point to point linear circular electronic cam continuous trajectory motion robotic car instructions ZMC430N 30 axes point to point linear circular electronic cam continuou...

Page 13: ...erCAT bus interface connect to EtherCAT bus drive and EtherCAT bus expansion module ETHERNET Ethernet 1 Use MODBUS_TCP protocol expand Ethernet through interchanger the number of net port channels can...

Page 14: ...its 0 10V DA Analog output 2 Resolution 12 bits 0 10V AXIS Pulse axis 6 It includes differential pulse output and differential encoder input 2 4 Work Environment Item Parameters Work Temperature 10 55...

Page 15: ...istance between two ports should be 3 81mm This 3Pin terminal is the power supply of the controller Terminal Definition Terminal Name Type Function EARTH Connect to ground Case Protection EGND Input N...

Page 16: ...rential data 3 2 1 RS485 CAN Communication Specification Wiring The RS485 serial port supports the MODBUS_RTU protocol and custom communication mainly including 485A 485B and common ports The CAN inte...

Page 17: ...ogether 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...

Page 18: ...e shielding layer is fully grounded On site wiring should also pay attention to the distance between strong current and weak current wiring it is recommended to be more than 20cm It should be noted th...

Page 19: ...s intuitively and refer to the ZBasic Programming Manual for details 5 Correctly set the relevant parameters of the third party equipment according to their respective instructions to match the parame...

Page 20: ...utput RS232 signal send data 5 EGND Output Negative pole output of 5V power and output for the public end 9 E5V Output Positive pole output of 5V power maximum is 300mA 3 3 1 RS232 Communication Inter...

Page 21: ...e common terminal of each communication node to prevent the communication chip from burning out Please use twisted pair shielded cables especially in harsh environments and make sure the shielding lay...

Page 22: ...Correctly set the relevant parameters of the third party equipment according to their respective instructions to match the parameters of each node 5 When all is configured it can start to do communica...

Page 23: ...al power ground EGND IN8 NPN leakage type high speed input Input 8 EZ8 IN9 Input 9 EA9 IN10 Input 10 EB9 IN11 Input 11 EZ9 IN12 NPN leakage type low speed input Input 12 IN13 Input 13 IN14 Input 14 IN...

Page 24: ...15 1V 14 7V Minimal current 2 3mA negative 1 8mA negative Max current 7 5mA negative 6mA negative Isolation mode optoelectronic isolation Note the above parameters are standard values when the voltag...

Page 25: ...is connection can also be omitted 3 4 2 Basic Usage Method 1 Please follow the above wiring instructions for correct wiring 2 After power on please use any of the three interfaces ETHERNET RS232 and R...

Page 26: ...ut 1 DIR6 OUT2 Output 2 PWM Output 2 PUL7 EGND External power ground OUT3 NPN high speed output Output 3 PWM Output 3 Hardware Comparison Output DIR7 OUT4 Output 4 PWM Output 4 PUL8 OUT5 Output 5 PWM...

Page 27: ...A Max leakage current when off 25 A 25 A Respond time to conduct 1 s resistive load typical value 12 s Respond time to close 3 s 80 s Overcurrent protection Support Support Isolation method optoelectr...

Page 28: ...input device If the DC power supply of the external device 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 po...

Page 29: ...se refer to ZBasic for details 3 6 AD DA Analog Input Output The analog port adopts a set of 5Pin screw type pluggable terminals with a pitch of 3 81mm Wiring Definition Terminal Name Type Function AD...

Page 30: ...put load 1K voltage output load 40K voltage input impedance Wiring Reference Wiring Note The analog input output wiring method is as shown in the figure above and the external load signal range must m...

Page 31: ...ge 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 View AD DA Please refer to ZBasic for d...

Page 32: ...8 ETHERNET ZMC460N motion controller has a 100M network port supports MODBUS_TCP protocol and custom communication and the default IP address is 192 168 0 11 The pin definition diagram is as follows T...

Page 33: ...rough the interchanger to realize multi point connection The schematic diagram is as follows 3 9 RTEX Bus Interface ZMC460N motion controller has 2 100M RTEX communication interface which support RTEX...

Page 34: ...ion to adjust For example the firmware is with 0 5ms corresponding drive parameters 7 20 RTEX Communication Period 3 0 5ms 7 21 RTEX Instruction Update Period 1 0 5ms Wiring Reference Two cables are r...

Page 35: ...rom 0 in connection order the same as the EtherCAT bus numbering convention See the configuration diagram below for the wiring method of RTEX 3 10 EtherCAT Bus Interface ZMC460N motion controller has...

Page 36: ...input and output about 30us 16 servo axes about 100us Communication Cable Requirements Both ETHERNET communication interface and EtherCAT communication interface adopt standard Ethernet RJ45 interfac...

Page 37: ...ential Pulse Axis Interface This product provides 6 local differential pulse axis interfaces each interface is a standard DB26 female socket Each terminal provides 0V and 5V output which can provide 5...

Page 38: ...pulse encoder signal 21 GND 22 DIR Servo or step direction output 23 PUL Servo or step pulse output 24 GND Negative pole of 5V power of pulse encoder signal 25 Reserved Reserved 26 Reserved Reserved...

Page 39: ...tage to close 10 7V Minimal current 1 8mA negative Maximum current 4mA negative Isolation optoelectronic isolation OUT12 17 Output method NPN leak type it is 0V when outputs Frequency 8kHz Voltage lev...

Page 40: ...tion Controller User Manual V1 5 Wiring Note The wiring principle of the differential pulse axis interface is shown in the figure above and the wiring methods of different types of drivers are differe...

Page 41: ...wer on please use any of the three interfaces ETHERNET RS232 default parameter it can be connected directly and RS485 default parameters it can be connected directly for hardware adapter is needed to...

Page 42: ...ller User Manual V1 5 5 Control corresponding motion through View Manual Refer to BASIC Routine BASE 0 1 select axis 0 and axis 1 ATYPE 1 1 set axis 0 and axis as pulse axes UNITS 1000 1000 set pulse...

Page 43: ...et axis acceleration as 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...

Page 44: ...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 45: ...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 46: ...nvalid 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 addr...

Page 47: ...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 48: ...les 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 49: ...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 50: ...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 51: ...equence 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 on...

Page 52: ...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 t...

Page 53: ...erCAT 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 th...

Page 54: ...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 55: ...ZMC460N 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 56: ...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 57: ...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 s...

Page 58: ...nt 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 Whe...

Page 59: ...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 60: ...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 61: ...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 62: ...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 63: ...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 64: ...O 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 adju...

Page 65: ...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...