Zmotion ZMC464 Manual
  1. Manuals
  2. Brands
  3. Zmotion Manuals
  4. Controller
  5. ZMC464
  6. Manual

Zmotion ZMC464 Manual

Pulse + bus motion controller
Hide thumbs Also See for ZMC464:
Table of Contents

Advertisement

Quick Links

Download this manual

Advertisement

Table of Contents
loading

Related Manuals for Zmotion ZMC464

Summary of Contents for Zmotion ZMC464

  • 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

    ZMC464 Motion Controller User 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 ZMC464 Motion Controller User Manual V1.5 3.6. DA Analog Output .................... 26 3.6.1. Analog Output Specification & Wiring ..........26 3.6.2. Basic Usage Method ................28 3.7. U Disk ......................28 3.8. ETHERNET ....................... 29 3.9. EtherCAT Bus Interface ................... 30 3.10.

  • Page 7: Chapter I Production Information

    ZMC464 Motion Controller User 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. ZMC4 series support Zmotion XPLC function, and they can do configuration display through the network.
  • Page 8 ZMC464 Motion Controller User Manual V1.5 ◆ Axis position limit signal / origin signal port can be configured as any input at will. ◆ The maximum output current of general digital outputs can reach 300mA, which can directly drive some kinds of solenoid valves.

  • Page 9: System Frame

    ZMC464 Motion Controller User Manual V1.5 1.3. System Frame 1.4. Hardware Installment The ZMC464 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 ZMC464 Motion Controller User 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

    ZMC464 Motion Controller User Manual V1.5 Chapter II Product Specification 2.1. Basic Specification Item Description Model ZMC464 ZMC464-16 ZMC464-32 Basic Axes Max Extended Axes Type of Basic Axes EtherCAT, there are 3 local pulse axes. General IO: 24 inputs and 8 outputs.

  • Page 12: Order Information

    16 axes, point to point, linear, circular, electronic cam, continuous ZMC464-16 trajectory motion, robot structure. ZMC464-16R Functions of ZMC464-16 + Delta + 6-joint robot structure. ZMC464-R Functions of ZMC464 + Delta + 6-joint robot structure. Except for the difference in axis resources and supported functions in the function description in the form above, other resources are the same for the above models.

  • Page 13: Interface Definition

    ZMC464 Motion Controller User Manual V1.5 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. Run state: it lights when runs normally Error state: it lights when runs incorrectly...

  • Page 14: Work Environment

    ZMC464 Motion Controller User Manual V1.5 module Use MODBUS_TCP protocol, expand the number of network ports through the ETHERNET Network port interchanger, and the number of net port channels can be checked through “?*port” command, default IP address is 192.168.0.11...
  • Page 15 ZMC464 Motion Controller User Manual V1.5 Direction 3 axial direction Shock (collide) 15g, 11ms, half sinusoid, 3 axial direction Degree of Protection IP20...

  • Page 16: Chapter Iii Wiring & Communication

    ZMC464 Motion Controller User Manual V1.5 Chapter III Wiring & Communication 3.1. Power Input The power supply input adopts a 3Pin (there are all 3 terminals, E+24V, EGND and FG) screw-type pluggable wiring terminal, and the interval (means the gap distance between two ports, namely, between E+24V and EGND) should be 3.81mm.

  • Page 17: Rs485, Can Communication Specification & Wiring

    ZMC464 Motion Controller User Manual V1.5 CAN communication, they can be used by connecting the corresponding interface. → Terminal Definition: Terminal Name Function 485B 485- 485A 485+ EGND External power supply ground CANL CAN differential data - CANH CAN differential data + 3.2.1.
  • Page 18 ZMC464 Motion Controller User Manual V1.5 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. Connect the CANL and CANH of the standard CAN module to the CANL and CANH of the other side correspondingly.

  • Page 19: Basic Usage Method

    ZMC464 Motion Controller User Manual V1.5 Please be sure to connect the public ends of each node on the CAN bus to prevent ⚫ the CAN chip from burning out. ⚫ Please use STP (Shielded Twisted Pair), especially in bad environments, and make sure the shielding layer is fully grounded.

  • Page 20: Rs232 Serial Port

    ZMC464 Motion Controller User Manual V1.5 "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/Communication Info” to view the CAN status intuitively, and refer to the “ZBasic Programming Manual”...

  • Page 21: Rs232 Communication Interface Specification & Wiring

    ZMC464 Motion Controller User Manual V1.5 custom communication. → Interface Definition: Terminal Name Type Function 1、4、 Spare Reserved 6、7、8 Input RS232 signal, receive data Output RS232 signal, send data Negative pole output of 5V power, EGND Output and output for the public end...

  • Page 22: Basic Usage Method

    ZMC464 Motion Controller User Manual V1.5 → 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 23: In Digital Input & High-Speed Latch Port

    ZMC464 Motion Controller User Manual V1.5 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. (3) Please use the "ADDRESS" and "SETCOM" commands to set and view the protocol station number and configured parameters, see "ZBasic Programming Manual"...
  • Page 24 ZMC464 Motion Controller User Manual V1.5 → Terminal Definition Function 3 Terminal Name Type Function 1 Function 2 External power EGND ground EGND Input 0 NPN leakage type, High Speed high-speed input Latch Input 1 Input 2 Input 3 Input 4...

  • Page 25: Digital Input Specification & Wiring

    ZMC464 Motion Controller User Manual V1.5 3.4.1. Digital Input Specification & Wiring → Specification Item High-Speed Input (IN0-1) Low-Speed Input (IN2-23) NPN leakage type, the input is triggered when there is low- Input mode electric level Frequency ＜100kHz ＜5kHz Impedance 3.3KΩ...

  • Page 26: Basic Usage Method

    ZMC464 Motion Controller User Manual V1.5 ⚫ For the public end, please connect the "EGND" port on the power supply to the "COM" terminal of the external input device. If the signal area power supply of the external device and the power supply of the controller are in the same power supply system, this connection also can be omitted.

  • Page 27: Out

    ZMC464 Motion Controller User Manual V1.5 3.5. OUT (Digital Output, PWM Terminal, Hardware Comparison Output, Single-end Pulse) The digital output adopts 2 sets of screw-type pluggable terminals with a spacing of 3.81mm, and the PWM and hardware comparison output functions are integrated in digital output signal.

  • Page 28: Digital Output Specification & Wiring

    ZMC464 Motion Controller User Manual V1.5 OUT0-3 have the functions of PWM and hardware comparison output.   Single-end encoder axis needs to be configured as local axis through AXIS_ADDRESS, then it can be used. When ATYPE=0, it is general input.

  • Page 29: Basic Usage Method

    ZMC464 Motion Controller User Manual V1.5 → Wiring Note: The wiring principle of high-speed digital output OUT (0-3) and low-speed digital ⚫ output OUT (4-11) 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 30: Analog Output

    ZMC464 Motion Controller User 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 31 ZMC464 Motion Controller User Manual V1.5 DA（0-1） Item Resolution 12-bit Data range 0-4095 Signal range 0-10V output Data refresh ratio 1KHz Load impedance ≥10KΩ → Wiring Reference → Wiring Note: The analog input/output wiring method is as shown in the figure above, and the ⚫...

  • Page 32: Basic Usage Method

    “ZDevelop/View/AD/DA”. Please refer to “ZBasic” for details. 3.7. U Disk The ZMC464 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 diagram is shown in the figure below: →...

  • Page 33: Ethernet

    500mA Whether Isolates 3.8. ETHERNET ZMC464 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 34: Ethercat Bus Interface

    ZMC464 Motion Controller User Manual V1.5 3.9. EtherCAT Bus Interface ZMC464 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 35 ZMC464 Motion Controller User 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 36: Axis Differential Pulse Axis Interface

    ZMC464 Motion Controller User 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 37: Axis Interface Signal Specification & Wiring

    ZMC464 Motion Controller User 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 38 ZMC464 Motion Controller User Manual V1.5 Voltage range 0-5V Maximum frequency 10MHz Signal type Differential input signal EA/EB/EZ Voltage range 0-5V Maximum frequency 5MHz NPN leak type, it is triggered Input method when low electric level is input. Frequency ＜5kHz Impedance 6.8KΩ...
  • Page 39 ZMC464 Motion Controller 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 connect carefully.

  • Page 40: Basic Usage Method

    ZMC464 Motion Controller User Manual V1.5 Please use STP, especially in bad environments, and make sure the shielding layer is  fully grounded. 3.10.2. Basic Usage Method (1) Please follow the above wiring instructions to wiring correctly. (2) After powered on, please use any one interface among the three interfaces ETHERNET,...
  • Page 41 ZMC464 Motion Controller User Manual V1.5 (5) Control corresponding motion through “View – Manual”. Refer to BASIC Routine:...
  • Page 42 ZMC464 Motion Controller User Manual V1.5 BASE(0,1) 'select axis 0 and axis 1 ATYPE = 1,1 'set axis 0 and axis 1 as pulse axes UNITS = 1000,1000 'set pulse amount as 1000 pulses SPEED = 10,10 'set axis speed as 10*1000 pulse/s ACCEL = 1000,1000 ‘set axis acceleration as 1000*1000 pulse/s/s...

  • Page 43: Chapter Iv Expansion Module

    ZMC464 Motion Controller User Manual V1.5 Chapter IV Expansion Module The controller can expand digital IO, analog IO, pulse axis and other resources through CAN bus (ZIO series expansion modules). For details, please refer to "ZIO Expansion Card Hardware Manual". Also, through EtherCAT bus (EIO series expansion cards) expansion of these resources also can be achieved, please refer to each EIO hardware manual for details.
  • Page 44 ZMC464 Motion Controller User Manual V1.5 → Wiring Note: ZMC464 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 45: Can Bus Expansion Resource Mapping

    ZMC464 Motion Controller User 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 46 ZMC464 Motion Controller User 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 47 ZMC464 Motion Controller User 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 48 ZMC464 Motion Controller User 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 49: Ethercat Bus Expansion

    ZMC464 Motion Controller User 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 50: Ethercat Bus Expansion Resource Mapping

    ZMC464 Motion Controller User 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 51 ZMC464 Motion Controller User 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 52 ZMC464 Motion Controller User 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 53: 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 54 ZMC464 Motion Controller User 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 55 ZMC464 Motion Controller User 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 56 ZMC464 Motion Controller User 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 57 ZMC464 Motion Controller User 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 58: 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 59 ZMC464 Motion Controller User 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 60 ZMC464 Motion Controller User 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 61: Chapter Vi Run And Maintain

    ZMC464 Motion Controller User Manual V1.5 Chapter VI Run and Maintain The correct operation and maintenance of the device 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 62: Common Problems

    ZMC464 Motion Controller User 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 63 ZMC464 Motion Controller User 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 64 ZMC464 Motion Controller User 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...

This manual is also suitable for:

Zmc464-16Zmc464-32

Table of Contents