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ZMC408CE Motion Controller Hardware Manual V1.5

3.7.

EtherCAT Bus Interface

ZMC408CE 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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Содержание ZMC408CE

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: ...Communication Interface 11 3 1 1 Power Specification 11 3 1 2 CAN Communication Specification Wiring 11 3 1 3 Basic Usage Method 13 3 2 IN Digital Input High Speed Latch Port 14 3 2 1 Digital Input S...

Страница 6: ...ification Wiring 36 3 9 2 Basic Usage Method 38 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 E...

Страница 7: ...ed in robots SCARA Delta 6 joints electronic semiconductor equipment testing equipment assembly equipment locking equipment soldering machine dispensing equipment non standard equipment printing and p...

Страница 8: ...r interpolation helical interpolation Support electronic cam electronic gear position latch synchronous follow virtual axis and other functions Support 8 channel PWM output Support hardware comparison...

Страница 9: ...er Hardware Manual V1 5 1 3 System Frame 1 4 Hardware Installment The ZMC408CE motion controller is installed horizontally with screws and each controller should be fastened with 4 screws Unit mm Moun...

Страница 10: ...Avoid direct sunlight installation In order to facilitate ventilation and controller replacement 2 3cm should be left between the upper and lower parts of the controller and the installation environm...

Страница 11: ...s 2 additional inputs and 2 additional outputs Max Extended IO 4096 AD DA 2 AD inputs 0 10V 2 DA outputs 0 10V Max Extended AD DA 512 ADs and 512 DAs Pulse Bit 64 Encoder Bit 64 Speed and Acceleration...

Страница 12: ...trajectory motion robot structure ZMC408CE 16 16 axes point to point linear circular electronic cam continuous trajectory motion robot structure 2 3 Interface Definition Interface Description Mark In...

Страница 13: ...1 Insert U disk equipment E 24V Main power supply 1 24V DC power it supplies the power for controller CAN CAN bus interface 1 Connect CAN expansion modules and CAN equipment of other standards IN Dig...

Страница 14: ...n 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 install 9Hz Directi...

Страница 15: ...nal Definition Terminal Name Type Function EGND Input Negative terminal of power input CANL Input output CAN communication L EARTH Earthing Protect CANH Input output CAN communication H E 24V Input Po...

Страница 16: ...nce The longer communication distance is the lower communication rate is and maximum of 100m is recommended Wiring Reference Connect the CANL and CANH of the standard CAN module to the CANL and CANH o...

Страница 17: ...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 more than 20cm It should be noted that the equipm...

Страница 18: ...After all the settings are completed restart the power supply of all stations to establish communication 6 Note that the speed settings of each node on the CAN bus must be consistent and the address...

Страница 19: ...eed input Input 8 IN9 Input 9 IN10 Input 10 IN11 Input 11 IN12 Input 12 IN13 Input 13 IN14 Input 14 IN15 Input 15 IN16 NPN leakage type low speed input Input 16 IN17 Input 17 IN18 Input 18 IN19 Input...

Страница 20: ...IN 4 23 is shown in the figure above The external signal source can be an optocoupler a key switch or a sensor etc all can be connected as long as the requirements on output of electric level can be...

Страница 21: ...re Please refer to ZBasic for details 3 3 OUT Digital Output PWM Terminal The digital output adopts 2 sets of screw type pluggable terminals with a spacing of 3 81mm and the PWM and hardware compariso...

Страница 22: ...power output port is used for PWM or common anode wiring of single ended axis It is not recommended for other purposes due to lower power E24V is freewheeling cramp port when there is the inductive l...

Страница 23: ...low speed output it is recommended to set below 8KHz For more higher speed please contact us to adjust parameters or custom hardware Wiring Reference Wiring Note The wiring principle of high speed di...

Страница 24: ...wered on please use ETHERNET or RS232 to connect to ZDevelop 3 Open or close output port directly through OP command also it can be opened or closed through ZDevelop View Op Please refer to ZBasic for...

Страница 25: ...terminal AIN 1 3 4 1 AD DA Analog Input Output Specification Wiring Specification Item AD 0 1 DA 0 1 Resolution 12 bit 12 bit Data range 0 4095 0 4095 Signal range 0 10V input 0 10V output Data refre...

Страница 26: ...RS232 o connect to ZDevelop 3 Analog input voltage can be read through AIN command and corresponding analog voltage can be output through AOUT command also data of each channel can be checked through...

Страница 27: ...of 5V power maximum is 300mA 3 5 1 RS232 RS485 Communication Interface Specification Wiring Specification Item RS232 port0 RS485 port1 Maximum Communication Rate 115200bps 115200bps Terminal Resistor...

Страница 28: ...ve it is the daisy chain topology is used for wiring 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 Plea...

Страница 29: ...onnect to ZDevelop 3 Please use the ADDRESS and SETCOM commands to set and view the protocol station number and configured parameters see ZBasic Programming Manual for details 4 According to their res...

Страница 30: ...finition is as follows The Ethernet port of the controller can be connected to a computer HMI etc through an Ethernet cable and using point to point connection method The schematic diagram is as follo...

Страница 31: ...V1 5 3 7 EtherCAT Bus Interface ZMC408CE motion controller has a 100M EtherCAT communication interface and it supports EtherCAT protocol In addition EtherCAT driver or EtherCAT expansion module can be...

Страница 32: ...ss 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 Re...

Страница 33: ...ated terminals and cables with appropriate wire diameters to connect the user terminals 3 8 AXIS Differential Pulse Axis Interface This product provides 8 local differential pulse axis interfaces each...

Страница 34: ...ecommended to do position arrival signal 17 EA Encoder differential input signal A 18 EB Encoder differential input signal B 19 EZ Encoder differential input signal Z 20 GND Negative pole of 5V power...

Страница 35: ...low electric level is input Frequency 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 Isolatio...

Страница 36: ...ion Controller Hardware 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 diff...

Страница 37: ...his time the GND must be connected to the GND of the driver The encoders of most drives are not isolated by optocoupler When connecting the encoder GND must be connected 3 8 2 Basic Usage Method 1 Ple...

Страница 38: ...ZMC408CE Motion Controller Hardware Manual V1 5 5 Control corresponding motion through View Manual Refer to BASIC Routine...

Страница 39: ...3 9 MPG Handwheel Interface This product provides a special interface for the local handwheel encoder axis which is a double row standard DB15 female seat Interface Definition Interface PIN Signal De...

Страница 40: ...eel Interface Specification Wiring Specification Item IN 40 51 Mode input NPN leakage it is triggered when low electric inputs Frequency input 5kHz is recommended Impedance input 510 Max voltage input...

Страница 41: ...5 Wiring Note The wiring principle of handwheel encoder axis interface is shown above please connect carefully due to diversified handwheel designs Please use STP especially in bad environments and ma...

Страница 42: ...target axis number 6 set this new axis interface as required axis type such as 3 or 6 4 Configure IO assign axis selection HSX HSY HSZ HSU and ratio HX1 HX10 HX100 and emergency stop HEMGN functions a...

Страница 43: ...n 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 8 of other modules 4 1 1 CAN Bus Expansion Wir...

Страница 44: ...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 module...

Страница 45: ...s 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 a...

Страница 46: ...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 OPs then the starting address set by the first...

Страница 47: ...he 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 End...

Страница 48: ...can 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...

Страница 49: ...r of expansion axes of the controller and 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 nee...

Страница 50: ...lot It starts from 0 and is automatically numbered according to the connection sequence of the devices on the bus You can view the total number of devices connected to the bus through the NODE_COUNT s...

Страница 51: ...iobase mapping the IO start number the setting result will only 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 conf...

Страница 52: ...0 1 the first drive on the 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 EI...

Страница 53: ...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 54: ...ZMC408CE Motion Controller Hardware 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 55: ...t 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 connec...

Страница 56: ...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 wil...

Страница 57: ...rrent 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...

Страница 58: ...ndows 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...

Страница 59: ...n 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 proje...

Страница 60: ...ion 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 co...

Страница 61: ...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 su...

Страница 62: ...ning 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 controlle...

Страница 63: ...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 a...

Страница 64: ...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 normall...

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