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ECI3828 Network Motion Control Card User Manual V1.5

3.8.

EtherCAT Bus Interface

ECI3828 network motion control card 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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Содержание ECI3828

Страница 1: ......

Страница 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...

Страница 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...

Страница 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...

Страница 5: ...nfiguration 11 3 1 Power Input Interface 11 3 1 1 Power Supply Specification 11 3 2 RS485 CAN Interface 12 3 2 1 RS485 CAN Communication Specification Wiring 12 3 2 2 Basic Usage Method 14 3 3 RS232 R...

Страница 6: ...c Usage Method 35 Chapter IV Expansion Module 38 4 1 CAN Bus Expansion 38 4 1 1 CAN Bus Wiring 38 4 1 2 CAN Bus Expansion Resource Mapping 40 4 2 EtherCAT Bus Expansion 44 4 1 1 EtherCAT Bus Expansion...

Страница 7: ...lications within 12 axes such as electronic semiconductor equipment testing equipment assembly equipment locking equipment soldering machine dispensing equipment assembly line etc 1 2 Function Feature...

Страница 8: ...herCAT Support linear interpolation any circular interpolation helical interpolation of 12 axes at most Support electronic cam electronic gear position latch synchronization follow virtual axis settin...

Страница 9: ...essionals 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 installatio...

Страница 10: ...e controller 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 p...

Страница 11: ...s Digital IO There are 26 inputs and 18 outputs the first 16 channels are with overcurrent protection Max Extended IO 256 inputs and 256 outputs AD DA 2 general ADs and 2 general DAs 0 10V Max Extende...

Страница 12: ...to point electronic cam linear interpolation circular interpolation continuous interpolation robotic arm ECI3828 8 axes point to point electronic cam linear interpolation circular interpolation conti...

Страница 13: ...checked through port default IP address id 192 168 0 11 E 24V Main power 1 24V DC power supplies for controller CAN CAN bus interface 1 Connect CAN expansion module and CAN equipment of other standard...

Страница 14: ...rd User Manual V1 5 vibration Frequency 5 150Hz Displacement 3 5mm directly install 9Hz Acceleration 1g directly install 9Hz Direction 3 axial direction Shock collide 15g 11ms half sinusoid 3 axial di...

Страница 15: ...on Note 1 ECI3828 controller is supplied by single power please make sure the quality of power supply 2 Controller 5V pulse axis and encoder interface use internal power supply and IO uses external po...

Страница 16: ...RS485 CAN Communication Specification Wiring The CAN interface of the controller adopts the standard CAN communication protocol which mainly includes three ports CANL CANH and the public end And it su...

Страница 17: ...please see below graphic Connect 485A and 485B of RS485 to corresponding 485A and 485B of controller and connect public end EGND of RS485 communication both sides together Wiring Notes As above the da...

Страница 18: ...ent and weak current it is recommended for the distance to be more than 20cm It should be noted that the equipment grounding chassis on the entire line must be good and the grounding of the chassis sh...

Страница 19: ...and refer to the ZBasic Programming Manual for details 5 According to description set parameters related to the third party equipment correctly to match each nodes 6 Correctly set the address and spee...

Страница 20: ...232RXD RS232 signal receive data 3 232TXD RS232 signal send data 4 422RX RS422 Receive 5 GND Internal power ground 6 422TX RS422 Send 7 422RX RS422 Receive 8 NC Reserved 9 E5V 5V power supply output m...

Страница 21: ...s recommended Wiring Reference RS232 Wiring Reference RS422 Wiring Notes The wiring of RS232 and RS422 are as above it needs to cross wiring for sending and receiving signals and it is recommended to...

Страница 22: ...ameters see ZBasic Programming Manual for details 4 According to their respectively instructions correctly set the relevant parameters of the third party equipment to match the parameters of each node...

Страница 23: ...ower 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 IN14 Input 14 IN15 Input 15 EGND IO power ground EGND IN16 NPN leakage...

Страница 24: ...V Minimal current 2 3mA negative 1 8mA negative Max current 7 5mA negative 6mA negative Isolation mode optoelectronic isolation optoelectronic isolation Note the above parameters are standard values w...

Страница 25: ...values of relative input ports can be 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...

Страница 26: ...tput 6 OUT7 Output 7 EGND External power ground EGND OUT8 NPN Leakage type low speed output Output 8 OUT9 Output 9 OUT10 Output 10 OUT11 Output 11 OUT12 Output 12 OUT13 Output 13 OUT14 Output 14 OUT15...

Страница 27: ...upport Support Isolation method optoelectronic isolation 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...

Страница 28: ...used when input load of external 5V power supply needs to be provided the maximum current is 300mA 3 5 2 Basic Usage Method 1 Please follow the above wiring instructions to wiring correctly 2 After po...

Страница 29: ...minal AOUT 0 DA1 Analog output terminal AOUT 1 AGND Public end Unique analog public end AD0 Input Analog input terminal AIN 0 AD1 Analog input terminal AIN 1 Note ECI3828 inner AD and DA use internal...

Страница 30: ...ease follow the above wiring instructions to wiring correctly 2 After powered on please use ETHERNET or RS232 to connect to ZDevelop 3 Analog input voltage can be read through AIN command and correspo...

Страница 31: ...omputer HMI etc through 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 ca...

Страница 32: ...5 3 8 EtherCAT Bus Interface ECI3828 network motion control card has a 100M EtherCAT communication interface and it supports EtherCAT protocol In addition EtherCAT driver or EtherCAT expansion module...

Страница 33: ...M between 2 nodes Process 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...

Страница 34: ...terminals and cables with appropriate wire diameters to connect the user terminals 3 9 Axis Interface This product provides 2 local differential pulse axis interfaces each interface is a standard DB2...

Страница 35: ...ep pulse output 24 GND 5V power of pulse encoder signal 25 Reserved Reserved 26 Reserved Reserved Note Alarm input and axis enable output are used as general input and output at the same time when it...

Страница 36: ...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 OUT16 17 Output method NPN leak type it...

Страница 37: ...ECI3828 Network Motion Control Card User Manual V1 5 Wiring Reference single ended connection Wiring Reference Reference example of wiring with Panasonic A5 A6 servo driver...

Страница 38: ...Motion Control Card 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 di...

Страница 39: ...er At this time the GND must be connected to the GND of the driver Most of the drive encoders are not isolated by optocoupler When connecting the encoder GND must be connected 3 9 2 Basic Usage Method...

Страница 40: ...ECI3828 Network Motion Control Card User Manual V1 5 5 Control corresponding motion through View Manual Refer to BASIC Routine...

Страница 41: ...ulses SPEED 10 10 set axis speed as 100 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 us...

Страница 42: ...nected but needs 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...

Страница 43: ...an share 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 mod...

Страница 44: ...re power on if re dial after power on it is invalid 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 e...

Страница 45: ...number of currently included IO points the largest 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 expande...

Страница 46: ...of the 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...

Страница 47: ...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...

Страница 48: ...it supports IO remote expansion 4 1 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 manually configure...

Страница 49: ...ion sequence 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 dri...

Страница 50: ...be a 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 correspond...

Страница 51: ...e EtherCAT 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 dri...

Страница 52: ...controller 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...

Страница 53: ...ECI3828 Network Motion Control Card 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...

Страница 54: ...uilt 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 con...

Страница 55: ...m Rom 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 w...

Страница 56: ...current 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 controlle...

Страница 57: ...windows 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 Functi...

Страница 58: ...d on 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 pr...

Страница 59: ...motion 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...

Страница 60: ...ycle 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...

Страница 61: ...sening 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 3 Check whether the ATYPE of the control...

Страница 62: ...the IO 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...

Страница 63: ...it can 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 norm...

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