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Zmotion ZMC420SCAN Manual

Lase galvanometer motion controller
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  • Page 2 This manual is copyrighted by Shenzhen Technology Co., Ltd., without the written permission of the Zmotion Technology, no person shall reproduce, translate and copy any content in this manual. The above-mentioned actions will constitute an infringement of the copyright of the company's manual, and Zmotion will investigate legal responsibility according to law.
  • Page 3 ⚫ Zmotion will not take any legal responsibility for personal safety accidents and property losses caused by failure to comply with the contents of this manual or illegal operation of products. Safety Level Definition According to the level, it can be divided into "...
  • Page 4 ◆ Improper installation of the controller may result in misoperation, failure and fire. Wiring ◆ The specifications and installation methods of the external wiring of the equipment shall comply with the requirements of local power distribution regulations. ◆ When wiring, all external power supplies used by the system should be disconnected before operation.

  • Page 5: Table Of Contents

    ZMC420SCAN Motion Controller Hardware Manual V1.5 Content Chapter I Production Information..................3 1.1. Product Information ..................3 1.2. Function Features ....................3 1.3. System Frame ....................5 1.4. Hardware Installment ..................5 Chapter II Product Specification ..................7 2.1. Basic Specification .................... 7 2.2.
  • Page 6 ZMC420SCAN Motion Controller Hardware Manual V1.5 3.6.1. Analog Output Specification & Wiring ..........25 3.6.2. Basic Usage Method ................27 3.7. U Disk ......................27 3.8. ETHERNET ....................... 28 3.9. RTEX Bus Interface ..................29 3.9.1. RTEX Bus Interface Rule & Wiring ............30 3.10.

  • Page 7: Chapter I Production Information

    ZMC420SCAN Motion Controller Hardware Manual V1.5 Chapter I Production Information 1.1. Product Information ZMC is the abbreviation of the network motion controller model launched by ZMotion Technology. ZMC4XX series controllers support Zmotion XPLC function, which means it can do configuration display through the network.
  • Page 8 ZMC420SCAN Motion Controller Hardware Manual V1.5 input mode. Maximum pulse output frequency of each axis is 10MHZ. ◆ IO can be expanded through ZCAN and EtherCAT, and 4096 isolated inputs and 4096 ◆ isolated outputs can be extended at most.

  • Page 9: System Frame

    ZMC420SCAN Motion Controller 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. Mounting Hole Diameter: 4.5mm)
  • Page 10 ZMC420SCAN Motion Controller Hardware Manual V1.5 ⚫ Non-professionals are strictly prohibited to operate. Specifically, professionals who had been trained related electrical equipment, or who master electrical knowledge. Please be sure to read the product instruction manual and safety ⚫ precautions carefully before installation.

  • Page 11: Chapter Ii Product Specification

    ZMC420SCAN Motion Controller Hardware Manual V1.5 Chapter II Product Specification 2.1. Basic Specification Item Description Model ZMC420SCAN Axes Max Extended Axes Type of basic axes EtherCAT/RTEX/local pulse axes/galvanometer axes Internal IO General IOs: 24 inputs and 12 outputs. IO in axis interface: there are 4 inputs and 4 outputs together in 4 pulse axes.

  • Page 12: Interface Definition

    ZMC420SCAN Motion Controller Hardware Manual V1.5 30 axes, point to point, linear, circular, electronic cam, ZMC430SCAN continuous trajectory motion, robot instructions. 2.3. Interface Definition → Interface Description Mark Interface Number Description Power state: it lights when power is conducted. The led that indicates the current state.
  • Page 13 ZMC420SCAN Motion Controller Hardware Manual V1.5 RS232 RS232 serial port (port0) Use MODBUS_RTU protocol RS485 RS485 serial port (port1) Use MODBUS_RTU protocol EtherCAT bus interface, connect to EtherCAT EtherCAT EtherCAT bus interface bus drive and EtherCAT bus expansion module Use MODBUS_TCP protocol, expand the...

  • Page 14: Work Environment

    ZMC420SCAN Motion Controller Hardware Manual V1.5 2.4. Work Environment Item Parameters Work Temperature -10℃-55℃ Work relative Humidity 10%-95% non-condensing Storage Temperature -40℃～80℃ (not frozen) Storage Humidity Below 90%RH (no frost) Frequency 5-150Hz Displacement 3.5mm(directly install)(<9Hz) vibration Acceleration 1g(directly install)(>9Hz) Direction...

  • Page 15: Chapter Iii Wiring, Communication Configuration

    ZMC420SCAN Motion Controller Hardware Manual V1.5 Chapter Wiring, Communication Configuration 3.1. Power Input The power supply input adopts a 3Pin (there are all 3 terminals) screw-type pluggable wiring terminal, and the interval (means the gap distance between two ports) should be 3.81mm.

  • Page 16: Rs485, Can Communication Interface

    ZMC420SCAN Motion Controller Hardware Manual V1.5 3.2. RS485, CAN Communication Interface The communication interface adopts a 5Pin screw-type pluggable wiring terminal and the gap spacing between 2 terminals should be 3.81mm. For both RS485 communication and CAN communication, they can be used by connecting the corresponding interface.
  • Page 17 ZMC420SCAN Motion Controller Hardware Manual V1.5 lower communication rate is, and maximum of 100m is recommended. → Wiring Reference Connect 485A and 485B of RS485 to 485A and 485B of the controller correspondingly, and connect the public ends “EGND” of RS485 communication parties together.

  • Page 18: Basic Usage Method

    ZMC420SCAN Motion Controller Hardware Manual V1.5 the branch structure also can be used. Please connect a 120Ω terminal resistor in parallel to each end of the CAN bus for ⚫ matching the circuit impedance and ensuring communication stability. ⚫ Please be sure to connect the public ends of each node on the CAN bus to prevent the CAN chip from burning out.
  • Page 19 ZMC420SCAN Motion Controller Hardware Manual V1.5 (3) Please use the "ADDRESS" and "SETCOM" commands to set and view the protocol station number and configured parameters, see "ZBasic Programming Manual" for details. (4) Please use the "CANIO_ADDRESS" command to set the master's "address" and "speed"...

  • Page 20: Rs232 Serial Port

    ZMC420SCAN Motion Controller Hardware Manual V1.5 3.3. RS232 Serial Port RS232 is in one standard DB9 male socket and supports MODBUS_RTU protocol and custom communication. → Interface Definition: Terminal Name Type Function 1、4、 Spare Reserved 6、7、8 Input RS232 signal, receive data...

  • Page 21: Basic Usage

    ZMC420SCAN Motion Controller Hardware Manual V1.5 → Wiring Reference: → Wiring Notes: The wiring of RS232 is as above, it needs to cross-wiring for sending and receiving ⚫ signals, and it is recommended to use a double-female head cross line when connecting to a computer.

  • Page 22: In Digital Input & High-Speed Latch Port & Single-Ended Encoder

    ZMC420SCAN Motion Controller Hardware Manual V1.5 (2) After powered on, please use any one interface among the three interfaces ETHERNET, RS232 (there is default parameter, which can be connected directly) and RS485 (there is default parameter, which can be connected directly, but for hardware, adapter head is needed) to connect to ZDevelop.
  • Page 23 ZMC420SCAN Motion Controller Hardware Manual V1.5 addition, the high-speed latch function and single-ended encoder are integrated in digital input signals. → Terminal Definition Function 3 Terminal Name Type Function 1 Function 2 External EGND power ground EGND Input 0 Input 1...

  • Page 24: Digital Input Specification & Wiring

    ZMC420SCAN Motion Controller Hardware Manual V1.5 single-ended encoder function. Single-ended encoder axis 6-9 need to be configured as local axes compulsively ➢ through AXIS_ADDRESS, and they are general inputs when ATYPE=0. 3.4.1. Digital Input Specification & Wiring → Specification Item...

  • Page 25: Basic Usage Method

    ZMC420SCAN Motion Controller Hardware Manual V1.5 optocoupler, a key switch or a sensor, etc., all can be connected as long as the requirements on output of electric level can be achieved. ⚫ For the public end, please connect the "EGND" port on the power supply to the "COM"...

  • Page 26: Out (Digital Output, Pwm Terminal, Hardware Comparison Output)

    OUT0-11 have the functions of PWM and single-ended pulse, and OUT0-7 have the hardware ➢ comparison output function. PWM output of ZMC420SCAN is controlled by ordinary output function, and only when output ➢...

  • Page 27: Digital Output Specification & Wiring

    ON, PWM will output actually, in this way, laser energy can be controlled. ➢ ZMC420SCAN OUT0-7 have the function of precision output, and each precision output function is independent, and the same one MOVEOP_DELAY and AXIS_ZSET can be used to set whether each MOVE_OP uses precision output and precision output delay function or not, then achieve laser PSO control.

  • Page 28: Basic Usage Method

    ZMC420SCAN Motion Controller Hardware Manual V1.5 → Wiring Note: The wiring principle of high-speed digital output OUT (0-11) is shown in the figure ⚫ above. The external signal receiving end can be an optocoupler or a relay or solenoid valve, all can be connected as long as the input current does not exceed 300mA.

  • Page 29: Ad/Da Analog Input / Output

    ZMC420SCAN Motion Controller Hardware Manual V1.5 (4) The PWM function, set the frequency and duty cycle through “PWM_FREQ” and “PWM_DUTY”. Please refer to ZBasic for details. (5) Hardware comparison output can be set and opened through “HW_PSWITCH2”. Please refer to ZBasic for details.
  • Page 30 ZMC420SCAN Motion Controller Hardware Manual V1.5 DA（0-1） Item AD (0-1) Resolution 12-bit 12-bit Data range 0-4095 0-4095 Signal range 0-10V input 0-10V output Data refresh ratio 1KHz 1KHz Voltage input impedance / >40KΩ (voltage input >1KΩ (voltage output output load...

  • Page 31: Basic Usage Method

    “ZDevelop/View/AD/DA”. Please refer to “ZBasic” for details. 3.7. U Disk The ZMC420SCAN bus galvanometer motion controller provides a USB communication interface, which can insert the U disk device. It is used for ZAR program upgrading, controller data importing and exporting, file 3 executing, etc. Its schematic...

  • Page 32: Ethernet

    500mA Whether Isolates 3.8. ETHERNET ZMC420SCAN 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: The Ethernet port of the controller can be connected to a computer, HMI, etc. through an Ethernet cable, and using point to point connection method.

  • Page 33: Rtex Bus Interface

    The schematic diagram is as follows: 3.9. RTEX Bus Interface ZMC420SCAN bus galvanometer motion controller has 2 100M RTEX communication interface, which support RTEX communication protocol, TX is the sending side, RX is the receiving side. RTEX bus is used to connect Panasonic RTEX servo drive, please see below...

  • Page 34: Rtex Bus Interface Rule & Wiring

    ZMC420SCAN Motion Controller Hardware Manual V1.5 3.9.1. RTEX Bus Interface Rule & Wiring → 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 7.21...

  • Page 35: Ethercat Bus Interface

    See the configuration diagram below for the wiring method of RTEX: 3.10. EtherCAT Bus Interface ZMC420SCAN bus galvanometer motion controller has a 100M EtherCAT communication interface, and it supports EtherCAT protocol. In addition, EtherCAT driver or EtherCAT expansion module can be connected. The pin definition is as follows:...
  • Page 36 ZMC420SCAN Motion Controller Hardware Manual V1.5 → Specification Item Specification Communication protocol EtherCAT protocol Valid service CoE(PDO, SDO), FoE IO adopts input and output synchronization / DC- Synchronization method distributed clock Physical level 100BASE-TX Duplex mode Full duplex Topology linear topology...

  • Page 37: Axis Differential Pulse Axis Interface

    ZMC420SCAN Motion Controller Hardware Manual V1.5 Isolation cross skeleton Connector Crystal head with iron shell Cable material Cable length Less than 100m Use RJ45 network cable connection method: When installing, hold the crystal head that is with the cable and insert it into the RJ45 ⚫...
  • Page 38 ZMC420SCAN Motion Controller Hardware Manual V1.5 pulse/encoder signal Reserved Reserved DIR+ Servo or step direction output + Negative pole of 5V power of pulse/encoder signal PUL- Servo or step pulse output - Reserved Reserved Negative pole of 5V power of...

  • Page 39: Axis Interface Signal Specification & Wiring

    ZMC420SCAN Motion Controller Hardware Manual V1.5 3.11.1. AXIS Interface Signal Specification & Wiring → Specification: Signal Item Description Signal type Differential output signal PUL/DIR Voltage range 0-5V Maximum frequency 10MHz Signal type Differential input signal EA/EB/EZ Voltage range 0-5V Maximum frequency...
  • Page 40 ZMC420SCAN Motion Controller Hardware Manual V1.5 → Wiring Reference: Reference example of wiring with Panasonic A5/A6 servo driver:...

  • Page 41: Basic Usage Method

    ZMC420SCAN Motion Controller Hardware 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 connect carefully. ...
  • Page 42 ZMC420SCAN Motion Controller Hardware Manual V1.5 (5) Control corresponding motion through “View – Manual”. Refer to BASIC Routine:...

  • Page 43: Dscan Galvanometer Axis Interface

    This product provides 2 dedicated interfaces for local galvanometer 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 joint interpolation motion.

  • Page 44: Dscan Interface Specification & Wiring

    ZMC420SCAN Motion Controller Hardware Manual V1.5 Galvanometer X channel signal + Galvanometer Y channel signal + Reserved STATUS+ Galvanometer state signal + Signal ground, public end Note: The local axis number 4/5 can be configured as the 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.

  • Page 45: Basic Usage Method

    ZMC420SCAN Motion Controller Hardware Manual V1.5 → Wiring Notes ⚫ Wiring principle of DSCAN galvanometer axis interface is above, please use differential wiring standard, and note signal specification should match each other. ⚫ Please use STP, especially in bad environments, and make sure the shielding layer is fully grounded.
  • Page 46 ZMC420SCAN Motion Controller Hardware Manual V1.5 There are many parameters relate to pulse axes, and 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”.

  • Page 47: Chapter Iv Expansion Module

    ZMC420SCAN Motion Controller Hardware Manual V1.5 Chapter IV Expansion Module The controller can expand digital IO, analog IO, pulse axis and other resources through CAN bus or EtherCAT. For details, please refer to "ZIO Expansion Card Hardware Manual". Also, through EtherCAT bus (EIO series or ZMIO310 series vertical bus expansion modules) expansion of these resources also can be achieved, please refer to each EIO hardware manual for details.
  • Page 48 ZMC420SCAN Motion Controller Hardware Manual V1.5 → Wiring Note: ZMC420SCAN controller uses the single power, and ZIO expansion module uses  dual-power. When using, main power supply of expansion module and main power supply of controller can 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.

  • Page 49: Can Bus Expansion Resource Mapping

    ZMC420SCAN Motion Controller Hardware Manual V1.5 4.1.2. CAN Bus Expansion Resource Mapping The ZCAN expansion module generally has an 8-bit DIP switch, dial ON to take effect, and the meaning of the DIP is as follows: 1-4: they are used for ZCAN expansion module IO address mapping, the corresponding value is 0-15.
  • Page 50 ZMC420SCAN Motion Controller Hardware Manual V1.5 command. There are also four speed parameters that can be selected. The communication speed must be consistent with the communication speed of the expansion module that corresponds to the combination value, then they can communicate with each other.
  • Page 51 ZMC420SCAN Motion Controller Hardware Manual V1.5 The initial IO mapping number of the analog AD starts from 8 and increases in multiples of 8. The initial IO mapping number of the analog DA starts from 4 and increases in multiples of 4. The allocation of digital IO numbers corresponding to different dial code...
  • Page 52 ZMC420SCAN Motion Controller Hardware Manual V1.5 be selected to expand two pulse axes. These two pulse axes need to be 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*0)+ID...

  • Page 53: Ethercat Bus Expansion

    ZMC420SCAN Motion Controller Hardware Manual V1.5 ALMRM indicator light is on, please check whether the wiring, resistor and dial setting are correct, and whether the CANIO_ADDRESS command of the controller is set as the master end (32), and whether the CAN communication speed is consistent.

  • Page 54: Ethercat Bus Expansion Resource Mapping

    ZMC420SCAN Motion Controller Hardware Manual V1.5 Involved number concepts in above figure are as follows: the bus-related command parameters will use the following numbers: Slot number (slot): The slot number refers to the number of the bus interface on the controller, and the slot number of the EtherCAT bus is 0.
  • Page 55 ZMC420SCAN Motion Controller Hardware Manual V1.5 only through the IO number. The IO number of the EtherCAT bus expansion module is set through the bus command NODE_IO, and the input and output are configured at the same time. When IO mapping, first check the maximum IO number of the controller itself (including the external IO interface and the interface in the pulse axis), and then use the command to set.
  • Page 56 ZMC420SCAN Motion Controller Hardware Manual V1.5 Example: AXIS_ADDRESS(0)=(0<<16)+0+1 'the first drive on the 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 drive, then driver 0 here...

  • Page 57: Chapter V Program & Applications

    5.1. ZDevelop Software Usage ZDevelop is a PC-side program development, debugging and diagnostic software for the ZMoiton series motion controllers of Zmotion Technology. Through it, users can easily edit and configure the 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 English bilingual environments.
  • Page 58 ZMC420SCAN Motion Controller Hardware Manual V1.5 Click “File” – “New File”, select file type to build, here select Basic, click “OK”. Double click “AutoRun”, enter task number 0.
  • Page 59 ZMC420SCAN Motion Controller Hardware Manual V1.5 Edit program program editing window, click “save”, built basic file will be saved under “zpj.” project automatically. “Save all” means all files under this project will be saved. Click “controller – connect”, if no...
  • Page 60 ZMC420SCAN Motion Controller Hardware Manual V1.5 parameters port address, then click “connect”. Click “Ram/Rom” – “download RAM download ROM”, if it is successful, there is print indication, the same time, program downloaded into controller runs automatically. RAM: it will not...
  • Page 61 ZMC420SCAN Motion Controller Hardware Manual V1.5 Click “Debug” – “Start/Stop Debug” to call “Task” “Watch” window, because it was downloaded before, here select “Attach the current”. 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.

  • Page 62: Pc Upper-Computer Program Application

    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 Library Programming Manual". The program developed using the PC software cannot be downloaded to the controller, and it is connected to the controller through the dll dynamic library.
  • Page 63 ZMC420SCAN Motion Controller Hardware Manual V1.5 Select development language “Visual C++” and the select program type “MFC application type”. Select “Based on basic box”, click “next” or “finish” Find function library provided manufacturer. Routine below (64-bit library) Copy all DLL related library files under the above path to the newly created project.
  • Page 64 ZMC420SCAN Motion Controller Hardware Manual V1.5 zmotion.lib Item". Related header 2) Add static files: libraries and zauxdll2.h, related zmotion.h header files in sequence in the pop-up window. Declare relevant header files and define controller connection handle, so far the project is...

  • Page 65: Chapter Vi Run And Maintain

    ZMC420SCAN Motion Controller Hardware Manual V1.5 Chapter VI Run and Maintain The correct operation and maintenance of the motion controller can not only guarantee and extend the life cycle of the equipment itself, but also take technical management measures according to the pre-specified plan or the corresponding technical conditions to prevent equipment performance degradation or reduce the probability of equipment failure.

  • Page 66: Common Problems

    ZMC420SCAN Motion Controller Hardware Manual V1.5 Should be within the range of Whether the device is subjected to vibration resistance vibration or shock impact resistance Keep good ventilation and Is the heat dissipation good heat dissipation The mounting screws should...
  • Page 67 ZMC420SCAN Motion Controller Hardware Manual V1.5 invalid. and whether the "input" view can watch the signal change of the limit sensor. Check whether the mapping of the limit switch is correct. Check whether the limit sensor is connected to the common terminal of the controller.
  • Page 68 ZMC420SCAN Motion Controller Hardware Manual V1.5 Check master-slave configuration, communication speed configuration, etc. Check the DIP switch to see if there are multiple expansion modules with the same ID. Use twisted-pair cables, ground the shielding layer, and use dual power supplies for severe interference...

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