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Related Manuals for Zmotion ZMC460N
Summary of Contents for Zmotion ZMC460N
- 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.
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Page 5: Table Of Contents
ZMC460N 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 ....................4 1.4. Hardware Installment ..................5 Chapter II Product Specification ..................7 2.1. Basic Specification .................... 7 2.2. - Page 6 ZMC460N Motion Controller User Manual V1.5 3.6. AD / DA: Analog Input / Output ............... 25 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.
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Page 7: Chapter I Production Information
ZMC460N 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 supports Zmotion XPLC function, and can be configured and displayed through the network. -
Page 8: System Frame
ZMC460N Motion Controller User Manual V1.5 ◆ The maximum output current of general digital outputs can reach 300mA, which can directly drive some kinds of solenoid valves. ◆ Interfaces: EtherCAT, RTEX, RS232, RS485, U Disk, Ethernet. ◆ Support linear interpolation, any circular interpolation, helical interpolation and spline interpolation of 60 axes at most. -
Page 9: Hardware Installment
ZMC460N Motion Controller User Manual V1.5 1.4. Hardware Installment The ZMC460N motion controller adopts the horizontal installation method of screw fixing, and each controller should be installed with 4 screws for fastening. → Unit: mm → Installment Hole Diameter: 4.5mm ⚫... - Page 10 ZMC460N Motion Controller User Manual V1.5 ⚫ Considering the convenient operation and maintenance of the controller, please do not install the controller in the following places: places where the surrounding ambient temperature exceeds the range of -20° C-60° C places where the ambient humidity exceeds the range of 10%-...
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Page 11: Chapter Ii Product Specification
ZMC460N Motion Controller User Manual V1.5 Chapter II Product Specification 2.1. Basic Specification Item Description Model ZMC460N ZMC430N Basic Axes Max Extended Axes Basic Axes Type EtherCAT/RTEX/Local pulse axes 24 inputs, 12 outputs, each pulse axis has 1 input and 1... -
Page 12: Order Information
ZMC460N Motion Controller User Manual V1.5 2.2. Order Information Model Description 60 axes, point to point, linear, circular, electronic cam, continuous ZMC460N trajectory motion, robotic car instructions. 30 axes, point to point, linear, circular, electronic cam, continuous ZMC430N trajectory motion, robotic car instructions. - Page 13 ZMC460N Motion Controller User Manual V1.5 → Interface Description Mark Interface Number Description Power indicator: it lights when power is conducted. Status Indication Run indicator: it lights when runs Light normally Error indicator: it lights when runs abnormally RS232 serial port...
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Page 14: Work Environment
ZMC460N Motion Controller User Manual V1.5 power, 12 high-speed inputs, IN0-3 have latch function, IN0-11 have single-ended encoder function. Leakage type, internal 24V supply power, 12 high-speed outputs, OUT0- Digital IO output 11 have PWM, single-ended pulse and hardware comparison output function. -
Page 15: Chapter Iii Wiring, Communication Configuration
ZMC460N Motion Controller User 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
ZMC460N Motion Controller User Manual V1.5 3.2. RS485, CAN Communication Interface The communication interface adopts a screw-type pluggable wiring terminal with a 5Pin spacing of 3.81mm. Both RS485 communication and CAN communication can be connected and used through the corresponding interface of this terminal. - Page 17 ZMC460N Motion Controller User Manual V1.5 communication rate, max 100m is recommended. → Wiring Reference Connect 485A and 485B of RS485 to 485A and 485B of the controller correspondingly, and connect the common terminal EGND of both parties of RS485 communication together.
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Page 18: Basic Usage Method
ZMC460N Motion Controller User Manual V1.5 structure can also be considered. Please connect a 120Ω terminal resistor in parallel at the two ends of the CAN bus to ⚫ match the circuit impedance and ensure communication stability. ⚫ Please be sure to connect the common terminal of each node on the CAN bus to prevent the CAN chip from burning out. - Page 19 ZMC460N Motion Controller User Manual V1.5 (3) Please use the "ADDRESS" and "SETCOM" commands to set and view the protocol station number and configuration parameters, see "ZBasic Programming Manual" for details. (4) Please use the "CANIO_ADDRESS" command to set the master's "address" and "speed"...
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Page 20: Rs232 Serial Port
ZMC460N Motion Controller User Manual V1.5 3.3. RS232 Serial Port RS232 is in a 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 Method
ZMC460N Motion Controller User Manual V1.5 → Wiring Notes: ⚫ The wiring of RS232 is as above, the sending and receiving signals need to be cross- connected, and it is recommended to use a double-female cross line when connecting to a computer. -
Page 22: In Digital Input & High-Speed Latch & Single-Ended Encoder
ZMC460N Motion Controller User Manual V1.5 parameter, it can be connected directly) and RS485 (default parameters, it can be connected directly, for hardware, adapter is needed) to connect to ZDevelop. (3) Please use the "ADDRESS" and "SETCOM" commands to set and view the protocol station number and configuration parameters, see "ZBasic Programming Manual"... - Page 23 ZMC460N Motion Controller User Manual V1.5 high-speed latch functions. → Wiring Definition Function 3 Terminal Name Type Function 1 Function 2 External power EGND ground EGND Input 0 High speed latch A Input 1 High speed latch B Input 2...
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Page 24: Digital Input Specification & Wiring
ZMC460N Motion Controller User Manual V1.5 3.4.1. Digital Input Specification & Wiring → Specification Item High-Speed Input (IN0-11) Low-Speed Input (IN12-23) NPN leakage type, the input is triggered when there is low- Input mode electric level Frequency ＜100kHz ＜5kHz Impedance 3.3KΩ... -
Page 25: Basic Usage Method
ZMC460N Motion Controller User Manual V1.5 ⚫ For the common terminal, please select the "EGND" port on the power supply terminal to connect to the "COM" terminal of the external input device. If the power supply of the signal area of the external device and the power supply of the controller are in the same power supply system, this connection can also be omitted. -
Page 26: Out: Digital Output, Pwm Terminal, Hardware Comparison Output, Single
ZMC460N Motion Controller User Manual V1.5 3.5. OUT: Digital Output, PWM Terminal, Hardware Comparison Output, Single-ended Pulse The digital output adopts 2 sets of screw-type pluggable terminals with a spacing of 3.81mm, and the digital output signals are integrated with PWM, single-ended pulse and hardware comparison output functions. -
Page 27: Digital Output Specification & Wiring
ZMC460N Motion Controller User Manual V1.5 AXIS_ADDRESS, when ATYPE=0, they are general output. 3.5.1. Digital Output Specification & Wiring → Specification Item High Speed Output (OUT0-11) Low Speed Output Output mode NPN leakage type, it is 0V when outputs Frequency ＜400kHz... -
Page 28: Basic Usage Method
ZMC460N Motion Controller User 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
ZMC460N Motion Controller User Manual V1.5 (4) PWM function can be used to set 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 ZMC460N Motion Controller User 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 output 0-10V input Data refresh ratio 1KHz 1KHz Voltage input >1KΩ (voltage output >40KΩ (voltage input impedance / output load...
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Page 31: Basic Usage Method
“ZDevelop/View/AD/DA”. Please refer to “ZBasic” for details. 3.7. U Disk The ZMC460N motion controller provides a USB communication interface to insert a U disk device, which is used for ZAR program upgrade, controller data import and export, and 3 file executions. Its schematic diagram is shown in the figure below:... -
Page 32: Ethernet
500mA Whether Isolates 3.8. ETHERNET ZMC460N motion controller has a 100M network port, supports MODBUS_TCP protocol and custom communication, and the default IP address is 192.168.0.11. The pin definition diagram is as follows: The Ethernet port of the controller can be connected point-to-point with a computer,... -
Page 33: Rtex Bus Interface
The schematic diagram is as follows: 3.9. RTEX Bus Interface ZMC460N 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 pin definition. -
Page 34: Rtex Bus Interface Rule & Wiring
ZMC460N Motion Controller User 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 ZMC460N motion controller has a 100M EtherCAT communication interface, supports EtherCAT protocol, and connects to EtherCAT driver or EtherCAT expansion module. The pin definition diagram is as follows: →... - Page 36 ZMC460N Motion Controller User Manual V1.5 IO adopts input and output synchronization / DC- Synchronization method distributed clock Physical level 100BASE-TX Duplex mode full duplex Topology linear topology Transfer media Cable Transfer distance It is less than 100M between 2 nodes...
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Page 37: Axis Differential Pulse Axis Interface
ZMC460N Motion Controller User Manual V1.5 Use RJ45 network cable connection method: When installing, hold the crystal head with the cable and insert it into the RJ45 ⚫ interface until it makes a "click" sound (kada). In order to ensure the stability of communication, please fix the cables with cable ties. -
Page 38: Axis Interface Signal Specification & Wiring
ZMC460N Motion Controller User Manual V1.5 Negative pole of 5V power of pulse/encoder signal PUL- Servo or step pulse output - Reserved Reserved Negative pole of 5V power of pulse/encoder signal OVCC Positive pole of IO 24V power Reserved Reserved... - Page 39 ZMC460N Motion Controller User Manual V1.5 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 Voltage level DC24V IN24-29 The voltage to open <10.5V The voltage to close >10.7V...
- Page 40 ZMC460N 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...
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Page 41: Basic Usage Method
ZMC460N Motion Controller User Manual V1.5 connect carefully. Please use twisted-pair shielded cables, especially in harsh environments, and make sure the shielding layer is fully grounded. 3.11.2. Basic Usage Method (1) Please follow the above wiring instructions for correct wiring. - Page 42 ZMC460N Motion Controller User Manual V1.5 (5) Control corresponding motion through “View – Manual”. Refer to BASIC Routine: BASE(0,1) 'select axis 0 and axis 1 ATYPE = 1,1 'set axis 0 and axis as pulse axes UNITS = 1000,1000 'set pulse amount as 1000 pulses...
- Page 43 ZMC460N Motion Controller User Manual V1.5 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 axis negative hardware position limit...
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Page 44: Chapter Iv Expansion Module
ZMC460N 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 45 ZMC460N Motion Controller User Manual V1.5 → Wiring Note: ZMC460N 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.
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Page 46: Can Bus Expansion Resource Mapping
ZMC460N 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 47 ZMC460N 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 48 ZMC460N 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 49 ZMC460N Motion Controller User Manual V1.5 can 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...
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Page 50: Ethercat Bus Expansion
ZMC460N 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 51: Ethercat Bus Expansion Resource Mapping
ZMC460N 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 52 ZMC460N 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 53 ZMC460N 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...
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Page 54: 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 55 ZMC460N 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 56 ZMC460N 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 57 ZMC460N 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 58 ZMC460N 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.
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Page 59: 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 60 ZMC460N 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 61 ZMC460N 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...
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Page 62: Chapter Vi Run And Maintain
ZMC460N 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 63: Common Problems
ZMC460N 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 64 ZMC460N 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 65 ZMC460N 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...