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Zmotion ZMC306N, Manual

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ZMC306N Motion Controller User Manual V1.5

2.2.

Order Information

Model

Description

ZMC306N

6 axes, point to point, linear, circular, electronic cam, continuous

trajectory motion, robotic car instructions.

ZMC304N

4 axes, point to point, linear, circular, electronic cam, continuous

trajectory motion, robotic car instructions.

2.3.

Interface Definition

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Summary of Contents for ZMC306N

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: ...er 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 15 3 3 RS232 RS422 Serial Port 16 3 3 1...

Page 6: ...Interface 34 3 11 1 AXIS Interface Signal Specification Wiring 35 3 11 2 Basic Usage Method 38 Chapter IV Expansion Module 41 4 1 CAN Bus Expansion 41 4 1 1 CAN Bus Expansion Wiring 41 4 1 2 CAN Bus...

Page 7: ...obots SCARA Delta 6 joints electronic semiconductor equipment testing equipment assembly equipment locking equipment soldering machine dispensing equipment non standard equipment printing and packagin...

Page 8: ...port linear interpolation any circular interpolation helical interpolation and spline interpolation of 12 axes at most Support electronic cam electronic gear position latch synchronous follow virtual...

Page 9: ...5 1 3 System Frame 1 4 Hardware Installment The ZMC306N motion controller adopts the horizontal installation method of screw fixing and each controller should be installed with 4 screws for fastening...

Page 10: ...void direct sunlight installation In order to facilitate ventilation and controller replacement 2 3cm should be left between the upper and lower parts of the controller and the installation environmen...

Page 11: ...terface IOs each 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 512 ADs 512 DAs Pulse Bit 32 Encoder...

Page 12: ...l Description ZMC306N 6 axes point to point linear circular electronic cam continuous trajectory motion robotic car instructions ZMC304N 4 axes point to point linear circular electronic cam continuous...

Page 13: ...module ETHERNET Ethernet 1 Use MODBUS_TCP protocol expand Ethernet through interchanger the number of net port channels can be checked through port default IP address id 192 168 0 11 RTEX TX RTEX bus...

Page 14: ...ut and differential encoder input 2 4 Work Environment Item Parameters Work Temperature 10 55 Work relative Humidity 10 95 non condensing Storage Temperature 40 80 not frozen Storage Humidity Below 90...

Page 15: ...gap distance between two ports should be 3 81mm This 3Pin terminal is the power supply of the controller Terminal Definition Terminal Name Type Function E 24V Input Positive of DC input EGND Input Ne...

Page 16: ...ial 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 interfac...

Page 17: ...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 CAN bus left and...

Page 18: ...ease be sure to connect the common terminal of each node on the CAN bus to prevent the CAN chip from burning out The distance between each node branch line on the RS485 CAN bus wiring circuit should b...

Page 19: ...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 through ZDev...

Page 20: ...be disordered 3 3 RS232 RS422 Serial Port RS232 and RS422 serial ports are in a standard DB9 male socket and support MODBUS_RTU protocol and custom communication Interface Definition Terminal PIN Name...

Page 21: ...Terminal Resistor No No Topology Connect correspondingly 1 to 1 Nodes can be extended 1 Up to 10 Communication Distance Longer communication distance lower communication rate max 10m is recommended Lo...

Page 22: ...elded cables especially in harsh environments and make sure the shielding layer is fully grounded Cable Requirements Twisted pair shielded wire and shielded cable grounded 3 3 2 Basic Usage Method 1 P...

Page 23: ...5 can be directly viewed through ZDevelop Controller State the Controller CommunicationInfo 3 4 IN Digital Input High Speed Latch Single ended Encoder The digital input adopts 3 groups of 10Pin screw...

Page 24: ...peed 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 IO public end IN16 NPN leakage type low speed input Input 16...

Page 25: ...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 26: ...this 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...

Page 27: ...mparison output functions Wiring Definition Terminal Name Type Function 1 Function 2 Function 3 Function 4 EGND E5V power ground E5V E5V power output max 300mA OUT0 NPN leakage type high speed output...

Page 28: ...an ordinary output port The maximum output current of OUT0 1 is 500mA and the maximum output current of OUT3 15 is 300mA 3 5 1 Digital Output Specification Wiring Specification Item High Speed Output...

Page 29: ...is shown in the figure above The external signal receiving end can be an optocoupler or a relay or solenoid valve all can be connected as long as the input current does not exceed 300mA For the conne...

Page 30: ...ly through OP command also it can be opened or closed through ZDevelop View Op Please refer to ZBasic for details 4 PWM function can be used to set frequency and duty cycle through PWM_FREQ and PWM_DU...

Page 31: ...inal AIN 1 3 6 1 Analog Output Specification Wiring Specification Item DA 0 1 AD 0 1 Resolution 12 bit 12 bit Data range 0 4095 0 4095 Signal range 0 10V output 0 10V input Data refresh ratio 1KHz 1KH...

Page 32: ...e grounded 3 6 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 RS485 to connect to ZDev...

Page 33: ...a import and export and 3 file executions Its schematic diagram is shown in the figure below Specification Item USB2 0 Max Communication Ratio 12Mbps Max Output Current of 5V 500mA Whether Isolates No...

Page 34: ...the interchanger through an Ethernet cable and connected to other devices through the interchanger to realize multi point connection The schematic diagram is as follows 3 9 RTEX Bus Interface ZMC306N...

Page 35: ...If controller firmware is customized please refer to drive period configuration to adjust For example the firmware is with 0 5ms corresponding drive parameters 7 20 RTEX Communication Period 3 0 5ms 7...

Page 36: ...to the RX port of the controller to form a complete communication loop Device numbers and drive numbers are automatically numbered starting from 0 in connection order the same as the EtherCAT bus numb...

Page 37: ...Process data Max 1486 bytes of single frame Synchronization shaking of two slave stations 1us Refresh 1000 digital input and output about 30us 16 servo axes about 100us Communication Cable Requirement...

Page 38: ...irection Please use tube type pre insulated terminals and cables with appropriate wire diameters to connect the user terminals 3 11 AXIS Differential Pulse Axis Interface This product provides 2 local...

Page 39: ...ential input signal B 19 EZ Encoder differential input signal Z 20 GND Negative pole of 5V power 21 GND Negative pole of 5V power 22 DIR Servo or step direction output 23 PUL Servo or step pulse outpu...

Page 40: ...The voltage to open 10 5V The voltage to close 10 7V Minimal current 1 8mA negative Maximum current 4mA negative Isolation optoelectronic isolation OUT16 17 Output method NPN leak type it is 0V when o...

Page 41: ...roller 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 different please...

Page 42: ...ease 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 connect t...

Page 43: ...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 44: ...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 45: ...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 46: ...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 47: ...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 48: ...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 49: ...s 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 50: ...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 51: ...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 52: ...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 53: ...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 54: ...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 55: ...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 56: ...ZMC306N 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 57: ...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 58: ...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 59: ...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 60: ...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 61: ...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 62: ...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 63: ...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 64: ...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 65: ...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 66: ...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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