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ZMC408SCAN Motion Controller Hardware 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

Both ETHERNET communication interface and EtherCAT communication interface

adopt 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:

Item

Specification

Cable type

Flexible crossover cable, Category 5e

traverse

twisted pair

Line pairs

Содержание ZMC408SCAN

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: ...pecification 12 3 1 2 CAN Communication Specification Wiring 13 3 1 3 Basic Usage Method 15 3 2 IN Digital Input High Speed Latch Port 16 3 2 1 Digital Input Specification Wiring 17 3 2 2 Basic Usage...

Страница 6: ...ic Usage Method 44 Chapter V LASER Interface 45 5 1 LASER Interface Specification Wiring 46 5 2 Basic Usage Method 50 Chapter VI EXIO Expansion IO 52 6 1 EXIO Expansion IO Interface Description 52 6 2...

Страница 7: ...ZMC408SCAN Motion Controller Hardware Manual V1 5 Chapter VIIII Run and Maintain 81 9 1 Regular Inspection and Maintenance 81 9 2 Common Problems 82...

Страница 8: ...ocol One Computer can link with up to 256 ZMC controllers The laser galvanometer motion controller supports the galvanometer protocol of XY2 100 and the controller has a SCAN galvanometer interface an...

Страница 9: ...oltage type analog inputs input measuring range is 0 10V 2 SCAN galvanometer interfaces support XY2 100 protocol and galvanometer feedback 1 LASER interface for controlling laser power which supports...

Страница 10: ...er Hardware Manual V1 5 1 3 System Frame 1 4 Hardware Installment The ZMC408SCAN motion controller is installed horizontally with screws and each controller should be fastened with 4 screws Unit mm Mo...

Страница 11: ...d 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 environ...

Страница 12: ...s terminal which can do alarm enable on position clear error etc Max extended IOs Up to 4096 inputs and 4096 outputs PWM 8 general digital outputs OUT0 OUT7 2 specialized laser interface OUT8 and OUT9...

Страница 13: ...ber 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 incorrec...

Страница 14: ...ply There are 10 high speed inputs and IN0 3 have the latch function OUT Digital IO output port 20 Leakage type the power is supplied by internal 24V power supply There are 8 high speed outputs OUT0 7...

Страница 15: ...3 Work Environment Item Parameters Work Temperature 20 60 Work relative Humidity 10 95 non condensing Storage Temperature 40 80 not frozen Storage Humidity Below 90 RH no frost Vibration Below 4 9m s...

Страница 16: ...inal is shared by controller power and CAN communication Terminal Definition Terminal Name Type Function EGND Input Negative terminal of DC power input connect negative of power to negative of control...

Страница 17: ...ation Rate bps 1Mbps Terminal Resistor 120 Topological Structure Daisy Chain Topology The number of nodes can be extended Up to 16 Communication Distance The longer communication distance is the lower...

Страница 18: ...e to connect the public ends of each node on the CAN bus to prevent the CAN chip from burning out Please use STP Shielded Twisted Pair especially in bad environments and make sure the shielding layer...

Страница 19: ...le or disable the internal CAN master function or through ZDevelop Controller State the Controller Communication Info to view the CAN status intuitively and refer to the ZBasic Programming Manual for...

Страница 20: ...h function is integrated in digital input signal Terminal Definition Terminal Name Type Function 1 Function 2 IN0 NPN leakage type high speed input Input 0 High Speed Latch IN1 Input 1 IN2 Input 2 IN3...

Страница 21: ...5V The voltage to close 15 1V 14 7V Minimal current 2 3mA negative 1 8mA negative Max current 7 5mA negative 6mA negative Isolation mode optoelectronic isolation Note the above parameters are standar...

Страница 22: ...his connection also can be omitted 3 2 2 Basic Usage Method 1 Please follow the above wiring instructions to wiring correctly 2 After powered on please select any one interface among the three interfa...

Страница 23: ...Function 2 Function 3 E24V Output freewheeling clamp port E5V External 5V power output max is 300mA OUT0 NPN Leakage type high speed output Output 0 PWM 0 Hardware Comparison Output OUT1 Output 1 PWM...

Страница 24: ...1 Digital Output Specification Wiring Specification Item High Speed Output OUT0 7 Low Speed Output OUT10 19 34 35 Output mode NPN leakage type it is 0V when outputs Frequency 400kHz 8kHz Voltage level...

Страница 25: ...wer 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 controller power supply are in the same power supply system th...

Страница 26: ...THERNET RS232 and RS485 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 details 4 The...

Страница 27: ...Input Analog input terminal AIN 0 AD1 Analog input terminal AIN 1 AGND Public End Public end of this analog DA0 Output Analog output terminal AOUT 0 DA1 Analog output terminal AOUT 1 3 4 1 AD DA Analo...

Страница 28: ...ully grounded Cable Requirements Shielded Twisted Pair and the shielded cable is grounded 3 4 2 Basic Usage Method 1 Please follow the above wiring instructions to wiring correctly 2 After powered on...

Страница 29: ...on Interface Definition Terminal PIN Name Type Function 1 6 8 NC Spare Reserved 2 232RXD Input RS232 port 0 signal receive data 3 232TXD Output RS232 port 0 signal send data 4 485A Input Output RS485...

Страница 30: ...00bps 115200bps Terminal Resistor No No Topology Structure Connect correspondingly 1 to 1 Daisy chain structure The number of nodes can be extended 1 127 Communication Distance The Longer communicatio...

Страница 31: ...n be used Please be sure to connect the public ends of each communication node to prevent the communication chip from burning out Please use STP especially in bad environments and make sure the shield...

Страница 32: ...party equipment 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 S...

Страница 33: ...RNET ZMC408SCAN motion controller has a 100M network port and it supports MODBUS_TCP protocol and custom communication the default IP address is 192 168 0 11 The pin definition is as follows The Ether...

Страница 34: ...nger to connect to other devices then multi point connection can be achieved The schematic diagram is as follows 3 8 EtherCAT Bus Interface ZMC408SCAN motion controller has a 100M EtherCAT communicati...

Страница 35: ...ess 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 R...

Страница 36: ...module in a horizontal direction Please use tube type pre insulated terminals and cables with appropriate wire diameters to connect the user terminals EtherNet Indication Led Definition Indication Le...

Страница 37: ...signal 14 OVCC Positive pole of IO 24V power 15 OUT24 27 CLR Digital output recommended as drive alarm clearing 16 IN28 31 INP Digital input recommended as on position signal 17 EA Encoder differenti...

Страница 38: ...mum frequency 5MHz IN24 31 Input method NPN leak type it is triggered when low electric level is input Frequency 5kHz Impedance 6 8K Voltage level DC24V The voltage to open 10 5V The voltage to close...

Страница 39: ...ed 3 9 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 default paramete...

Страница 40: ...ZMC408SCAN Motion Controller Hardware Manual V1 5 5 Control corresponding motion through View Manual Refer to BASIC Routine...

Страница 41: ...e 3 10 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...

Страница 42: ...wheel Interface Specification Wiring Specification Item IN 32 43 Mode input NPN leakage it is triggered when low electric inputs Frequency input 5kHz is recommended Impedance input 510 Max voltage inp...

Страница 43: ...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 m...

Страница 44: ...E 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...

Страница 45: ...rough the EtherCAT bus or pulse mode Then realize the synchronous control of laser output and movement Interface Definition Interface PIN Signals Description 1 Clk Clock signal 14 Clk Clock signal 2 S...

Страница 46: ...anometer 2 Under the default situation of 3D galvanometer one is only supported SCAN0 relates to Axis 4 Axis 5 and Axis 8 of 3D galvanometer 4 1 SCAN Galvanometer Interface Specification Wiring Specif...

Страница 47: ...otes Wiring principle of SCAN galvanometer axsi interface is above please use differential wiring standard and note signal specification should match each other Please use STP especially in bad enviro...

Страница 48: ...they are set and checked through relative instructions please see axis parameter and axis status in ZBasic Program Manual for details also can be viewed through ZDevelop View axis parameter 5 Through...

Страница 49: ...Description 1 4 14 LAGND LAGND Laser analog signal reference ground 2 3 13 NC Reserved 5 Guide Control OUT32 Red light control output pin 24V is valid 6 ACON OUT33 Reserve output pin 24V is valid 7 La...

Страница 50: ...and outputs in above form all support customization 2 AIN 2 and AOUT 2 are reserved signals but standard models don t have please select special mode when ordering if you need 5 1 LASER Interface Spec...

Страница 51: ...3 3k Input voltage level DC24V Voltage to ON 7 2V Voltage to OFF 7 1V Min input current 1 8mA Max input current 7 5mA AOUT 2 Resolution 16 bit Data range 0 65535 Signal range 0 10V Data refresh ratio...

Страница 52: ...ZMC408SCAN Motion Controller Hardware Manual V1 5 Wiring reference of terminal s 12 DA...

Страница 53: ...R laser interface is above except OUT8 and OUT9 other digital IOs can be customized 2 There are 2 wiring ways for lasers that need analog input Controller 12 DA interface can be used for not high reso...

Страница 54: ...M_FREQ PWM No frequency PWM_DUTY PWM No duty cycle Refer to BASIC routine BASE 4 5 select axis Scan 0 Scan 1 relates to axis 6 and axis 7 ATYPE 21 21 select axis 4 and axis 5 as galvanometer axes type...

Страница 55: ...d MoveScanAbs 150 150 move to 150 150 MoveOp_Delay 2 5 delay 2 5ms to switch off Move_Op 8 OFF switch off when laser OP8 In the motion command application field of galvanometer processing in the MOVES...

Страница 56: ...female socket The EXIO expansion IO interface can currently support the expansion of standard YAG FIBER and other laser types The expansion module is connected through the EXIO expansion interface an...

Страница 57: ...2 Expand IO12 56 42 17 EXIO_13 Expand IO13 60 46 18 EXIO_14 Expand IO14 62 48 19 EXIO_15 Expand IO15 63 49 20 EXIO_16 Expand IO16 50 36 21 EXIO_17 Expand IO17 52 38 22 EXIO_18 Expand IO18 54 40 23 EXI...

Страница 58: ...adapter board IO configuration instruction EXIO_DIR 0 FCBFE and IO configuration instruction EXIO_DIR 0 FFFFA 4 Waiting for configuring controller EXIO_ 0 19 ports to make digital inputs outputs occup...

Страница 59: ...D1 OUT37 EXIO_5 3 D2 Power set position D2 OUT38 EXIO_17 4 D3 Power set position D3 OUT39 EXIO_6 5 D4 Power set position D4 OUT40 EXIO_18 6 D5 Power set position D5 OUT41 EXIO_8 7 D6 Power set positi...

Страница 60: ...tus feedback input interface IN67 EXIO_0 22 RED LIAGHT Red light signal OUT48 EXIO_14 23 EMSTOP Emergency stop signal OUT49 EXIO_15 24 25 NC Reserved Specification Item IN 66 68 Item OUT 8 9 36 43 46...

Страница 61: ...follows the logic of EXIO port that is to be mapped 2 Initial logic is 0 after EXIO port is configured as output namely initial logic of OUT corresponding to above also is 0 and the output voltage is...

Страница 62: ...m 0 255 to correspond to the laser power of 0 100 The value of DA 3 also corresponds to the state of the output ports OUT36 OUT43 bit by bit 3 Turn on the laser call the command MOVE_OP to operate OUT...

Страница 63: ...e 2 SCH 1 Work status 1 OUT8 EXIO_9 3 SCH 2 Work status 2 OUT41 EXIO_8 4 SCH 4 Work status 4 OUT47 EXIO_7 5 SCH 8 Work status 8 OUT39 EXIO_6 6 SCH 16 Work status 16 OUT37 EXIO_5 7 EGND External supply...

Страница 64: ...D External supply power 24V negative 25 E24V External supply power 24V positive Specification Item IN 56 60 66 68 Item OUT 8 9 37 39 41 43 47 50 51 52 54 OUT 53 Input method Leakage type it is trigger...

Страница 65: ...al V1 5 current Isolation Optoelectrical isolation E24V max output current 50mA Attention OUT53 is different from other OUTs and it uses high speed optocoupler isolation which means it allows higher c...

Страница 66: ...r type setting call the command EXIO_DIR 0 FCBFE to set the EXIO laser type to YAG type 2 Laser work state setting call the command MOVE_OP to operate OUT53 and set laser to external control mode Call...

Страница 67: ...ed 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 do...

Страница 68: ...n 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 modu...

Страница 69: ...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 expansion module according to the CAN DIP...

Страница 70: ...gest 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...

Страница 71: ...iples 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 1...

Страница 72: ...irtual 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...

Страница 73: ...and in this way it supports IO remote expansion 7 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 m...

Страница 74: ...on 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 driv...

Страница 75: ...e 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 correspondi...

Страница 76: ...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 driv...

Страница 77: ...he 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 a...

Страница 78: ...ZMC408SCAN 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 79: ...lt 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 conne...

Страница 80: ...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 wi...

Страница 81: ...urrent 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 82: ...indows 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 83: ...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 proj...

Страница 84: ...tion 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 c...

Страница 85: ...ion cycle 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 p...

Страница 86: ...ening Whether the cable is damaged aged cracked The cable must not have any abnormal appearance 9 2 Common Problems Problems Suggestions Motor does not rotate 1 Check whether the ATYPE of the controll...

Страница 87: ...he 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 88: ...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 normal...

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