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ZMC303 Motion Controller User Manual V1.5

runs with task 0, and the task number has no priority.

⚫

If no task number is set for the files in the entire project, when downloading to the

controller, the system prompts the following message WARN: no program set autorun

5.2.

PC Upper-Computer Program Application

The controller supports development under various operating systems such as

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 Function Library Programming Manual".

The program developed using the PC software cannot be downloaded to the

controller, and it is connected to the controller through the dll dynamic library. The dll

library needs to be added to the header file and declared during development.

The c++ project development process in VS is as follows:

Step

Operations

Display Interface

Open VS, click

“File” –

“New” –

“Project”.

Содержание ZMC303

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: ...ion 12 3 1 Power Input 12 3 1 1 Power Specification 12 3 2 RS485 RS422 CAN Communication Interfaces 13 3 2 1 RS485 RS422 CAN Communication Specification Wiring 13 3 2 2 Basic Usage Method 16 3 3 RS232...

Страница 6: ...3 9 1 AXIS Interface Signal Specification Wiring 32 3 9 2 Basic Usage Method 35 Chapter IV Expansion Module 37 4 1 CAN Bus Expansion Wiring 37 4 2 CAN Bus Expansion Resource Mapping 39 Chapter V Progr...

Страница 7: ...equipment testing equipment assembly equipment locking equipment soldering machine dispensing equipment non standard equipment printing and packaging equipment textile and garment equipment stage ente...

Страница 8: ...ar position latch synchronous follow virtual axis and other functions Support pulse closed loop pitch compensation and other functions Support multi file and multi task programming in ZBasic A variety...

Страница 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...

Страница 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...

Страница 11: ...are 3 inputs and 3 outputs in total in the 3 AXIS interfaces Max Extended IO 512 inputs 512 outputs PWM 2 AD DA 2 general ADs and 2 general DAs 0 10V Max Extended AD DA 128 ADs 64 DAs Pulse Bit 32 Enc...

Страница 12: ...int to point linear circular electronic cam continuous trajectory motion robot structure ZMC303 1 3 axes point to point electronic cam ZMC303 2 3 axes point to point linear electronic cam Note all mod...

Страница 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...

Страница 14: ...t 24 3 NPN type the power is supplied by internal 24V power supply There are 2 high speed inputs and IN0 1 have the latch function IN0 2 have encoder function OUT Digital IO output port 8 3 NPN Leakag...

Страница 15: ...ZMC303 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 16: ...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 connect positive of power to p...

Страница 17: ...CANL CAN differential data CANH CAN differential data EGND External power supply ground 422TX RS422 send 422TX RS422 send 422RX RS422 receive 422RX RS422 receive 3 2 1 RS485 RS422 CAN Communication Sp...

Страница 18: ...ion Distance The longer communication distance is the lower communication rate is and maximum of 100m is recommended Wiring Reference Connect 485A and 485B of RS485 to 485A and 485B of the controller...

Страница 19: ...oint to point connection the star topology structure cannot be used When the use environment is ideal and there are no many nodes the branch structure also can be used Please connect a 120 terminal re...

Страница 20: ...unded 3 2 2 Basic Usage Method 1 Please follow the above wiring instructions to wiring correctly 2 After powered on please use any one interface among the three interfaces ETHERNET RS232 RS485 to conn...

Страница 21: ...to the manual of the slave station 7 After all the settings are completed restart the power supply of all stations to establish communication 8 Note that the speed settings of each node on the CAN bu...

Страница 22: ...for the public end 9 E5V Output Positive pole output of 5V power maximum is 300mA 3 3 1 RS232 Communication Interface Specification Wiring Specification Item RS232 port 0 Maximum Communication Rate b...

Страница 23: ...ion chip from burning out 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...

Страница 24: ...to match the parameters of each node 5 When all is configured it can start to do communicating 6 Communication data of RS232 RS485 can be directly viewed through ZDevelop Controller State the Controll...

Страница 25: ...type low speed input Input 2 EZ4 IN3 Input 3 IN4 Input 4 IN5 Input 5 IN6 Input 6 IN7 Input 7 EGND External power ground EGND IN8 NPN type low speed input Input 8 IN9 Input 9 IN10 Input 10 IN11 Input...

Страница 26: ...t IN0 1 Low Speed Input IN2 23 Input mode NPN type input is triggered when there is low electric level Frequency 100kHz 5kHz Impedance 3 3K 4 7K Voltage level DC24V DC24V The voltage to open 15V 14 5V...

Страница 27: ...al area power supply of the external device and the power supply of the controller are in the same power supply system this connection also can be omitted 3 4 2 Basic Usage Method 1 Please follow the...

Страница 28: ...pe high speed output Output 0 PWM 0 OUT1 Output 1 PWM 1 OUT2 NPN Leakage type low speed output Output 2 OUT3 Output 3 OUT4 Output 4 OUT5 Output 5 OUT6 Output 6 OUT7 Output 7 Note The E5V power output...

Страница 29: ...ve 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 circuit and the output frequency should not...

Страница 30: ...al 5V power input the maximum current is 300mA 3 5 2 Basic Usage Method 1 Please follow the above wiring instructions to wiring correctly 2 After powered on please use any one interface among the thre...

Страница 31: ...AD0 Input Analog input terminal AIN 0 AD1 Analog input terminal AIN 1 ADGND Public end Public end of this analog 3 6 1 Analog Output Specification Wiring Specification Item AD 0 1 DA 0 1 Resolution 1...

Страница 32: ...ments Shielded Twisted Pair and the shielded cable is grounded 3 6 2 Basic Usage Method 1 Please follow the above wiring instructions to wiring correctly 2 After powered on please use any one interfac...

Страница 33: ...ta importing and exporting file 3 executing etc Its schematic diagram is shown in the figure below Specification Item USB2 0 Highest Communication Ratio 12Mbps Max Output Current of 5V 500mA Whether I...

Страница 34: ...r through an Ethernet cable and then use interchanger to connect to other devices then multi point connection can be achieved The schematic diagram is as follows Communication Cable Requirements Both...

Страница 35: ...erface 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 pul...

Страница 36: ...signal 10 DIR Servo stepper directional output differential signal 11 5V Positive pole of 5V power of pulse encoder signal 12 EA Encoder differential input signal A 13 EB Encoder differential input s...

Страница 37: ...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 OUT8 10 Output method NPN leak type it i...

Страница 38: ...inciple 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 Please use STP especially in b...

Страница 39: ...ected directly and RS485 default parameters it can be connected directly but for hardware adapter head is needed to connect to ZDevelop 3 Set axis parameters such as ATYPE UNITS SPEED ACCEL FWD_IN REV...

Страница 40: ...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 41: ...onnected 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 plea...

Страница 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...

Страница 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...

Страница 44: ...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 45: ...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...

Страница 46: ...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...

Страница 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...

Страница 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...

Страница 49: ...ZMC303 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 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 56: ...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...

Страница 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...

Страница 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...

Страница 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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