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III

6.1 Basic operation of STEPPERONLINE MotionStudio .................................................................. 44

6.1.1 Preparation and Steps ....................................................................................................... 44
6.1.2 Operation of Trial Run ........................................................................................................46
6.1.3 Operation of PR Function .................................................................................................. 47

6.2 Basic Operation of Serial Port Tools Software .............................................................................49

6.2.1 Preparation and Steps ....................................................................................................... 49
6.2.2 Operation Instruction Format ............................................................................................. 50
6.2.3 Command Cases of Modbus RTU.....................................................................................50

Appendix A Parameters List ...................................................................................................................52

Summary of Contents for RS485

Page 1: ...bus RS485 Stepper Drive 2022 All Rights Reserved Address 15 4 799 Hushan Road Jiangning Nanjing China Tel 0086 2587156578 Web www omc STEPPERONLINE com Sales sales STEPPERONLINE com Support technical STEPPERONLINE com ...

Page 2: ...RONLINE While every precaution has been taken in the preparation of the book STEPPERONLINE assumes no responsibility for errors or omissions Neither is any liability assumed for damages resulting from the use of the information contained herein This document is proprietary information of STEPPERONLINE that is furnished for customer use ONLY Information in this document is subject to change without...

Page 3: ...over to prevent accidental touching by hands and parts cables etc Use double insulated or reinforced insulation for control power Do not use in places where water can be splashed Corrosive environments Do not use the product in the vicinity of flammable gases and combustible materials Do not use damaged Drivers and motors with missing parts Please set up an emergency stop circuit externally to ens...

Page 4: ...rection Make sure to keep the specified intervals between the inner surfaces of the drive control cabinet and other machines Do not pass the magnetic contactor in the wiring between the drive and the motor Please connect the power terminal and motor terminal firmly Keep a minimum distance of 10mm between the drive and the control cabinet or other equipment Allow at least 30mm of wiring space above...

Page 5: ...onditions 4 2 2 Dimensions 5 2 3 Installation Direction and Space 5 3 Product Specifications 6 3 1 Electrical and Operating Specifications 6 3 1 1 Electrical and Operating Specifications 6 3 2 Wiring Instructions 7 3 2 1 Power Supply Cable Motor Cable 8 3 2 2 I O Signal Cable 8 3 2 3 RS485 Communication Cable 8 3 3 Interface Specifications 8 3 3 1 Connectors Definition 8 3 3 2 CN1 CN2 Input Power ...

Page 6: ...Codes 23 4 4 2 Drive Alarm Codes and Troubleshooting 24 4 4 3 Error Clear 25 4 5 Register Mapping Continuous Read Write Function 25 4 6 S code Application 27 4 7 Enable Drive 28 5 PR Mode Indexer Table 29 5 1 PR Main Features 29 5 2 Homing Return to Zero Position 29 5 2 1 Homing Parameters 30 5 2 2 Homing by Home Switch 31 5 2 3 Homing by Limit Switch 33 5 3 Soft Limit JOG Quick Stop 34 5 3 1 Soft...

Page 7: ...tion and Steps 44 6 1 2 Operation of Trial Run 46 6 1 3 Operation of PR Function 47 6 2 Basic Operation of Serial Port Tools Software 49 6 2 1 Preparation and Steps 49 6 2 2 Operation Instruction Format 50 6 2 3 Command Cases of Modbus RTU 50 Appendix A Parameters List 52 ...

Page 8: ...th complete outputs 20 50VDC supply voltage for DM556RS max output current 5 6A 20 80VAC or 30 100VDC supply voltage for DM882RS max output current 8 2A RS232 communication for parameters configuration Protections for over voltage over current motor cable error etc Compare with Step Direction Built in single axis control can save the PLC in most of point to point applications to reduce cost Built ...

Page 9: ...onitor and modify the drive parameters in real time 2 Controlled by I O switch signal or PLC The user only needs to turn off the switch signal to realize the PR motion which is simple to control and low cost design Users can also use PLC I O module to realize PR motion which is more intelligent than switch signal control ...

Page 10: ...ck the nameplate models of the drive and motor are what you have ordered Cheek if it is fully equipped with accessories Accessories include power supply and I O signals connector 1 4 2 Nameplate information 1 4 3 Part number Neither the damaged nor missing accessories of stepper system is allowed to install Contact Leadshine or local distributor if any failure was found ...

Page 11: ...000038 Molex 2 Installation 2 1 Storage and Installation Conditions 2 1 1 Storage condition Correctly packaged and store in a clean and dry environment where direct sunlight is avoided Store within an ambient temperature ranging from 20 to 65 Store within a relative humidity ranging from 40 to 90 and non condensed Avoid any type of exposure to corrosive gases 2 1 2 Operating ambience conditions Te...

Page 12: ...rpendicular to the wall or in the control panel In order to ensure the drive is well ventilated ensure that the all ventilation holes are not obstructed and sufficient free space is given to the drive and a cooling fan is mounted in the control panel Please ensure grounding wires are securely connected DO NOT mount the drive and motor in a location subjected to corrosive or flammable gases and com...

Page 13: ... and Position Table Output Signals Brake Alarm In Position GPIOs Protection Functions Over Current Over Voltage Motor Cable Error etc PC Software STEPPERONLINE MotionStudio Don t hot plug the motor wiring encoder wiring and RS232 communication wiring during power on Be sure to check the connections and make sure the power lead polarity is correct or there could result in injury or fire Be sure wai...

Page 14: ...tical or horizontal mounting 3 2 Wiring Instructions Figure 3 1 Wiring Instructions Note 1 There are two RS485 communication ports above one of them is input port which connects with master station or previous slave and the other is output port which connects with the following slave 2 Single ended inputs I1 I2 I3 I4 I5 I6 and I7 connection types can be common cathode and common anode 3 Single end...

Page 15: ...ssible away from the power line wiring in order to prevent interference Please connect surge absorber to inductive device such as anti parallel diode for DC coil parallel RC snubbers circuit for AC coil 3 2 3 RS485 Communication Cable It is recommended to use shielded Ethernet network cables that do not exceed 100 meters 3 3 Interface Specifications 3 3 1 Connectors Definition Figure 3 2 DMRS seri...

Page 16: ...r 24 100VDC No polarity 6 AC Note When the user uses an AC transformer to supply power be sure to use an isolation transformer to prevent electric shock or burn out the computer 3 3 3 CN3 I O Signals Connector Name Pic PIN Signal I O Description CN4 1 DI1 I Configurable Single ended Digital Inputs DI1 DI7 12V 24V DI1 is enabling signal default DI2 DI7 are GPIOs 2 DI2 I 3 DI3 I 4 DI4 I 5 DI5 I 6 DI...

Page 17: ...xD 10 RS485 RxD 5 6 13 14 GND GND 7 8 15 163 4 11 12 NC Received Connector cover PE Shield GND 3 3 6 CN5 RS232 Tuning Port Name Pic PIN Signal CN6 1 NC 2 TxD 3 GND 4 RxD 3 3 8 DIP Switches The DMRS series drives use an 8 bit DIP switched to set Salve ID also called Site Alias Baud Rate and Terminal Resistance they are shown as below 1 Slave ID SW1 SW5 off 1 on 0 Slave ID SW1 SW2 SW3 SW4 SW5 1 defa...

Page 18: ... off on off off 28 on on off off off 29 off on off off off 30 on off off off off 31 off off off off off Note 1 When the SW1 SW5 is default all are on the Slave ID can be configured by the PC software 2 Baud Rate SW6 SW7 Baud Rate SW6 SW7 115200 Default on on 38400 Factory off on 19200 on off 9600 off off Note 1 When the SW6 SW7 is default all are off the Baud Rate can be configured by the PC softw...

Page 19: ... output is OC output with the maximum capacity of 100mA 24V recommended 50mA 24V the provided power supply should be under 30V recommended 24V otherwise it will cause damage to the drive 3 4 3 Brake Output Use PC software from STEPPERONLINE or Controller or PLC vendor to configure this output as a BRAKE CONTROL output In this case this signal can be used for automatic brake control while system po...

Page 20: ...Modbus RS485 Stepper Drive User Manual 13 Figure 3 5 Brake output connection ...

Page 21: ...ter setting Function code FC Function code FC Function 0x03 Read single or multiple data 0x06 Write value to single data 0x10 Write value to multiple data Check Mode CRC 16 Left is Low bit Right is high bit Message Length Variable the max length is 200byte Single message communication rate of RS485 Unit ms Baud rate Start receiving to send completion time Receive wait time Time from transmission c...

Page 22: ...03 01 91 00 01 D3 1B Description Slave ID FC Register address Number of registers read CRC Slave master data Message 01 03 02 00 0A 38 43 Description Slave ID FC Number of bytes returned Value of 0x01 91 CRC Note 0x0191 output peak current 000A Hexadecimal 10 decimal unit 0 1A it means the current 1A Example B Read multiple register values Send message 01 03 01 BC 00 06 05 D0 Receive message 01 03...

Page 23: ...register to write to High Address of register written to High Low Low Value to write High Value written to register High Low Low CRC Low CRC Low High High Example C Write the value of a single register peak current Send message 01 06 01 91 00 20 DD 7B Receive message 01 06 01 91 00 20 DD 7B Details as following Master slave data Message 01 06 01 91 00 20 DD 7B Description Slave ID FC Register addr...

Page 24: ...l number of registers to write to High Total number of registers written to High Low Low Number of data bytes in message 2 bytes per register CRC Low Value1 to write High High Low Value2 to write High Low CRC Low High Example E Write multiple registers configure input port functions Send message 01 10 01 46 00 04 08 00 00 00 28 00 00 00 29 1C 14 Receive message 01 10 01 46 00 04 21 E3 Details as f...

Page 25: ... can be set to normal closed N C type by setting the corresponding port 0x80 DI1 is enable default N C type input 0 invalid 7 alarm clearing 8 enable also can be set by 0x00F 0x20 Trigger command CTRG 0x21 Trigger homing 0x22 EMG quick stop 0x23 JOG 0x24 JOG 0x25 POT positive limit 0x26 NOT negative limit 0x27 ORG home switch 0x28 ADD0 path address 0 0x29 ADD1 path address 1 0x2A ADD2 path address...

Page 26: ... bit data even check 2 stop bits 1 8 bit data odd check 2 stop bits 2 8 bit data even check 1 stop bit 3 8 bit data odd check 1 stop bit 4 8 bit data no check 1 stop bit 5 8 bit data no check 2 stop bits 0 11 4 0x01C3 Pr5 25 RS485 control word 0 32767 0 0x01C4 Pr5 26 Communication bit delay 0 100 35 bit 0x01D1 Pr5 32 Switching time to standby 10 65535 200 ms 0x01D3 Pr5 33 Standby current percentag...

Page 27: ...ion Description Range Default Unit 0x0145 Pr4 02 SI1 DI1 1 SI1 is set to enable by default N C normally closed 2 Other inputs are N O normally open by default 3 The value of bit7 of each input register is set normally closed or normally open bit7 1 is normally closed bit7 0 is normally closed 0 65535 136 0x88 0x0147 Pr4 03 SI2 DI2 0 65535 0 0x0149 Pr4 04 SI3 DI3 0 65535 0 0x014B Pr4 05 SI4 DI4 0 6...

Page 28: ...2A 0xAA Path Address 3 ADD3 0x2B 0xAB Clear Error CLR 0x07 0x87 Enable SRV ON 0x08 0x88 4 3 3 Smooth Filter Time Setting for Digital Inputs This section describes the setting of the value of each bit of the registers of the 7 inputs where the filtering time is set by the high 8 bits Set value of low 8 bits Normally open Normally closed setting Digital input function setting Bit7 Bit6 Bit5 Bit4 Bit...

Page 29: ... achieve the above configuration Example 2 IO input port 1 is set to enable function Normally closed Filter time 10ms default The register value is configured as 0000 0000 1000 1000 which translates to 136 in decimal i e write 136 to Pr4 02 to achieve the above configuration Routine 3 IO input port 7 is set to JOG2 function Normally open Filter time 500ms The register configuration is 0000 1111 00...

Page 30: ...otor parameters Write 0x2233 All parameters are reset to factory Write 0x2244 Save all mapping parameters into EEPROM Write 0x4001 JOG CW Need to write once at least 50ms Write 0x4002 JOG CCW Status Word of Saving Parameter Register address Definition Attributes Description 0x1901 status word R Show 0x5555 Saving parameter OK Show 0xAAAA Saving parameter fault Note 1 The read value is 0x1111 when ...

Page 31: ...escription Slave ID Function code Register address Read Number of registers CRC check code slave Master data Message 01 82 01 81 60 Description Slave ID Function code 0x80 Error code CRC check code 4 4 2 Drive Alarm Codes and Troubleshooting Register Address definition operation unit description 0x2203 Current alarm R Below table Error code and cause The green light is always on after the drive po...

Page 32: ...s of input function 9 4 4 3 Error Clear Check the error via STEPPERONLINE MotionStudio Current Error Current happened error Over current over voltage etc History error History happened error Over current over voltage etc Read error Read Historical error Check the Historical happened error Clear current error Current error 1 It can clear over voltage error but can not clear over current error 2 The...

Page 33: ...ting instead of the original parameter addresses For example if 0x0001 is written to 0x0F10 the operation of reading and writing to 0x0001 can be replaced by read and write to 0x0F10 The mapped address is equivalent to a stand in or proxy for the original address Mapping target address Reading and writing Host 0x0F10 Pr0 00 Microstep Host 0x0F11 Pr0 04 inductance value 0x0F12 Pr2 00 instruction fi...

Page 34: ... a dedicated S code register the exact S code is user defined according to the table format below Size S High 8 bits Lower 8 bits Bit bit15 bit8 10 bit7 bit0 2 Description Whether the S code is valid at the time of completion 0 Invalid keep last value 1 Effective Recommended S code at completion Whether the start S code is valid or not 0 Invalid 1 Effective Recommended S code at start up bit7 and ...

Page 35: ...3 101 100 Binary 1000 0101 1000 0100 Hexadecimal 0x8584 At start up Output port 3 has level On completion Outputs 1 and 3 have levels PR8 28 5 Path 4 111 110 Binary 1000 0111 1000 0110 Hexadecimal 0x8786 At start up Outputs 2 and 3 are level When finished output ports 1 2 3 are level PR8 28 7 4 7 Enable Drive There are two methods to enable DMRS series drives I O enable DI1 of DMRS series drive is...

Page 36: ... teaching function The JOG velocity and JOG Acc Dec can be set Limit Protect the machine by limiting the working area range Positive negative limit switch by digital input Soft limit setting Acc Dec limit can be set Note Soft limit is valid after homing completed Quick stop The movement stop immediately when the quick stop input is on which is valid at PR mode only PR Path Select the PR path numbe...

Page 37: ...turns toward the home switch when zeroing it will use the home switch it touches as the home point if the motor turns in the opposite direction when zeroing it will automatically reverse to find the home point after it touches the limit switch Manual set to zero position Set by register address 0x600A or by tuning software After triggering the current value of the motor is cleared to zero and the ...

Page 38: ...8 13 is high 16 bits and Pr8 14 is low 16 bits Pr8 14 0x600E Homing stop position low bits Pr8 15 0x600F Homing high velocity The 1st segment velocity of homing unit rpm Pr8 16 0x6010 Homing low velocity The 2nd segment velocity of homing unit rpm Pr8 17 0x6011 Homing Acc Acc of homing unit ms 1000rpm Pr8 18 0x6012 Homing Dec Dec of homing unit ms 1000rpm Note Generally homing to find the zero pos...

Page 39: ...Modbus RS485 Stepper Drive User Manual 32 1 Home Switch Positive Limit Switch 2 Home Switch at Positive Direction 3 Home Switch Negative Limit Switch ...

Page 40: ...Modbus RS485 Stepper Drive User Manual 33 4 Home Switch at Negative Direction 5 2 3 Homing by Limit Switch 1 Positive Limit Switch 2 Negative Limit Switch ...

Page 41: ...ore the soft limit function can be activated Relevant objects Register address Par in software Definition Range Default Value Description 0x6000 Pr8 00 PR control setting 32767 Bit1 Soft limit 0 disable 1 enable 0x6006 Pr8 06 Soft limit H 32767 0x7FFF Soft limit positive high bits 0x6007 Pr8 07 Soft limit L 32767 0xFFFF Soft limit positive low bits 0x6008 Pr8 08 Soft limit H 32767 0x8000 Soft limi...

Page 42: ... Pr8 40 0x6028 JOG deceleration time Pr8 41 0x6029 JOG quick stop write value 0x40 to 0x6002 or trigger forced quick stop input to IO port or stop giving IO port level if using level trigger method Example for JOG and IO Trigger DMRS uses JOG JOG to achieve forward and reverse rotation operation the running velocity can be set in JOG velocity and JOG velocity 2 then through the external IO signal ...

Page 43: ...s and each path sets the operation modes the target position the target velocity the acceleration and deceleration and the pause time etc 5 4 1 PR Parameters Usually it is recommended using the PTP window of the STEPPERONLINE tuning software to configure the PR path parameters but it can also use the following objects Par in software Register Address Definition Description Pr9 00 0x6200 PR path 0 ...

Page 44: ...r9 40 Pr9 47 Similar as above paths Similar as above paths PR path 5 Pr9 48 Pr9 55 Similar as above paths Similar as above paths PR path 6 Pr9 56 Pr9 63 Similar as above paths Similar as above paths PR path 7 Pr9 64 Pr9 71 Similar as above paths Similar as above paths PR path 8 5 4 2 PR Path Configuration If use the digital input ports to configure the PR path they can be set to ADD0 ADD1 ADD2 and...

Page 45: ...gured as ADD0 ADD3 it is configured according to the actual required path motions For example if only Path0 is needed refer to the above table DI1 4 are not required to be configured as ADD0 ADD3 because they are are off only one input needs to be configured as CTRG 5 4 3 Other functions of PR Timing sequence of signal path Single path sequence diagram 5 5 3 Multi segment Jump For example set path...

Page 46: ...ly and PR1 jump There is no in position signal in the intermediate delay from PR1 jump to PR2 Continuous movement timing sequence no overlap Interrupt function The interrupt function is the priority of a PR path Interrupts a valid path means that interrupting and abandoning the current path under trigger and runs another path directly which is similar as Interrupt priority of function As below exa...

Page 47: ...lobal Control function of PR Bit0 CTRG 0 Rising edge trigger 1 Double edge trigger Bit1 0 Soft limit is invalid 1 Soft limit is valid Bit2 0 homing after power up is invalid 1 homing after power up is valid For example 4 segment PR path The CTRG trigger method requires not only the configuration of the required number of paths but also the setting of an additional input to the CTRG signal SI4 is s...

Page 48: ...O combination trigger method 0 Turn off IO combination trigger 1 Enable IO combination trigger return to zero OK to be effective 2 Enable IO combination trigger no need to return to zero For example 3 Segment PR Path Path configuration example SI1 is set to enable input by default normally closed SI2 is set to ADD0 normally closed means ADD0 is on After triggering SI3 then SI2 SI3 SI4 are on on of...

Page 49: ...0x020 0x040 Not responding to the command Read value 0x10P Path is running Read value 0x200 Command is completed and waiting for positioning Note P indicates path NO 0 15 5 5 4 Immediate Trigger The immediate trigger method means that each time the current path 0 PR0 is written the run of PR0 is triggered in real time The position velocity homing and so on are achieved through one data frame This ...

Page 50: ...X 16 17 Pr9 04 Acceleration XXXX 18 19 Pr9 05 Deceleration XXXX 20 21 Pr9 06 Delay time XXXX 22 23 Pr9 07 Trigger control 0x0010 24 CRC Check code Lo 25 Hi For example PR0 velocity 200 rpm distance 10000 p Master sending 07 10 62 00 00 08 10 00 01 00 00 27 10 00 00 27 10 27 10 00 00 00 10 8D 50 Drive return 07 10 62 00 00 08 DE 11 ...

Page 51: ...ich supports Windows 7 and Windows 10 systems 6 1 1 Preparation and Steps 1 RS232 Tuning cable CABLE PC 1 Pin Definition It is recommended that users order this cable directly from STEPPERONLINE not to make it yourself 2 USB to RS232 converter sometimes it needs to manually install the drive program 3 COM port selection as shown in the figure below the communication port is COM3 4 Connect tuning s...

Page 52: ...Modbus RS485 Stepper Drive User Manual 45 5 Basic parameter setting 6 Input and output function and polarity setting ...

Page 53: ...Then in the parameter management window click the Save button to prevent the parameter values from being lost after the drive is powered off 6 1 2 Operation of Trial Run Trial run lets the motor to achieve forward and reverse rotation or repeat motion The operation steps are as follows ...

Page 54: ... 6 1 3 Operation of PR Function 1 This window can set the CTGR trigger and Homing parameters of PR motion 2 This window is the PR path parameter setting including operation mode target position speed value etc Double click to modify parameters ...

Page 55: ...ad and save as follows 3 Manually run the PR path As shown in the figure below the default is the motion parameter of PR0 As long as click Start the motor will run according to the path of PR0 If click PR1 in step 4 the motor will be forced to switch to the path of PR1 Click step 3 to stop motor ...

Page 56: ...rt Tools Software This is to control the motor through RS485 communication user can realize the movement of the motor by sending commands to the corresponding registers 6 2 1 Preparation and Steps 1 RS485 tuning cable RS458 to USB User provided RS485 DB9 to RJ45 User provided ...

Page 57: ...ave ID Function Code Register Address Value to Write CRC 01 06 Preset single register 62 00 PR0 operation mode setting 00 41 Set PR mode to relative position mode 56 42 Automatically generated by the serial port tool software A complete command 01 06 62 00 00 41 56 42 6 2 3 Command Cases of Modbus RTU 1 Set PR0 to go absolute position mode running distance 200000p microstep 10000 Commands 01 06 62...

Page 58: ...gger PR0 motion Send when you need to stop 01 06 60 02 00 40 37 FA Emergency stop 4 Set PR1 to go absolute position mode running distance 200000p microstep is 10000 Commands 01 06 62 08 00 01 D6 70 Set PR1 mode 01 06 62 09 FF FC 07 C1 Set PR1 position high 01 06 62 0A F2 C0 F3 40 Set PR1 position low 01 06 62 0B 02 58 E7 2A Set PR1 speed value 01 06 62 0C 00 32 D7 A4 Set PR1 acceleration 01 06 62 ...

Page 59: ...G 0x25 POT positive limit 0x26 NOT negative limit 0x27 ORG home switch 0x28 ADD0 path address 0 0x29 ADD1 path address 1 0x2A ADD2 path address 2 0x2B ADD3 path address 3 0x2C JOG velocity 2 0 65535 136 0x88 0x0147 Pr4 03 DI2 input 2 0 65535 0 0x0149 Pr4 04 DI3 input 3 0 65535 0 0x014B Pr4 05 DI4 input 4 0 65535 0 0x014D Pr4 06 DI5 input 5 0 65535 0 0x014F Pr4 07 DI6 input 6 0 65535 0 0x0151 Pr4 0...

Page 60: ...OG is triggered by RS485 For JOG triggered by IO please use Pr8 40 8 41 0 5000 60 r min 0x01E3 Pr6 01 Interval 0 10000 100 ms 0x01E5 Pr6 02 Running times 0 30000 1 0x01E7 Pr6 03 Acc Dec time 0 10000 200 0x01FF Pr6 15 Version information Read only 0 65535 0 0x0201 Pr6 16 Firmware information Read only 0 65535 0 0x0231 Pr7 00 Motor model Invalid 0 100 0 0x0235 Pr7 02 Back EMF coefficient Invalid 0 3...

Page 61: ...6009 Limit L Soft limit negative low bits Pr8 10 0x600A Homing mode Bit0 homing direction 0 CW 1 CCW Bit1 Whether to move to the specified position after homing 0 no 1 yes Bit2 homing method 0 limit switch homing 1 home switch homing Note 1 Write 0x21 to 0x6002 manually set the current point to zero position 2 Other methods are not valid Pr8 15 0x600F Homing high velocity The 1st segment velocity ...

Page 62: ... 8 Pr8 57 0x6039 S code output setting for Path 9 Pr8 58 0x603A S code output setting for Path 10 Pr8 59 0x603B S code output setting for Path 11 Pr8 60 0x603C S code output setting for Path 12 Pr8 61 0x603D S code output setting for Path 13 Pr8 62 0x603E S code output setting for Path 14 Pr8 63 0x603F S code output setting for Path 15 Pr9 00 0x6200 Motion of Path 0 The corresponding functions can...

Page 63: ...bove paths Each path has 8 data Pr9 48 Pr9 55 Similar as above paths Similar as above paths Each path has 8 data Pr9 56 Pr9 63 Similar as above paths Similar as above paths Each path has 8 data Pr9 64 Pr9 71 Similar as above paths Similar as above paths Each path has 8 data Zero Position a fixed position on the machine can correspond to a definite digital input signal or to a Z signal Zero Point o...

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