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Zmotion ZMC432, Manual

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ZMC432 Motion Controller User Manual V1.5

3.9.

EtherCAT Bus Interface

ZMC432 motion controller has a 100M EtherCAT communication interface, and it

supports EtherCAT protocol. In addition, EtherCAT driver or EtherCAT expansion module

can be connected. The pin definition is as follows:

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Summary of Contents for ZMC432

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: ...on 12 3 1 Power Input 12 3 1 1 Power Specification 12 3 2 RS485 CAN Communication Interface 13 3 2 1 RS485 CAN Communication Specification Wiring 13 3 2 2 Basic Usage Method 15 3 3 RS232 Serial Port 1...

Page 6: ...Basic Usage Method 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 EtherCAT Bus Expansion 45 4 2 1 EtherCA...

Page 7: ...ion controllers can be applied in robots SCARA Delta 6 joints electronic semiconductor equipment testing equipment assembly equipment locking equipment soldering machine dispensing equipment non stand...

Page 8: ...ar position latch synchronous follow virtual axis and other functions Support hardware comparison output HW_PSWITCH2 hardware timer precision output when in motion Support pulse closed loop pitch comp...

Page 9: ...rained related electrical equipment or who master electrical knowledge Please be sure to read the product instruction manual and safety precautions carefully before installation Before installation pl...

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

Page 12: ...n ZMC432 32 axes point to point linear circular electronic cam continuous trajectory motion robot structure ZMC432 16 16 axes point to point linear circular electronic cam continuous trajectory motion...

Page 13: ...Description POW The led 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...

Page 14: ...Connect CAN 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 There are 2 high speed inputs and IN0 1...

Page 15: ...Controller User Manual V1 5 Displacement 3 5mm directly install 9Hz Acceleration 1g directly install 9Hz Direction 3 axial direction Shock collide 15g 11ms half sinusoid 3 axial direction Degree of Pr...

Page 16: ...amely 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 E 24V Input Positive terminal of DC power input c...

Page 17: ...round CANL CAN differential data CANH CAN differential data 3 2 1 RS485 CAN Communication Specification Wiring The RS485 serial port supports the MODBUS_RTU protocol and custom communication mainly in...

Page 18: ...pondingly and connect the public ends EGND of RS485 communication parties together Connect the CANL and CANH of the standard CAN module to the CANL and CANH of the other side correspondingly And publi...

Page 19: ...ironments and make sure the shielding layer is fully grounded When on site wiring pay attention to make the distance between strong current and weak current it is recommended for the distance to be mo...

Page 20: ...ly and refer to the ZBasic Programming Manual for details 5 According to their respectively instructions correctly set the relevant parameters of the third party equipment to match the parameters of e...

Page 21: ...d 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 Interface Specification Wir...

Page 22: ...re to connect the public ends of each communication node to prevent the communication chip from burning out Please use STP especially in bad environments and make sure the shielding layer is fully gro...

Page 23: ...o their respectively instructions correctly set the relevant parameters of the third party equipment to match the parameters of each node 5 When all is configured it can start to do communicating 6 Co...

Page 24: ...nput 3 IN4 Input 4 IN5 Input 5 IN6 Input 6 IN7 Input 7 EGND External power ground EGND IN8 NPN leakage type low speed input Input 8 IN9 Input 9 IN10 Input 10 IN11 Input 11 IN12 Input 12 IN13 Input 13...

Page 25: ...values when the voltage of controller power supply E 24V port is 24V Wiring Reference Wiring Note The wiring principle of high speed digital input IN 0 1 and low speed digital input IN 2 23 is shown i...

Page 26: ...read directly through IN command also it can be read through ZDevelop View In Please refer to ZBasic for details 4 Latch function can be set and triggered through REGIST instruction in software use RE...

Page 27: ...utput 5 OUT6 Output 6 OUT7 Output 7 EGND External power ground OUT8 NPN Leakage type low speed output Output 8 OUT9 Output 9 OUT10 Output 10 OUT11 Output 11 Note The E5V power output port is used for...

Page 28: ...tection Support Support Isolation method optoelectronic isolation Note The times in the form are typical based on the resistive load and may change when the load circuit changes Due to the leak type o...

Page 29: ...nnection can also be omitted The E5V port is a 5V power output port which can be used when some loads need to provide an external 5V power input the maximum current is 300mA 3 5 2 Basic Usage Method 1...

Page 30: ...1mm Terminal Definition Terminal Name Type Function NC Spare Reserved NC Reserved DA0 Output Analog output terminal AOUT 0 DA1 Analog output terminal AOUT 1 DAGND Public End Analog public end 3 6 1 An...

Page 31: ...ge Please use STP especially in bad environments and make sure the shielding layer is fully grounded Cable Requirements Shielded Twisted Pair and the shielded cable is grounded 3 6 2 Basic Usage Metho...

Page 32: ...USB communication interface which can insert the U disk device It is used for ZAR program upgrading controller data importing and exporting file 3 executing etc Its schematic diagram is shown in the...

Page 33: ...rough an Ethernet cable and using point to point connection method The schematic diagram is as follows The controller can also be connected to the interchanger through an Ethernet cable and then use i...

Page 34: ...5 3 9 EtherCAT Bus Interface ZMC432 motion controller has a 100M EtherCAT communication interface and it supports EtherCAT protocol In addition EtherCAT driver or EtherCAT expansion module can be con...

Page 35: ...data Maximum 1486 bytes of one single frame Synchronization shaking of two slave stations 1us Refresh 1000 digital input and output about is 30us 16 servo axes is about 100us Communication Cable Requi...

Page 36: ...insulated terminals and cables with appropriate wire diameters to connect the user terminals 3 10 AXIS Differential Pulse Axis Interface This product provides 6 local differential pulse axis interfac...

Page 37: ...input signal B 19 EZ Encoder differential input signal Z 20 GND Negative pole of 5V power of pulse encoder signal 21 GND Negative pole of 5V power of pulse encoder signal 22 DIR Servo or step directio...

Page 38: ...quency 5kHz Impedance 6 8K Voltage level DC24V The voltage to open 10 5V The voltage to close 10 7V Minimal current 1 8mA negative Maximum current 4mA negative Isolation optoelectronic isolation OUT12...

Page 39: ...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 40: ...interface among the three interfaces ETHERNET RS232 default parameter it can be connected directly and RS485 default parameters it can be connected directly but for hardware adapter head is needed to...

Page 41: ...ZMC432 Motion Controller User Manual V1 5 5 Control corresponding motion through View Manual Refer to BASIC Routine...

Page 42: ...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 ax...

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: ...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 45: ...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 46: ...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: ...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 48: ...al 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: ...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 manua...

Page 50: ...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 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 t...

Page 52: ...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 53: ...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 54: ...ZMC432 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: ...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 56: ...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 57: ...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 58: ...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 59: ...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 60: ...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 61: ...f 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 supply...

Page 62: ...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 63: ...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 64: ...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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