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ZMC420SCAN 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 ZMC420SCAN

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: ...wer Input 11 3 1 1 Power Specification 11 3 2 RS485 CAN Communication Interface 12 3 2 1 RS485 CAN Communication Specification Wiring 12 3 2 2 Basic Usage Method 14 3 3 RS232 Serial Port 16 3 3 1 RS23...

Страница 6: ...7 3 12 DSCAN Galvanometer Axis Interface 39 3 12 1 DSCAN Interface Specification Wiring 40 3 12 Basic Usage Method 41 Chapter IV Expansion Module 43 4 1 CAN Bus Expansion 43 4 1 1 CAN Bus Expansion Wi...

Страница 7: ...ex continuous trajectory control requirements to achieve hybrid interpolation among galvanometer axis bus axis and pulse axis ZMC4 series high performance multi axis motion controllers can be applied...

Страница 8: ...p to 20 axes linear interpolation arbitrary circular interpolation helical interpolation and spline interpolation Support hybrid interpolation among pulse axis bus axis galvanometer axis SCAN Support...

Страница 9: ...er Hardware Manual V1 5 1 3 System Frame 1 4 Hardware Installment The ZMC420SCAN motion controller is installed horizontally with screws and each controller should be fastened with 4 screws Unit mm Mo...

Страница 10: ...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 11: ...ts and 4096 outputs PWM 12 Internal AD DA 2 general ADs and 2 general DAs 0 10V Max extended AD DA 1000 ADs and 1000 DAs Pulse Bits 64 Encoder Bits 64 Speed Acceleration bits 64 Max pulse frequency 10...

Страница 12: ...ontinuous trajectory motion robot instructions 2 3 Interface Definition Interface Description Mark Interface Number Description POW The led that indicates the current state 1 Power state it lights whe...

Страница 13: ...upply 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 Digital IO input port 24 Leakage type the power...

Страница 14: ...ve 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...

Страница 15: ...be 3 81mm This 3Pin terminal is the power supply of the controller Terminal Definition Terminal Name Type Function EARTH Grounding Case protection EGND Input Negative terminal of DC power input conne...

Страница 16: ...differential data 3 2 1 RS485 CAN Communication Specification Wiring The RS485 serial port supports the MODBUS_RTU protocol and custom communication mainly including 485A 485B and public end The CAN i...

Страница 17: ...arties together Connect the CANL and CANH of the standard CAN module to the CANL and CANH of the other side correspondingly And public ends of the CAN bus communication both parties are connected toge...

Страница 18: ...ing layer is 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 th...

Страница 19: ...tively and refer to the ZBasic Programming Manual for details 5 According to their respectively instructions correctly set the relevant parameters of the third party equipment to match the parameters...

Страница 20: ...2 signal send data 5 EGND Output Negative pole output of 5V power and output for the public end 9 E5V Output Positive pole output of 5V power maximum is 300mA 3 3 1 RS232 Communication Interface Speci...

Страница 21: ...cross line when connecting to a computer 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 envir...

Страница 22: ...figured parameters see ZBasic Programming Manual for details 4 According to their respectively instructions correctly set the relevant parameters of the third party equipment to match the parameters o...

Страница 23: ...5 EZ7 IN6 Input 6 EA8 IN7 Input 7 EB8 EGND External power ground EGND IN8 NPN leakage type high speed input Input 8 EZ8 IN9 Input 9 EA9 IN10 Input 10 EB9 IN11 Input 11 EZ9 IN12 NPN leakage type low s...

Страница 24: ...y low electric level Frequency 100kHz 5kHz Impedance 3 3K 4 7K Voltage level DC24V DC24V The voltage to open 15V 14 5V The voltage to close 15 1V 14 7V Minimal current 2 3mA negative 1 8mA negative Ma...

Страница 25: ...r are in the same power supply system this connection also can be omitted 3 4 2 Basic Usage Method 1 Please follow the above wiring instructions to wiring correctly 2 After powered on please select an...

Страница 26: ...on output PUL6 OUT1 Output 1 PWM1 DIR6 OUT2 Output 2 PWM2 PUL7 EGND External power ground OUT3 NPN leakage high speed output Output 3 PWM3 Hardware comparison output DIR7 OUT4 Output 4 PWM4 PUL8 OUT5...

Страница 27: ...n ATYPE 0 3 5 1 Digital Output Specification Wiring Specification Item High Speed Output OUT0 11 Low Speed Output mode NPN leakage type it is 0V when outputs Frequency 400kHz 8kHz Voltage level DC24V...

Страница 28: ...vice If the DC power supply of the external device and the controller power supply are in the same power supply system this connection can also be omitted The E5V port is a 5V power output port which...

Страница 29: ...lease refer to ZBasic for details 3 6 AD DA Analog Input Output The analog port adopts a set of 5Pin screw type pluggable terminals with a spacing of 3 81mm Terminal Definition Terminal Name Type Func...

Страница 30: ...ce output load 40K voltage input impedance 1K voltage output load Wiring Reference Wiring Note The analog input output wiring method is as shown in the figure above and the external load signal range...

Страница 31: ...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 ZDevelop View AD DA Please refer to ZBasic for deta...

Страница 32: ...20SCAN bus galvanometer 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 T...

Страница 33: ...er devices then multi point connection can be achieved The schematic diagram is as follows 3 9 RTEX Bus Interface ZMC420SCAN bus galvanometer motion controller has 2 100M RTEX communication interface...

Страница 34: ...ration to adjust For example the firmware is with 0 5ms corresponding drive parameters 7 20 RTEX Communication Period 3 0 5ms 7 21 RTEX Instruction Update Period 1 0 5ms Wiring Reference Two cables ar...

Страница 35: ...rs are automatically numbered starting from 0 in connection order the same as the EtherCAT bus numbering convention See the configuration diagram below for the wiring method of RTEX 3 10 EtherCAT Bus...

Страница 36: ...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 37: ...pre insulated terminals and cables with appropriate wire diameters to connect the user terminals 3 11 AXIS Differential Pulse Axis Interface This product provides 4 local differential pulse axis inte...

Страница 38: ...signal A 18 EB Encoder differential input signal B 19 EZ Encoder differential input signal Z 20 GND Negative pole of 5V power of pulse encoder signal 21 GND Negative pole of 5V power of pulse encoder...

Страница 39: ...t 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 10 7V Minimal current 1 8mA neg...

Страница 40: ...ZMC420SCAN Motion Controller Hardware Manual V1 5 Wiring Reference Reference example of wiring with Panasonic A5 A6 servo driver...

Страница 41: ...llow the above wiring instructions to wiring correctly 2 After powered on please use any one interface among the three interfaces ETHERNET RS232 default parameter it can be connected directly and RS48...

Страница 42: ...ZMC420SCAN Motion Controller Hardware Manual V1 5 5 Control corresponding motion through View Manual Refer to BASIC Routine...

Страница 43: ...ter axes and each interface is a double row standard DB15 female seat ZMC420SCAN supports the XY2 100 galvanometer protocol the refresh period is 10us 50us and supports motion control and galvanometer...

Страница 44: ...e first galvanometer through ATYPE 21 the local axis number 6 7 can be configured as the second galvanometer through ATYPE 21 and the axis number can be changed through the AXIS_ADDRESS 3 12 1 DSCAN I...

Страница 45: ...ke sure the shielding layer is fully grounded 3 12 Basic Usage Method 1 Please wiring correctly according to above wiring description 2 Please select one interface among EtherNET RS232 default paramet...

Страница 46: ...ew Manual relative motions can be operated and controller Refer to BASIC routine BASE 4 5 select axis Scan 0 relates to axis 4 and axis 5 ATYPE 21 21 select axis 4 and axis 5 as galvanometer axes type...

Страница 47: ...d 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 n...

Страница 48: ...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 49: ...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 50: ...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 51: ...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 52: ...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 53: ...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 need to develop again It only needs to m...

Страница 54: ...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 55: ...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 56: ...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 57: ...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 58: ...ZMC420SCAN 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 59: ...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 60: ...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 61: ...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 62: ...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 63: ...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 64: ...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 65: ...on 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 po...

Страница 66: ...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 controll...

Страница 67: ...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 68: ...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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