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ZMC432N Motion Controller User Manual V1.5

to Panasonic RTEX servo driver.

3.9.1.

RTEX Bus Interface Rule

→

Specification

Controller default firmware is configured 1ms period, which can be checked through

SERVO_PERIOD. Below shows corresponding drive parameters to configure:

7.20

RTEX Communication Period

6

1ms

7.21

RTEX Instruction Update Period

1

1ms

If controller firmware is customized, please refer to drive period configuration 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 are required for the RTEX bus, TX is the sending side and RX is the

receiving side. TX needs to be connected to RX, RX needs to be connected to TX, all

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Содержание ZMC432N

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 CAN Communication Interface 13 3 2 1 RS485 CAN Communication Specification Wiring 13 3 2 2 Basic Usage Method 16 3 3 RS232 Serial Port...

Страница 6: ...tial Pulse Axis Interface 31 3 10 1 AXIS Interface Signal Specification Wiring 33 3 10 2 Basic Usage Method 35 Chapter IV Expansion Module 38 4 1 CAN Bus Expansion Wiring 38 4 2 CAN Bus Expansion Reso...

Страница 7: ...andard equipment printing and packaging equipment textile and garment equipment stage entertainment equipment medical equipment assembly line etc 1 2 Function Features 32 axes motion control at most P...

Страница 8: ...Support pulse closed loop pitch compensation and other functions Support multi file and multi task programming in ZBasic A variety of program encryption methods to protect the intellectual property ri...

Страница 9: ...ual and safety precautions carefully before installation Before installation please ensure that the product is powered off Do not disassemble the module otherwise the machine may be damaged Avoid dire...

Страница 10: ...ient temperature exceeds the range of 10 C 55 C 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 condu...

Страница 11: ...puts 12 outputs Axis interface IO 6 pulse axes have 6 inputs and 6 outputs Max Extended IO 4096 inputs 4096 outputs PWM 4 AD DA 2 general DAs 0 10V Max Extended AD DA 1024 ADs 1024 DAs Pulse Bit 64 En...

Страница 12: ...to point linear circular electronic cam continuous trajectory motion robot structure ZMC432N 16 16 axes point to point linear circular electronic cam continuous trajectory motion robot structure ZMC43...

Страница 13: ...tes 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 RS232 RS232 serial port port0 1 Use...

Страница 14: ...IO input port 24 NPN type the power is supplied by internal 24V power supply There are 4 high speed inputs and IN0 3 have the latch function OUT Digital IO output port 12 NPN Leakage type the power is...

Страница 15: ...ZMC432N Motion Controller User Manual V1 5 Direction 3 axial direction Shock collide 15g 11ms half sinusoid 3 axial direction Degree of Protection IP20...

Страница 16: ...between E 24V and EGND should be 3 81mm This 3Pin terminal is the power supply of the controller When wiring please don t connect to all EGND signals together Terminal Definition Terminal Name Type F...

Страница 17: ...ential 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 interfa...

Страница 18: ...ies 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 togethe...

Страница 19: ...reflection Please be sure to connect the public ends of each node on the CAN bus RS485 to prevent the CAN RS485 chip from burning out Please use STP Shielded Twisted Pair especially in bad environmen...

Страница 20: ...master s address and speed according to the needs and use the CANIO_ENABLE command to enable or disable the internal CAN master function or through ZDevelop Controller State the Controller Communicat...

Страница 21: ...s MODBUS_RTU protocol and custom communication Interface Definition Terminal PIN Name Type Function 1 4 6 7 8 NC Spare Reserved 2 RXD Input RS232 signal receive data 3 TXD Output RS232 signal send dat...

Страница 22: ...o cross wiring for sending and receiving signals and it is recommended to use a double female head cross line when connecting to a computer Please be sure to connect the public ends of each communicat...

Страница 23: ...or hardware adapter head is needed to connect to ZDevelop 3 Please use the ADDRESS and SETCOM commands to set and view the protocol station number and configured parameters see ZBasic Programming Manu...

Страница 24: ...1 Function 2 EGND IO public end EGND IO public end IN0 NPN leakage type high speed input Input 0 High Speed Latch IN1 Input 1 IN2 Input 2 IN3 Input 3 IN4 NPN leakage type low speed input Input 4 IN5 I...

Страница 25: ...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 standard...

Страница 26: ...4 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 interfaces ETHERNET RS232 and RS485 to conne...

Страница 27: ...rdware Comparison Output OUT1 Output 1 PWM 1 OUT2 NPN Leakage type low speed output Output 2 PWM 2 OUT3 Output 3 PWM 3 OUT4 Output 4 OUT5 Output 5 OUT6 Output 6 OUT7 Output 7 EGND IO public end OUT8 N...

Страница 28: ...when off 25 A 25 A Respond time to conduct 1 s resistive load typical value 12 s Respond time to close 3 s 80 s Overcurrent protection Support Support Isolation method optoelectronic isolation Note Th...

Страница 29: ...can also be omitted The E5V port is a 5V power output port which can be used when some loads need to provide an external 5V power input the maximum current is 300mA Please wire according to wiring do...

Страница 30: ...nition Terminal Name Type Function NC Spare Reserved NC Reserved DA0 Output Analog output terminal AOUT 0 DA1 Analog output terminal AOUT 1 DAGND Public End Analog public end 3 6 1 Analog Output Speci...

Страница 31: ...ements 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 interfa...

Страница 32: ...ata 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...

Страница 33: ...as follows The controller can also be connected to the interchanger through an Ethernet cable and then use interchanger to connect to other devices then multi point connection can be achieved The sche...

Страница 34: ...unication Period 6 1ms 7 21 RTEX Instruction Update Period 1 1ms If controller firmware is customized please refer to drive period configuration to adjust For example the firmware is with 0 5ms corres...

Страница 35: ...order the same as the EtherCAT bus numbering convention See the configuration diagram below for the wiring method of RTEX 3 10 AXIS Differential Pulse Axis Interface This product provides 6 local dif...

Страница 36: ...se encoder signal 14 OVCC Positive pole of IO 24V power 15 Reserved Reserved 16 Reserved Reserved 17 EA Encoder differential input signal A 18 EB Encoder differential input signal B 19 EZ Encoder diff...

Страница 37: ...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 38: ...roller User 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 different please...

Страница 39: ...e among the three interfaces ETHERNET RS232 default parameter it can be connected directly and RS485 default parameters it can be connected directly but for hardware adapter head is needed to connect...

Страница 40: ...ZMC432N Motion Controller User Manual V1 5 5 Control corresponding motion through View Manual Refer to BASIC Routine...

Страница 41: ...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 prohibit using ax...

Страница 42: ...y 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 power supply use 24V DC power su...

Страница 43: ...0 ohm resistor needs to be connected in parallel between the CANL and CANH terminals for the ZIO expansion module that is with 8 digit dialing codes the terminal resistor can be realized by dialing th...

Страница 44: ...sponds to decimal 128 500KBPS default value 1 1 corresponds to decimal 256 250KBPS 2 2 corresponding to decimal 512 125KBPS 3 3 corresponding to decimal 768 1MBPS The controller side sets the CAN comm...

Страница 45: ...ed Subsequent extended boards continue to confirm the dial settings according to the IO points in turn The initial digital IO mapping number starts from 16 and increases in multiples of 16 The distrib...

Страница 46: ...mapped and bound with the axis No then access Extended axes need to perform axis mapping operations using the AXIS_ADDRESS command to map and the mapping rules are as follows AXIS_ADDRESS axis No 32...

Страница 47: ...WER and the running indication led RUN the IO power indication led IO POWER are on and the alarm indication led ALM is off At the same time the Controller State the controller ZCanNodes in the ZDevelo...

Страница 48: ...ntroller 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 En...

Страница 49: ...ZMC432N 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: ...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 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: ...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 54: ...ic 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 55: ...ion 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 connect...

Страница 56: ...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 57: ...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 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: ...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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