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EIO16084 Bus Expansion Module User Manual V1.5

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Specification

Item

Specification

Communication protocol

EtherCAT protocol

Valid service

CoE(PDO, SDO), FoE

Synchronization method

IO adopts input and output synchronization / DC-

distributed clock

Physical level

100BASE-TX

Duplex mode

Full duplex

Topology

linear topology

Transfer media

Cable

Transfer distance

It is less than 100M 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

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Communication Cable Requirements

EtherCAT communication interface adopts standard Ethernet RJ45 interface.

The network cable adopts Category 5e STP, and the crystal head has a metal shell to

reduce interference and to prevent information from being eavesdropped. As shown below:

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Содержание EIO16084

Страница 1: ... ...

Страница 2: ...he 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 design and functions and other aspects Zmotion Technology reserves the final interpretation Subject to change without notice Pay attention to safety when debugging the machine Please be sure to desig...

Страница 3: ...ided 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 hand this manual to the end user Install Danger When the controller is disassembled all external power supplies used by the system should be disconnected before operation otherwise it may cause misop...

Страница 4: ...at 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 during installation The cable connection should be carried out correctly on the basis of confirming the type of the connected interface It should be confirmed that the cables pressed into the terminals a...

Страница 5: ... 3 1 Power Input 8 3 2 Power Specification 8 3 3 IN Digital Input 9 3 3 1 Digital Input Specification 9 3 3 2 Digital Input Wiring 10 3 4 OUT Digital Output 10 3 4 1 Digital Output Specification 11 3 4 2 Digital Output Wiring 12 3 5 EtherCAT Bus Interface 12 3 6 AXIS Differential Pulse Axis Interface 14 3 6 1 AXIS Interface Signal Specification Wiring 16 Chapter IV Expansion Module 20 4 1 EtherCAT...

Страница 6: ...4 Bus Expansion Module User Manual V1 5 5 1 Input Output 25 5 2 The First Drive on The First Expansion Module 25 Chapter VI Run and Maintain 28 6 1 Regular Inspection and Maintenance 28 6 2 Common Problems 29 ...

Страница 7: ...he same time And IO and axis resources of EIO16084 can be accessed by mapping Number 1 2 Function Features Axis expansion 4 axis pulse axis expansion Digital expansion there are 16 inputs and 8 outputs each pulse axis has 2 additional inputs and 2 additional outputs that can be configured Pulse output mode pulse direction or dual pulses Maximum pulse output frequency of each axis is 10MHZ The maxi...

Страница 8: ...tention Non professionals are strictly prohibited to operate Specifically professionals 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 Before installation please ensure that the product is powered off Do not disassemble the module otherwise the machine ma...

Страница 9: ...Considering the convenient operation and maintenance of the controller please do not install the 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 places with corrosive gases and flammable gases d places with many conductive powders such as dust and iro...

Страница 10: ...er 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 EtherCAT IN EtherCAT bus interface 1 Connect to main controller or former level expansion module EtherCAT OUT 1 Connect to drive equipment or behind level expansion module Digital input 16 NPN type main power 24V Digital output 8 NPN type main power 24V ...

Страница 11: ...6 16 1 1 Module EIO1616M Module cover EIO1616MT EIO16084 4 4 16 8 1 1 4 axis expansion EIO24088 8 8 24 8 1 1 8 axis expansion 2 3 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 Frequency 5 150Hz Displacement 3 5mm directly install 9Hz Acceleration 1g directly in...

Страница 12: ...s 24V DC power Terminal Definition Terminal Name Type Function E 24V Input Positive terminal of DC power input connect positive of power to positive of controller EGND Input Negative terminal of power input FG Earthing Grounding Protect 3 2 Power Specification Specification Item Description Voltage DC24V 10 10 The current to open 0 5A The current to work 0 4A Anti reverse connection Valid Overcurr...

Страница 13: ...N7 Input 7 EGND External power ground EGND External power ground IN8 NPN type digital inputs Input 8 IN9 Input 9 IN10 Input 10 IN11 Input 11 IN12 Input 12 IN13 Input 13 IN14 Input 14 IN15 Input 15 3 3 1 Digital Input Specification Item Digital input IN0 15 Input mode NPN type input is triggered when in low electric level Frequency 5kHz Impedance 4 7KΩ Voltage level DC24V The voltage to open 14 5V ...

Страница 14: ...optocoupler a key switch or a sensor etc all can be connected as long as the requirements on output of electric level can be achieved For the public end please connect the EGND port on the power supply to the COM terminal of the external input device If the signal area power supply of the external device and the power supply of the expansion module are in the same power supply system this connecti...

Страница 15: ...utput current 300mA Max leakage current when off 25μA Respond time to conduct 12μs Respond time to close 80μs Overcurrent protection 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 output the shutdown of the output will be obviously affected by the external load ci...

Страница 16: ...he power supply to the negative pole of the DC power supply of the external input device If the DC power supply of the external device and the expansion module power supply are in the same power supply system this connection can also be omitted 3 5 EtherCAT Bus Interface EIO16084 bus expansion module has 2 100M EtherCAT communication interfaces and they support EtherCAT protocol EtherCAT IN is con...

Страница 17: ...media Cable Transfer distance It is less than 100M 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 Communication Cable Requirements EtherCAT communication interface adopts standard Ethernet RJ45 interface The network cable adopts Category 5e STP and...

Страница 18: ...nd insert it into the RJ45 interface until it makes a click sound kada In order to ensure the stability 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 use tube type pre insulated terminals and cables with appropriate wire diameters to connect the user t...

Страница 19: ... 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 encoder signal 14 OVCC Positive pole of IO 24V power 15 OUT12 15 CLR General output recommended to clear drive alarms 16 IN20 23 INP General input recommended to do on position signal 17 EA Encoder differential input signal A 18...

Страница 20: ...ription PUL DIR Signal type Differential output signal Voltage range 0 5V Maximum frequency 10MHz EA EB EZ Signal type Differential input signal Voltage range 0 5V Maximum frequency 5MHz IN16 23 Input method NPN leak type it is triggered when low electric level is input Frequency 5kHz Impedance 6 8KΩ Voltage level DC24V The voltage to open 10 5V The voltage to close 10 7V Minimal current 1 8mA neg...

Страница 21: ...Module User Manual V1 5 Isolation optoelectronic isolation 5V GND Maximum output current for 5V 50mA OVCC EGND Maximum output current for 24V 50mA Wiring Reference Reference example of wiring with Panasonic A5 A6 servo driver ...

Страница 22: ...s Expansion Module 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 ...

Страница 23: ...EIO16084 Bus Expansion Module User Manual V1 5 connect carefully Please use STP especially in bad environments and make sure the shielding layer is fully grounded ...

Страница 24: ...leted The IO address number is set through the bus command NODE_IO and the program on the controller can access the resources on the expansion module only through the IO number When wiring pay attention that EtherCAT IN is connected to the upper level module and EtherCAT OUT is connected to the lower level module The IN and OUT ports cannot be mixed EIO expansion module wiring reference example ta...

Страница 25: ...therCAT bus IO signal and other modules 2 After the controller is powered on please use the ETHERNET interface and RS232 serial port to connect to ZDevelop 3 The EIO16084 expansion module can only be used after bus initialization Execute the bus initialization program identify the device number of the EIO expansion module and the connected drive number during the initialization process operate the...

Страница 26: ...ic Programming Manual 6 Open or close outputs through OP command or through ZDevelop View OP Please refer to ZBasic Programming Manual 7 There are many parameters related to pulse axis and they can be set through relative commands please refer to ZBasic Programming Manual Or through ZDevelop View Axis Parameter 8 Through ZDevelop View Manual to operate relative motions ...

Страница 27: ...the axis parameter window which means no mapping and then modify FWD_IN and REV_IN when the limit switch needs to be connected 4 3 EtherCAT Bus Expansion Resource Mapping IO Mapping The program on the controller can access the resources on the expansion module only through the IO number The IO number of the EtherCAT bus expansion module is set through the bus command NODE_IO and the input and outp...

Страница 28: ...ut port numbers in the axis interface are 40 47 and the drive enable outputs of the axes AXIS 0 3 are 40 43 respectively AXIS Mapping Before using the axis of the expansion module you need to use the AXIS_ADDRESS command to map the axis number and the axis mapping also needs to pay attention to the axis number of the entire system cannot be repeated The mapping syntax of the EIO series extended ax...

Страница 29: ...ts 6011h 1 800h and so on add 800h for each drive and the same for other parameters 5 1 Input Output Number Description Type Read write Others 6000h Input ARRAY U8 RO 1 close 6200h Output ARRAY U8 RW 1 open 6206h Abnormal output mode ARRAY U8 RW 1 use abnormally output 6207h Abnormal output usage status ARRAY U8 RW 5 2 The First Drive on The First Expansion Module Number Description Type Read writ...

Страница 30: ...0 origin electrical level B1 limit position level B8 automatic use enable signal B9 use ALM signal to alarm B11 B15 origin selection signal 6014h Axisstatus UNSIGNED32 RO See controller introduction AXISSTATUS 6040h Controlword UNSIGNED16 RW Relative master controller DRIVE_CONTROLWORD B0 Switch on B1 Enable voltage B3 Enable operation B7 Fault reset 6041h Statusword UNSIGNED16 RO Relative master ...

Страница 31: ...g B8 EZ status B9 Remote B10 Target reached B11 Internal limit active B12 13 Operation mode specific B14 EA status B15 EB status 6060h Modes of operation INTEGER 8 RW 6 home the origin port 8 cycle location 607Eh Polarity INTEGER 8 RW 1 opposite direction 0 normal direction 60fDh Drive input compatibility UNSIGNED 32 RW ...

Страница 32: ...le 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 supply Check whether the voltage is rated DC 24 V 10 10 surroundings Whether the ambient temperature is within the specified range when installed in the cabinet the temperature inside the cabinet is the...

Страница 33: ...ening 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 is correct 2 Check whether hardware position limit software position limit alarm signal work and whether axis states are normal 3 Check whether motor is enabled successfully 4 Confirm whether pulse...

Страница 34: ...e 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 adjustment 2 Check whether the ALM light flickers regularly hardware problem RUN led is ON ALM led is ON 1 Program running error please check ZDevelop error code and check application program Fail to c...

Страница 35: ...t 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 normally 5 Check whether the cable is good quality change one better cable to try again 6 Check whether controller IP conflicts with other devices 7 Check whether controller net port channel ETH are all occ...

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