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ZMIO310 Vertical Bus Expansion Module User Manual V1.0

The second submodule

ZMIO310-16DI

The third submodule

ZMIO310-16DI

The fourth submodule

ZMIO310-16DO

The fifth submodule

ZMIO310-16DOP

The sixth submodule

ZMIO310-4AD

The seventh submodule

ZMIO310-4DA

➢

This expand address is used to build data dictionary, and the address assign is not

influenced by expansion submodule type.

➢

For CAN communication module, the address assigned is only for internal control.

5.5.

Function Configuration

The function configuration is only valid when coupler uses ECAT communication module

to expand, and needs to use bus instruction SDO_WRITE to write SDO message, use

SDO_READ instruction to read message.

→

Write Data Dictionary

SDO_WRITE

Grammar

SDO_WRITE(slot, node, index, subindex, type, value)

Parameter List

Slot

Bus slot No.

Default is 0

Node

Device No.

Start from 0, 0

Index

Data dictionary No.

Subindex

Sub module No.

Type

Data type

Refer to below form

Value

Data value

→

Read Data Dictionary

SDO_READ

Grammar

SDO_READ(slot, node, index, subindex, type, tablenum)

Parameter

List

Slot

Bus slot No.

Default is 0

Node

Device No.

Start from 0, 0

Index

Data dictionary No.

Содержание ZMIO310

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: ...6 Malfunction Indication and Solution 13 3 2 ZMIO310 CAN Communication Module 14 3 2 1 Interface Definition 14 3 2 2 Performance Specification 14 3 2 3 Installation Size 15 3 2 4 DIP Switch Descriptio...

Страница 6: ...Number Configuration 41 5 2 1 EtherCAT Bus Expansion 41 5 2 2 CAN Bus Expansion 42 5 3 Read Write Digital Analog 45 5 4 Local Behind level Expansion Address Description 45 5 5 Function Configuration 4...

Страница 7: ...t most This manual mainly describes ZMIO310 specification property usage etc Please read this manual carefully to know more about the product and then you could use more safely 1 2 Function Features D...

Страница 8: ...ZMIO310 Vertical Bus Expansion Module User Manual V1 0 1 3 System Architecture EtherCAT Bus Expansion Module CAN Bus Expansion Module...

Страница 9: ...ZMIO310 Vertical Bus Expansion Module User Manual V1 0 Chapter II Product Information 2 1 Nameplate Information Here shows ZMIO310 ECAT others are the same rule Model description...

Страница 10: ...This expansion module uses dual power supply that is one coupler module ZMIO310 ECAT or ZMIO310 CAN uses one power supply then one submodule uses another power supply when there is enough power for p...

Страница 11: ...5 Work relative 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 Acceleratio...

Страница 12: ...current state 1 Power state green it lights when power is conducted RUN 1 Run state green it lights when runs normally ALM 1 Error state red it lights when runs incorrectly EtherCAT Communication Int...

Страница 13: ...Speed Ethernet 100Mbqs Network Port Standard Ethernet RJ45 interface Transfer Medium 5E Category STP Transfer Distance Distance between two nodes is less than 100m Continuation Sub Module Expansion Up...

Страница 14: ...T communication module in the DIN guide rail 3 1 4 EtherCAT Bus Interface Description ZMIO310 ECAT communication module has 2 100M EtherCAT communication interfaces and it supports EtherCAT protocol T...

Страница 15: ...nd 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 traver...

Страница 16: ...power terminal Number Mark Type Function 1 24V Positive pole of power Positive pole to input 24V power 2 NC Reserved 3 EARTH Shield 4 NC Reserved 5 GND Negative pole of power Negative pole to input 2...

Страница 17: ...unication between EtherCAT master station and coupler module breaks Check if crystal head is loosened or not Check the net cable is damaged or not Restart the power ON twinkle alternately and rapidly...

Страница 18: ...RUN 1 Run state green it lights when runs normally ALM 1 Error state red it lights when runs incorrectly DIP Switch DIP Switch 1 8 dial codes CAN address CAN speed and conduction of CAN120 ohm termina...

Страница 19: ...6 the actual number depends on each module s power Power 0 6W Internal power for behind level 7 9W Service Firmware upgrade Note new version updated module program it added the alarm function when the...

Страница 20: ...tion speed corresponding values are 0 3 there are four different speeds 7 reserved 8 120 ohm resistor dial ON means a 120 ohm resistor is connected between CANL and CANH More details of expansion IO a...

Страница 21: ...Terminal Wiring When expand through CAN it is recommended to use STP and the shield layer is grounded Please use tubular pre insulated terminals and wire cable that is suitable to wire path to do user...

Страница 22: ...tion and Solution Status Indication Light Reason Solution POW RUN ERR ON ON ON CAN communicate abnormally Check whether CAN bus terminal wiring is correct Check whether 120ohm resistor is connected Ch...

Страница 23: ...n runs incorrectly Local expansion front level interface 1 Connect to coupler modules or expansion submodules plug in and pull out when in hot are unsupported Local expansion behind level interface 1...

Страница 24: ...input 4 7K Frequency input 5kHz Action showing input When input is ON the input indication led will be ON Voltage when ON PNP Type 7 2V or NPN type 14 5V Voltage when OFF PNP Type 6 8V or NPN type 14...

Страница 25: ...eld 13 IN10 Input Input 10 14 IN11 Input Input 11 15 IN12 Input Input 12 16 IN13 Input Input 13 17 IN14 Input Input 14 18 IN15 Input Input 15 19 COM1 Power supply Power terminal 1 20 COM2 Power supply...

Страница 26: ...bles avoid bundling them with cables with strong interference signals such as power cables and route them separately In the case of serious electromagnetic interference on site shielded cables should...

Страница 27: ...ZMIO310 Vertical Bus Expansion Module User Manual V1 0 Input Terminal PNP Wiring...

Страница 28: ...her the same hardware ID is used by multiple CAN communication modules OF OFF The pre scanned sub module and actual continuation sub module are not totally matched Check if the continuation submodule...

Страница 29: ...each signal indicator User terminal 1 16 digital outputs power terminal 4 2 2 Performance Specification Item Specification ZMIO310 16DO ZMIO310 16DOP Power voltage 24VDC The number of outputs 16 The t...

Страница 30: ...the DIN guide rail Press fit guide rail buckle of output module then fix output module in the DIN guide rail 4 2 4 Terminal Definition 16 Digital Outputs IO Power Terminal Number Mark Type Function 1...

Страница 31: ...size of the tube type pre insulated terminal Pass the conductor part of the cable into the tubular pre insulated terminal and crimp it with a crimping pliers Wire cable connection steps Press the spr...

Страница 32: ...V1 0 expansion sub module Especially in the case of severe electromagnetic interference on site different power supplies must be used and they must not share the same ground 4 2 5 Wiring Method Outpu...

Страница 33: ...ication between coupler and expansion submodule breaks Check whether the local expansion behind level interface is loosened Restart the power OF OFF The pre scanned sub module and actual continuation...

Страница 34: ...s when runs incorrectly Local expansion front level interface 1 Connect to coupler modules or expansion submodules plug in and pull out when in hot are unsupported Local expansion behind level interfa...

Страница 35: ...on temperature 25 C Voltage 0 1 current 0 1 full range Precision environmental temperature 0 55 C Voltage 0 3 current 0 8 Internal Power 0 4W Power 0 7W Isolation Coupler isolation Service Firmware up...

Страница 36: ...annel 2 current input 12 V Voltage input Channel 2 voltage input 13 V Voltage input Channel 2 voltage input 14 SG Shield 15 I Current input Channel 3 current input 16 V Voltage input Channel 3 voltage...

Страница 37: ...es avoid bundling them with cables with strong interference signals such as power cables and route them separately In the case of serious electromagnetic interference on site shielded cables should be...

Страница 38: ...ZMIO310 Vertical Bus Expansion Module User Manual V1 0 Current Input Terminal Wiring...

Страница 39: ...N ON ON Communication between coupler and expansion sub module breaks Check whether local expansion behind level interface is loosened ON OFF The pre scanned sub module and actual continuation sub mod...

Страница 40: ...or state red it lights when runs incorrectly Local expansion front level interface 1 Connect to coupler modules or expansion submodules plug in and pull out when in hot are unsupported Local expansion...

Страница 41: ...ion environmental temperature 0 55 C Voltage 0 3 current 0 8 Internal Power 0 3W Power 0 9W Isolation Coupler isolation Service Firmware upgrade 4 4 3 Installation Size Installation Step Please use 35...

Страница 42: ...15 I Current Output Channel 3 current Output 16 V Voltage Output Channel 3 voltage Output 17 V Voltage current Output Channel 3 voltage current Output 18 SG Shield 19 E 24V Power supply 24V power sup...

Страница 43: ...ables that is please must route them separately In the case of serious electromagnetic interference on site shielded cables should be used to improve the anti interference ability It is not recommende...

Страница 44: ...n POW RUN ERR ON ON ON Communication between coupler and expansion sub module breaks Check whether local expansion behind level interface is loosened ON OFF The pre scanned sub module and actual conti...

Страница 45: ...rm for reference 5 2 IO Starting Number Configuration 5 2 1 EtherCAT Bus Expansion If coupler uses ECAT communication module IO starting numbers of IN input module and DO DOP output modules are config...

Страница 46: ...ame Example NODE_AIO 0 0 32 expanded AIO start No of Node 0 is 32 Notes Firstly check the controller status to know the local AIO maximum value of controller exactly then use NODE_AIO for avoid repeti...

Страница 47: ...om 29 31 are not used And subsequent extended boards continue to dial according to the IO points in turn The starting digital IO mapping No starts from 16 and increases in multiples of 16 The distribu...

Страница 48: ...5 6 to select CAN bus communication speed speed combination value dial code 6 2 dial code 5 1 the combined value range is 0 3 The corresponding speeds are as follows DIP 5 6 combination value CANIO_A...

Страница 49: ...0 ECAT connects to 3 input modules ZMIO310 16DI 2 output modules ZMIO310 16DO ZMIO310 16DOP 1 AD module ZMIO310 4AD and 1 DA module ZMIO310 4DA in turn ECAT communication module starts to scan and ass...

Страница 50: ...5 Function Configuration The function configuration is only valid when coupler uses ECAT communication module to expand and needs to use bus instruction SDO_WRITE to write SDO message use SDO_READ ins...

Страница 51: ...that saves data For configurable functions instruction usage and module function configuration please refer to 6 4 expansion example Type data type Fill type value according to data type described by...

Страница 52: ...for the object that only can be read it is the read range For the object that can be read and written it is the configuration range Data type data type of object Permission it is used to determine the...

Страница 53: ...nary 00h The number of status dictionary subindex of AD module 01h Get the input status value of AD module channel 0 02h Get the input status value of AD module channel 1 03h Get the input status valu...

Страница 54: ...CONFIG_2_INDENT 0 0 or 5678 UNSIGND16 RW Configure work mode The usage of data value 0 normal mode 5678 update mode Note after entered update mode if not to update please power on again it will exit...

Страница 55: ...range type of analog module or read range type value The meaning of data values Module Type Data Value Range Type AD 2 0 10V 3 10V 10V 4 4 20mA 5 0 20mA 6 0 5V 7 5 5V DA 10 0 10V 11 10V 10V 12 4 20mA...

Страница 56: ...ON 6 Channel 1 and channel 2 are ON 7 Channel 0 1 2 are ON 8 Channel 3 is ON 9 Channel 0 and channel 3 are ON 10 Channel 1 and channel 3 are ON 11 Channel 0 1 3 are ON 12 Channel 2 and channel 3 are...

Страница 57: ...us is as follows Channel CH 15 CH 14 CH 13 CH 12 CH 11 CH 10 CH 9 CH 8 Bit binary 0 0 0 0 1 1 1 1 Hexadecimal 0 F Channel CH 7 CH 6 CH 5 CH 4 CH 3 CH 2 CH 1 CH 0 Bit binary 1 1 1 1 0 0 0 0 Hexadecimal...

Страница 58: ...inary 0 0 0 0 1 1 1 1 Hexadecimal 1 F Channel CH 7 CH 6 CH 5 CH 4 CH 3 CH 2 CH 1 CH 0 Bit binary 1 1 1 1 0 0 0 0 Hexadecimal F 1 6001 10 expansion submodule address h 00h IN_GENERIC 4 4 UNSIGND8 RO Th...

Страница 59: ...alue 0x0000 0xFFFF means the scale value of analog which is converted from gained analog from AD For example if the current range of AD module is 5 5V Digital converted from AD is represented by Y Ana...

Страница 60: ...X value can be calculated reversely 04h IN_GEN_IN4 0 0x0000 0xFFFF UNSIGND16 RO Get the input state value of AD channel 3 The meaning of date value 0x0000 0xFFFF means the scale value of analog which...

Страница 61: ...om PC output analogs converted from DA For example if the current range of DA module is 0 10V Analog converted from DA is represented by Y Digital input from PC namely the scale value is represented b...

Страница 62: ...versely 03h OUT_GEN_INT3 0 0x0000 0xFFFF UNSIGND16 RW Get the output state value of DA channel 2 The meaning of date value 0x0000 0xFFFF means the scale value of analog input scale values from PC outp...

Страница 63: ...value is represented by X And DA output value can be calculated from the above graphic Y 4mA 20mA 4mA X 0 0xFFFF 0 namely Y 20mA 4mA X 0xFFFF 4mA Value X is the known condition of current PC side the...

Страница 64: ...AD address is 5 DA address is 6 Then data dictionary is created according to above Address Remark Dictionary description Rule Dictionary 5000h 0 The first DI module Status dictionary 6000 10 expansion...

Страница 65: ...Examples SDO_WRITE 0 0 5000 1 6 1 configure as mode 1 SDO_WRITE 0 0 5000 1 6 2 configure as mode 2 This function is valid for output and DA expanded by the current coupler 6 4 3 Channel Enable Config...

Страница 66: ...use Analog input module ZMIO310 4AD Analog output module ZMIO310 4DA Data dictionary 5007h 5006h 5001h extension No of the corresponding AD module or DA module please refer to Chapter 6 4 1 for sub m...

Страница 67: ...ype No 2 No 7 are used only by AD module Type No 10 No 15 are used only by DA module When using AD module if input voltage or current exceeds the range then it will keep with the maximum value 6 4 5 G...

Страница 68: ...numbers each bit represents the input status of each channel Object to use Analog input module ZMIO310 16DI Data dictionary 6000h 6010h 6020h 6000h extension No of corresponding DI module 10 please r...

Страница 69: ...E 0 0 7030h 1 6 0xFF00 configure the channel state of the second DO module s high 8 bits to OFF and the low 8 bits to ON SDO_WRITE 0 0 7040h 1 6 0x00FF Note if SDO command is used to configure DO outp...

Страница 70: ...35 configure output value of channel 2 as 0xFFFF SDO_WRITE 0 0 7061 4 6 65535 configure output value of channel 3 as 0xFFFF Note if SDO command is used to configure DA output it is only valid before E...

Страница 71: ...on cycle of the motion controller can be appropriately adjusted according to the surrounding environment to make it work within the specified standard environment Check item Check content Inspection s...

Страница 72: ...ened without loosening Whether the cable is damaged aged cracked The cable must not have any abnormal appearance 7 2 Common Problems Problems Suggestions No signal comes to the input 1 Check whether t...

Страница 73: ...led is ON ERR led is ON 1 Program running error please check ZDevelop error code and check application program CAN expansion module cannot be connected 1 Check the CAN wiring and power supply circuit...

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