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Summary of Contents for MC EMC64Z
- Page 1 User's Manual 用户手册/ EMC64Z Ether CAT 总线控制器使用手册 Ether CAT Ether CAT controller user manual User's Manual 摩川技术(深圳）有限公司 Moschon Technology (Shenzhen) Co. , Ltd. 该产品由深圳市泰奇科智能技术有限公司独家发行，版权所有！ 目录 第 1 页 共 25 页...
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Page 2: Table Of Contents
1.2 特性/Characteristics..............................4 1.3 连接配置/Connection configuration..........................5 1.4 安装和编程/Installation and programming......................5 2 硬件描述 /Hardware description..........................6 2.1 EMC64Z 系列型号规格/EMC64Z series model specification................. 6 2.2 EMC64Z 接线/EMC64z connection..........................8 3 扩展模块/ Extension Module............................20 3.1 扩展模块 CAN 总线、输入输出、电源接线参考/Extension module CAN bus, input and output, power connection reference................................ -
Page 3: 前言/Foreword
User's Manual 用户手册/ 前言/Foreword 感谢您使用本公司总线控制器。 Thank you for using our bus controller. 在使用本产品前，请务必仔细阅读本手册，了解必要的安全信息、注意事项以及操作方法等。错误的操作可能引 发极其严重的后果。 Before using this product, please read this manual carefully to understand the necessary safety information, precautions, and operation methods.Incorrect operation can have extremely serious consequences. 本产品的设计和制造不具备保护人身安全免受机械系统威胁的能力，请用户在机械系统设计和制造过程中考虑安 全防护措施，防止因不当的操作或产品异常造成事故。... -
Page 4: 概述/Overview
User's Manual 用户手册/ 1 概述/Overview 1.1 产品介绍/Product Introduction EMC64 总线控制器支持 EtherCAT 总线连接，支持最快 100us 的刷新周期（16 轴以内），支持最多 达 64 轴运动控制，支持直线插补、任意圆弧插补、空间圆弧、螺旋插补、电子凸轮、电子齿轮、同步 跟随、虚拟轴设置等；采用优化的网络通讯协议可以实现实时的运动控制。单台电脑最多支持 256 个 ZMC 控制器同时连接。 EMC64 bus controller supports EtherCAT bus connection, supports refresh cycle up to 100us (up to 16 axis) , supports up to 64 axis motion control, it supports Linear interpolation, arbitrary circular interpolation, spatial ARC interpolation, spiral interpolation, electronic cam, electronic gear, synchronous following, virtual axis setting, etc. -
Page 5: 连接配置/Connection Configuration
总线可以连接各个扩展模块， 从而扩展输入输出点数或运动轴 （CAN 总线两端需要并接 120 欧姆的电阻） 。 运动控制器支持 U 盘保存或读取数据。 The EMC64Z series motion controller supports Ethernet, EtherCAT, USB, CAN, serial port, 485,232 and other communication interfaces, to expand the number of input and output points or the axis of motion (120 ohms of resistance is required at both ends of the CAN bus) . The motion controller supports a USB drive to save or read data. -
Page 6: 硬件描述 /Hardware Description
+ + Builder, c # , and other software to develop. When debugging Moschon software can be Dll. connected to the controller at the same time, the program needs dynamic library emotion. 2 硬件描述 /Hardware description 2.1 EMC64Z 系列型号规格/EMC64Z series model specification 型号 EMC64Z Model number 基本轴数... - Page 7 User's Manual 用户手册/ Number of pulses 编码器位数 Encoder digit 速度加速度位数 Number of bits of acceleration 脉冲最高速率 10Mhz Maximum pulse rate 每轴运动缓冲数 Number of buffers per shaft 数组空间 320000 Array space 程序空间 2000MByte Program space Flash 空间 256MByte Flash space 24V 直流输入（功耗 10W 内，不用风扇散热），IO 口负载没有计算在内 电源输入...
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Page 8: Emc64Z 接线/Emc64Z Connection
4.EMC64Z 带一个 CAN 总线接口，支持通过 ZCAN 协议来连接扩展模块。 5.EMC64Z 带一个 U 盘接口。 Note: 1.The EMC64Z has 64 axes and up to 64 virtual axes. The EMC64Z can extend the shaft by extending the module. 2.EMC64Z board with 24 general-purpose input, 12 general-purpose output (one additional input and one output per shaft) , 20-10v Da. - Page 9 EMC64Z 系列控制器采用单电源供电，MIO 扩展卡采用双电源供电。5V 轴和编码器接口采用内部电 源，IO 采用外部电源;MIO 扩展模块扩展出来的轴和编码器采用外部电源。 The EMC64Z series controller is powered by single power supply, and the MIO expansion card is powered by double power supply. 5v Shaft and encoder interface using internal power, Io using external power; MIO expansion module expansion of the shaft and encoder using external power.
- Page 10 User's Manual 用户手册/ Both sides of the CAN bus communication must ensure that the corresponding GND is connected or that the controller and the extension module use the same power supply. When the emc32z16z controller and the extension module are powered by a different power source: the Controller Power Supply, the EGND, is connected to the extension module power GND , otherwise it may burn out the CAN.
- Page 11 User's Manual 用户手册/ 注：与电脑连接需要使用双母头的交叉线 Note: The computer connection requires the use of a double-header cross-line 2.2.4 通用输入信号/Universal input signal 注/Note： 1.每轴信号里面有 1 个通用输入口，见轴接口描述 There are 1 general purpose input ports in each shaft signal, see shaft interface description 2.输入带两个 24V 编码器，轴号 3,4 Input with two 24V encoders, shaft 3,4 2.2.4.1 输入...
- Page 12 User's Manual 用户手册/ 输入 5 Inputting5 输入 6 Inputting6 输入 7 Inputting7 注:输入 0 与输入 1 同时具有锁轴输入 A 与锁存输入 B 的功能 Note: Input 0 and Input 1 have the function of lock shaft input a and Lock Latch Input B 2.4.4.2 输入...
- Page 13 User's Manual 用户手册/ 输入 16 IN16 Inputting16 输入 17 IN17 Inputting17 输入 18 IN18 Inputting18 输入 19 IN19 Inputting19 输入 20 IN20 EZ(3) Inputting20 输入 21 IN21 EA(4) Inputting21 输入 22 IN22 EB(4) Inputting22 输入 23 IN23 EZ(4) Inputting23 2.2.5 通用输出 CN10/General purpose output CN10 每轴信号里面另有个不带电流放大的通用输出口，见抽接口描述...
- Page 14 Output9 输出 10 OUT10 Output10 输出 11 OUT11 Output11 2.2.6 DA 信号 /Da signal EMC64Z 内部 DA 采用了内部电源 The internal DA of the EMC64Z uses an internal power suppl 针脚号 名称 说明 Stitch number Name Account for 备用 Stand by 备用...
- Page 15 User's Manual 用户手册/ 0-10V 模拟输出口 0 0-10V analog output 0 0-10V 模拟输出口 1 0-10V analog output 1 内部电源模拟地 DAGND Internal power supply analog 2.2.7 U 盘接口信号/USB INTERFACE SIGNAL 针脚号 名称 说明 Stitch number Name Account for 内部+5V 电源 Internal 5V power supply 差分数据...
- Page 16 User's Manual 用户手册/ 针脚号 名称 说明 Stitch number Name Account for 外部电源地 EGND External power source 通用输入，建议做驱动报警 IN24-26/ALM Universal input, recommended to do driver alarm 通用输出，建议驱动使能 OUT12 14…/ENABLE Universal output, recommended driver enable 编码器输入 Encoder input 编码器输入 Encoder input 编码器输入 Encoder input 内部电源+5V 输出...
- Page 17 User's Manual 用户手册/ 第 17 页 共 25 页...
- Page 18 User's Manual 用户手册/ EMC64Z 控制器和松下 A5 伺服驱动器低速差分脉冲口接线参考 Reference for low-speed differential pulse interface for EMC64Z controller and Panasonic A5 servo driver 第 18 页 共 25 页...
- Page 19 EMC64Z 控制器和松下 A5 伺服驱动器高速差分脉冲口接线参考 Reference for high-speed differential pulse interface of EMC32Z/16Z controller and Panasonic A5 servo driver...
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Page 20: 扩展模块/ Extension Module
User's Manual 用户手册/ 3 扩展模块/ Extension Module 3.1 扩展模块 CAN 总线、输入输出、电源接线参考/Extension module CAN bus, input and output, power connection reference CAN 总线上链接多个 MIO 扩展模块时，需要在最末端的 MIO 扩展模块 CANL 与 CANH 端并 接一 个 120 欧姆的电阻。 第 20 页 共 25 页... -
Page 21: 硬件安装/Hardware Installation
When in use, two power supply of IO board can be connected to one power supply. When the emc64z controller and the MIO extension module are powered by a different power source: the Controller Power Supply, Egnd, is connected to the extension module power GND , otherwise it may burn out the CAN. -
Page 22: Emc64Z 安装/Emc64Z Installation
User's Manual 用户手册/ 4.1 EMC64Z 安装/EMC64Z installation 单位/Unit：mm 安装孔直径/Diameter of mounting hole:4.5mm 5 常见问题/Frequently asked questions 问题 解决问题的建议 Questions Advice on how to solve a problem 电机不转动 确认控制器的 ATYPE 有配置正确 Motor not turning Verify that the controller's ATYPE is configured correctly 确认脉冲发送方式和驱动器的输入脉冲方式是否匹配... - Page 23 User's Manual 用户手册/ turning 确保驱动器工作正常，没有出现报警 Make sure the drive is working properly and there is no alarm 电机可以转动，但工作不正常 检查设置减速度和速度是否超过了设备极限 The motor can turn, but it Check that the deceleration setting and the speed limit of the doesn't work properly equipment are exceeded 检查输出脉冲频率是否超过了驱动器的接收极限...
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Page 24: 保修及售后服务 /Warranty And After-Sales Service
User's Manual 用户手册/ interface is not connected 是否采用直连网线且电脑不支持自动交叉？ Do you use a direct line and the computer does not support automatic crossover? 控制器 IP 地址是否被修改？ Has the controller Ip address been modified? PC 的网卡 IP 地址是否与控制器一个网段？ Is the IP address of the PC's network card a network segment with the controller? 控制器串口连接不上... - Page 25 User's Manual 用户手册/ 安装日期或者生产日期/Installation date or production date 第 25 页 共 25 页...
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