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ZMC212BE Motion Controller User Manual V1.5

Example:

AXIS_ADDRESS(0)=(0<<16)+0+1

'the first drive on the EtherCAT bus, drive No. 0 is bound as axis 0

AXIS_ADDRESS(1)=(0<<16)+1+1

'the second drive on the EtherCAT bus, drive No. 1 is bound as axis 1

If the first node is EIO16084, and EIO16084 is connected to drive, then driver 0 here

is the first pulse driver connected to EIO16084, otherwise it is the EtherCAT driver.

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Содержание ZMC212BE

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: ...1 Power Input 11 3 1 1 Power Specification 11 3 1 2 CAN Communication Specification Wiring 11 3 1 3 Basic Usage Method 13 3 2 RS232 Serial Port 14 3 2 1 RS232 Communication Specification Wiring 15 3...

Страница 6: ...3 11 1 AXIS Interface Signal Specification Wiring 34 3 11 2 Basic Usage 36 Chapter IV Expansion Module 38 4 1 CAN Bus Expansion 38 4 1 1 CAN Bus Expansion Wiring 38 4 1 2 CAN Bus Expansion Resource Ma...

Страница 7: ...achine dispensing equipment non standard equipment printing and packaging equipment textile and garment equipment stage entertainment equipment medical equipment assembly line etc 1 2 Function Feature...

Страница 8: ...tion of 16 axes at most Support electronic cam electronic gear position latch synchronous follow virtual axis etc Support pulse closed loop pitch compensation and other functions Multi file and multi...

Страница 9: ...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 th...

Страница 10: ...l V1 5 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 iron powde...

Страница 11: ...IO 24 inputs 8 outputs Max Extended IO 4096 inputs 4096 outputs AD DA 2 general ADs 0 10V 2 general DAs 0 10V Max Extended AD DA 512ADs 512 DAs Pulse Bit 32 Encoder Bit 32 Speed Acceleration Bit 32 P...

Страница 12: ...tion Mark Interface Number Description IO POW Status Indication Light 1 IO power indicator it lights when IO power is conducted POW 1 Power indicator it lights when power is conducted RUN 1 Run indica...

Страница 13: ...1 24V DC power supplies for controller CAN CAN bus interface 1 Connect to CAN expansion module or controller IN Digital IO input 24 NPN type internal 24V supply power IN0 1 have the latch function OUT...

Страница 14: ...ZMC212BE Motion Controller User Manual V1 5 Acceleration 1g directly install 9Hz Direction 3 axial direction Shock collide 15g 11ms half sinusoid 3 axial direction Degree of Protection IP20...

Страница 15: ...EGND Input Main power CAN public end CANL Input output CAN differential data EARTH Connect to ground Case Protection Ground CANH Input output CAN differential data E 24V Input Main power 24V input 3...

Страница 16: ...n distance lower communication rate max 100m is recommended Wiring Reference Connect the CANL and CANH of the standard CAN module to the CANL and CANH of the other side correspondingly And public ends...

Страница 17: ...ly in harsh environments make sure the shielding layer is fully grounded On site wiring should also pay attention to the distance between strong current and weak current wiring it is recommended to be...

Страница 18: ...lave expansion module according to the manual of the slave station 5 After all the settings are completed restart the power supply of all stations to establish communication 6 Note that the speed sett...

Страница 19: ...32 Communication Specification Wiring Specification Item RS232 port 0 Max Communication Rate 115200 bps Terminal Resistor Topology Point to point one to one Nodes can be extended 1 Communication Dista...

Страница 20: ...n please use ETHERNET RS232 default parameter it can be connected directly and RS485 default parameter can be directly connected one adapter is needed for hardware to connect to ZDevelop 3 Please use...

Страница 21: ...m RS485 communication can be connected through the corresponding interface of this terminal Specification Terminal Name Function GND 485 communication public end B 485 A 485 3 3 1 RS485 Communication...

Страница 22: ...e daisy chain topology is used for wiring so the star topology cannot be used When the use environment is ideal and there are few nodes the branch structure can also be considered Please connect a 120...

Страница 23: ...for correct wiring 2 After power on please use ETHERNET RS232 or RS485 to connect to ZDevelop 3 Please use the ADDRESS and SETCOM commands to set and view the protocol station number and configuratio...

Страница 24: ...5 08mm and the latch function is integrated in digital signal inputs Wiring Definition Terminal Name Type Function 1 Function 2 EGND IO public end EGND IN0 NPN type general inputs Input 0 Latch IN1 In...

Страница 25: ...put 23 Note IN 0 and IN 1 both support latch function 3 4 1 Digital Input Specification Wiring Specification Item General input IN0 23 Input mode NPN leakage type triggered by low level Input frequenc...

Страница 26: ...y terminal to connect to the COM terminal of the external input device If the power supply of the signal area of the external device and the power supply of the controller are in the same power supply...

Страница 27: ...utput adopts a set of screw type pluggable terminals with a spacing of 5 08mm Wiring Definition Terminal Name Type Function 1 EGND IO public end NC Reserved OUT0 NPN leakage general outputs Output 0 O...

Страница 28: ...ill be more obviously affected by the external load circuit and the output frequency should not be set too high in the application Wiring Reference Wiring Note The wiring principle of general output O...

Страница 29: ...f the three interfaces ETHERNET 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 Plea...

Страница 30: ...6 1 Analog Input 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 1KHz Volt...

Страница 31: ...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...

Страница 32: ...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...

Страница 33: ...also be connected to 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 EtherC...

Страница 34: ...ansfer distance It is less than 100M between 2 nodes Process data Max 1486 bytes of single frame Synchronization shaking of two slave stations 1us Refresh 1000 digital inputs and outputs are about 30u...

Страница 35: ...rder 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 horiz...

Страница 36: ...signal B0 12 EB0 Encoder differential input signal B0 13 GND Encoder signal 5V power negative pole 14 EZ0 Encoder differential input signal Z0 15 EZ0 Encoder differential input signal Z0 16 5V Encoder...

Страница 37: ...f drivers so please connect with caution Please use twisted pair shielded wires especially in harsh environments Make sure the shielding layer is fully grounded 3 11 AXIS Differential Pulse Axis Inter...

Страница 38: ...differential signal 11 DIR0 Servo step directional output differential signal 12 DIR0 Servo step directional output differential signal 13 GND Pulse signal 5V power negative pole 14 15 16 5V Pulse si...

Страница 39: ...r 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 connect carefully Ple...

Страница 40: ...irectly and RS485 default parameter can be connected directly one adapter is needed for hardware to connect to ZDevelop 3 Set axis parameters such as ATYPE UNITS SPEED ACCEL FWD_IN REV_IN etc 4 There...

Страница 41: ...1000 pulses 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 prohib...

Страница 42: ...ZIO expansion module is powered by the dual power supply Except the main power supply an additional IO power supply is required to supply independent power for IO Both the main power supply and the IO...

Страница 43: ...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 CAN expansion module...

Страница 44: ...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 expansion module according to the CAN DIP add...

Страница 45: ...t 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...

Страница 46: ...es 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...

Страница 47: ...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...

Страница 48: ...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...

Страница 49: ...quence 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 No The controller will automatically identify the drive on the...

Страница 50: ...multiple of 8 Example NODE_IO 0 0 32 set the IO starting No 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...

Страница 51: ...therCAT bus drive No 0 is bound as axis 0 AXIS_ADDRESS 1 0 16 1 1 the second drive on the EtherCAT bus drive No 1 is bound as axis 1 If the first node is EIO16084 and EIO16084 is connected to drive th...

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: ...ZMC212BE 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...

Страница 54: ...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...

Страница 55: ...m 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...

Страница 56: ...ent 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 Wh...

Страница 57: ...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...

Страница 58: ...sic 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 6...

Страница 59: ...tion lib Related header files zauxdll2 h zmotion h 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 connec...

Страница 60: ...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 supp...

Страница 61: ...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...

Страница 62: ...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 adj...

Страница 63: ...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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