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ZMC412 Motion Controller User Manual V1.5

 

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Interfaces: RS232, RS485, U Disk, Ethernet. 

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Support linear interpolation, any circular interpolation, helical interpolation and spline 

interpolation of 12 axes at most. 

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Support electronic cam, electronic gear, position latch, synchronous follow, virtual 

axis, etc. 

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Support  hardware  comparison  output  (HW_PSWITCH2),  hardware  timer,  precision 

output in motion. 

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Support pulse closed loop, pitch compensation and other functions. 

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Multi-file and multi-task programming in ZBasic. 

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A variety of program encryption methods to protect the intellectual property rights of 

customers. 

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Support power failure detection and power failure storage. (It can detect and save 

when power-off) 

 

1.3.

 

  System Frame 

 

Summary of Contents for ZMC412

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: ...11 3 1 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 15 3 3 RS232 Serial Port 16...

Page 6: ...1 AXIS Interface Signal Specification Wiring 32 3 9 2 Basic Usage Method 34 Chapter IV Expansion Module 37 4 1 CAN Bus Expansion 37 4 2 CAN Bus Expansion Wiring 37 4 3 CAN Bus Expansion Resource Mappi...

Page 7: ...CARA Delta 6 joints electronic semiconductor equipment testing equipment assembly equipment locking equipment soldering machine dispensing equipment non standard equipment printing and packaging equip...

Page 8: ...atch synchronous follow virtual axis etc Support hardware comparison output HW_PSWITCH2 hardware timer precision output in motion Support pulse closed loop pitch compensation and other functions Multi...

Page 9: ...nals 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 Bef...

Page 10: ...roller 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: ...erface there are 12 inputs and 12 outputs for these 12 pulse axes interfaces Max Extended IO 4096 inputs 4096 outputs PWM 2 AD DA 2 general DAs 0 10V Max Extended AD DA 520 ADs 520 DAs Pulse Bit 64 En...

Page 12: ...to point linear circular electronic cam continuous trajectory motion robotic car instructions ZMC412 14 14 axes point to point linear circular electronic cam continuous trajectory motion robotic car i...

Page 13: ...e MODBUS_RTU protocol 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 UD...

Page 14: ...put 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 RH no frost vibration Frequen...

Page 15: ...ween two ports namely between E 24V and EGND should be 3 81mm This 3Pin terminal is the power supply of the controller Terminal Definition Terminal Name Type Function FG Grounding Protect EGND Input P...

Page 16: ...rminal Name Function 485 2B 485 2 485 2A 485 2 EGND External power supply ground 485B 485 485A 485 EGND External power supply ground CANL CAN differential data CANH CAN differential data 3 2 1 RS485 C...

Page 17: ...g Reference Connect 485A and 485B of RS485 to 485A and 485B of the controller correspondingly and connect the common terminal EGND of both parties of RS485 communication together 485 2A and 485 2B is...

Page 18: ...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 f...

Page 19: ...commands to set and view the protocol station number and configuration parameters see ZBasic Programming Manual for details 4 Please use the CANIO_ADDRESS command to set the master s address and speed...

Page 20: ...ttings are completed restart the power supply of all stations to establish communication 8 Note that the speed settings of each node on the CAN bus must be consistent and the address settings cannot c...

Page 21: ...tion common terminal 9 E5V Output 5V power supply outputs positive pole max is 300mA 3 3 1 RS232 Communication Interface Specification Wiring Specification Item RS232 Max Communication Rate bps 115200...

Page 22: ...nvironments and make sure the shielding layer is fully grounded Cable Requirements Shielded Twisted Pair and the shielded cable is grounded 3 3 2 Basic Usage Method 1 Please follow the above wiring in...

Page 23: ...ough ZDevelop Controller State the Controller CommunicationInfo 3 4 IN Digital Input High Speed Latch Port The digital input adopts 3 groups of 10Pin screw type pluggable terminals with a pitch of 3 8...

Page 24: ...21 IN22 Input 22 IN23 Input 23 Note ZMC412 has 8 latch inputs for general firmware there are 4 latch inputs for special firmware there are 8 latch inputs 3 4 1 Digital Input Specification Wiring Speci...

Page 25: ...el meets the requirements For the common terminal please select the EGND port on the power supply terminal to connect to the COM terminal of the external input device If the power supply of the signal...

Page 26: ...n Output Single ended Pulse The digital output adopts 2 sets of screw type pluggable terminals with a spacing of 3 81mm and the digital output signals integrate with PWM and hardware comparison output...

Page 27: ...common anode wiring It is not recommended for other purposes due to lower power OUT0 1 have the functions of PWM OUT0 3 have hardware comparison output function and single ended pulse function when A...

Page 28: ...ion Wiring Reference Wiring Note The wiring principle of high speed digital outputs OUT 0 3 and low speed digital outputs OUT 4 11 are shown in the figure above The external signal receiving end can b...

Page 29: ...RS232 and RS485 to connect to ZDevelop 3 Terminal can be operated to ON or OFF directly through OP command also it can be opened or closed through ZDevelop View Op Please refer to ZBasic for details 4...

Page 30: ...1 Analog Output Specification Wiring Specification Item DA 0 1 Resolution 12 bit Data range 0 4095 Signal range 0 10V output Data refresh ratio 1KHz Voltage output load 1K Wiring Reference Wiring Note...

Page 31: ...2 and RS485 to connect to ZDevelop 3 Analog input voltage can be read through AIN command and corresponding analog voltage can be output through AOUT command also data of each channel can be checked t...

Page 32: ...8 ETHERNET ZMC412 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 Th...

Page 33: ...terchanger to realize multi point connection The schematic diagram is as follows Communication Cable Requirements ETHERNET communication interface adopts standard Ethernet RJ45 interface The network c...

Page 34: ...lity of communication please fix the cables with cable ties When disassembling press the tail mechanism of the crystal head and pull out the connector and the module in a horizontal direction Please u...

Page 35: ...Reserved 9 DIR Servo or step direction output 10 GND Negative pole of 5V power of pulse encoder signal 11 PUL Servo or step pulse output 12 Reserved Reserved 13 GND Negative pole of 5V power of pulse...

Page 36: ...e 0 5V Maximum frequency 10MHz EA EB EZ Signal type Differential input signal Voltage range 0 5V Maximum frequency 5MHz IN24 35 Input method NPN leak type it is triggered when low electric level is in...

Page 37: ...ZMC412 Motion Controller User Manual V1 5 EGND Maximum output current for 24V 50mA Wiring Reference Reference example of wiring with Panasonic A5 A6 servo driver...

Page 38: ...Please follow the above wiring instructions for correct wiring 2 After power on please use any of the three interfaces ETHERNET RS232 default parameter it can be connected directly and RS485 default...

Page 39: ...ZMC412 Motion Controller User Manual V1 5 5 Control corresponding motion through View Manual Refer to BASIC Routine...

Page 40: ...SPEED 10 10 set axis speed as 10 1000 pulse s ACCEL 1000 1000 set 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 axi...

Page 41: ...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 42: ...e 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 on...

Page 43: ...valid 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 addre...

Page 44: ...nterface 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 OPs then the starting address set by the first extended...

Page 45: ...analog DA starts from 4 and increases in multiples 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...

Page 46: ...n be used Example ATYPE 6 0 set as virtual 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...

Page 47: ...5 ALMRM indicator light is on please check whether the wiring resistor and dial setting are correct and whether the CANIO_ADDRESS command of the controller is set as the master end 32 and whether the...

Page 48: ...troller 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 Eng...

Page 49: ...ZMC412 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 50: ...asic 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 t...

Page 51: ...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 52: ...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 53: ...ws 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 Lib...

Page 54: ...asic 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 55: ...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 conne...

Page 56: ...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 57: ...g 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 i...

Page 58: ...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 59: ...n 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 5...

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