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Zmotion ECI3828 Manual

Network motion control card
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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

    ECI3828 Network Motion Control Card 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.
  • Page 6 ECI3828 Network Motion Control Card User Manual V1.5 3.6.1. Analog Input / Output Specification & Wiring ........25 3.6.2. Basic Usage Method ................26 3.7. ETHERNET ....................... 26 3.8. EtherCAT Bus Interface ................... 28 3.9. Axis Interface ....................30 3.9.1.

  • Page 7: Chapter I Production Information

    ECI is the abbreviation of the network motion control card model launched by Zmotion Technology. ECI3828 supports up to 12 axes of linear interpolation, any circular interpolation, space arc, helical interpolation, electronic cam, electronic gear, synchronization follow, virtual axes setting, etc.

  • Page 8: System Frame

    ECI3828 Network Motion Control Card 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: RS232, RS422, RS485, Ethernet, EtherCAT ◆ Support linear interpolation, any circular interpolation, helical interpolation of 12 axes at most.

  • Page 9: Hardware Installment

    ECI3828 Network Motion Control Card User Manual V1.5 1.4. Hardware Installment ECI3828 motion control card 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 ECI3828 Network Motion Control Card 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...

  • Page 11: Chapter Ii Product Specification

    ECI3828 Network Motion Control Card User Manual V1.5 Chapter II Product Specification 2.1. Basic Specification Item Description Model ECI3828 8 (axis 6 / 7 can be configured as encoder, then is Basic Axes mapped into the encoder of axis 0-1)

  • Page 12: Order Information

    ECI3828 Network Motion Control Card User Manual V1.5 2.2. Order Information Model Description 6 axes, point to point, electronic cam, linear interpolation, circular ECI3628 interpolation, continuous interpolation, robotic arm. 8 axes, point to point, electronic cam, linear interpolation, circular ECI3828 interpolation, continuous interpolation, robotic arm.

  • Page 13: Work Environment

    ECI3828 Network Motion Control Card User Manual V1.5 Power indicator: it lights when power is conducted. Status Indication Run indicator: it lights when runs normally Error indicator: it lights when runs abnormally RS232 RS232 serial port Use MODBUS_RTU protocol RS422...
  • Page 14 ECI3828 Network Motion Control Card User Manual V1.5 Frequency 5-150Hz Displacement 3.5mm(directly install)(<9Hz) vibration Acceleration 1g(directly install)(>9Hz) Direction 3 axial direction Shock (collide) 15g, 11ms, half sinusoid, 3 axial direction Degree of Protection IP20...

  • Page 15: Chapter Iii Wiring, Communication Configuration

    Grounding Shield/Protection Note: ECI3828 controller is supplied by single-power, please make sure the quality of power supply. Controller 5V pulse axis and encoder interface use internal power supply, and IO uses external power. Axes and encoder expanded by ZIO expansion module use external power supply.

  • Page 16: Rs485 / Can Interface

    ECI3828 Network Motion Control Card User Manual V1.5 3.2. RS485 / CAN Interface This interface adopts 5Pin screw-type pluggable terminal with a spacing of 5.08mm. This terminal is shared by RS485 serial communication and CAN communication. → Terminal Definition Terminal...
  • Page 17 When the use environment is ideal and there are no many nodes, the branch structure also can be used. The communication interface of ECI3828 adopts external 24V power supply, please ⚫ pay attention to connect other controllers or HMI.

  • Page 18: Basic Usage Method

    ECI3828 Network Motion Control Card User Manual V1.5 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 ECI3828 Network Motion Control Card User Manual V1.5 and configuration parameters. Please refer to the “ZBasic Programming Manual” for details. (4) Please use the "CANIO_ADDRESS" command to set the master's "address" and "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...

  • Page 20: Rs232/Rs422 Serial Port

    ECI3828 Network Motion Control Card User Manual V1.5 disordered. 3.3. RS232/RS422 Serial Port RS232/RS422 is in one standard DB9 male socket and supports MODBUS_RTU protocol and custom communication. → Interface Definition Terminal Name Function 422TX+ RS422 Send + 232RXD RS232 signal, receive data...
  • Page 21 ECI3828 Network Motion Control Card User Manual V1.5 Connect correspondingly One point is connected to Topology Structure (1 to 1) multiple The number of nodes can be extended The Longer communication distance is, the lower Communication Distance communication rate is, maximum 10m is recommended.

  • Page 22: Basic Usage Method

    ECI3828 Network Motion Control Card User Manual V1.5 3.3.2. Basic Usage Method (1) Please follow the above wiring instructions to wiring correctly. (2) After powered on, please use any ETHERNET or RS232 (there is default parameter, which can be connected directly) to connect to ZDevelop.
  • Page 23 Input 0 and input 1 both have latch input A and latch input B function. ECI3828 supports 4-channel latch, it can use REG_INPUTS to configure in the software. IN0-2 have 24V high-speed encoder function, as encoder 2 to input. IN21-23 have low-...

  • Page 24: Digital Input Specification & Wiring

    ECI3828 Network Motion Control Card User Manual V1.5 3.4.1. Digital Input Specification & Wiring → Specification Item High-Speed Input (IN0-3) Low-Speed Input (IN4-23) NPN leakage type, the input is triggered when there is low- Input mode electric level Frequency ＜100kHz ＜5kHz...

  • Page 25: Basic Usage Method

    ECI3828 Network Motion Control Card User Manual V1.5 3.4.2. Basic Usage Method (1) Please follow the above wiring instructions to wiring correctly. (2) After powered on, please select ETHERNET, RS232 (default parameter, which can be connected directly) and RS485 (default parameter, which can be connected directly, for hardware, an adapter is needed) to connect to ZDevelop.

  • Page 26: Digital Output Specification & Wiring

    ECI3828 Network Motion Control Card User Manual V1.5 External power EGND ground 5V power output generated from OUT0 Output 0 PWM Out 0 PUL2 Hardware Leakage, comparison OUT1 Output 1 PWM Out 1 DIR2 high- output OUT2 Output 2 PUL3...
  • Page 27 ECI3828 Network Motion Control Card User Manual V1.5 Item High Speed Output (OUT0-3) Low Speed Output (OUT4-15) Output mode NPN Leakage type, it is 0V when there is output. Frequency ＜400kHz ＜8kHz Voltage level DC24V DC24V Max output current +300mA...

  • Page 28: Basic Usage Method

    ECI3828 Network Motion Control Card User Manual V1.5 → Wiring Note: For the connection of the public end, please connect the "EGND" port on the power ⚫ supply to the negative pole of the DC power supply of the external input device. If the DC power supply of the external device and the controller power supply are in the same power supply system, this connection can also be omitted.

  • Page 29: Ad/Da: Analog Input / Output

    AGND Public end Unique analog public end Analog input terminal AIN(0) Input Analog input terminal AIN(1) Note: ECI3828 inner AD and DA use internal power supply. 3.6.1. Analog Input / Output Specification & Wiring → Specification AD（0-1） DA（0-1） Item Resolution...

  • Page 30: Basic Usage Method

    “AOUT” command, also, data of each channel can be checked through “ZDevelop/View/AD/DA”. Please refer to “ZBasic” for details. 3.7. ETHERNET ECI3828 motion controller has an Ethernet port, and it supports MODBUS_TCP protocol and custom communication, and the default IP address is 192.168.0.11. The pin...
  • Page 31 ECI3828 Network Motion Control Card User Manual V1.5 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. The schematic diagram...

  • Page 32: Ethercat Bus Interface

    ECI3828 Network Motion Control Card User Manual V1.5 3.8. EtherCAT Bus Interface ECI3828 network motion control card 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 33 ECI3828 Network Motion Control Card 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...

  • Page 34: Axis Interface

    ECI3828 Network Motion Control Card 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 35: Axis Interface Signal Specification & Wiring

    Alarm input and axis enable output are used as general input and output at the same time, when it is output, output small current. ECI3828 differential pulse axis and differential encoder input are only for axis 0 and axis 1. ...
  • Page 36 ECI3828 Network Motion Control Card User Manual V1.5 Signal type Differential input signal EA/EB/EZ Voltage range 0-5V Maximum frequency 5MHz NPN leak type, it is triggered when Input method low electric level is input. Frequency ＜5kHz Impedance 6.8KΩ Voltage level...
  • Page 37 ECI3828 Network Motion Control Card User Manual V1.5 → Wiring Reference (single-ended connection): → Wiring Reference: Reference example of wiring with Panasonic A5/A6 servo driver:...
  • Page 38 ECI3828 Network Motion Control Card 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...

  • Page 39: Basic Usage Method

    ECI3828 Network Motion Control Card User Manual V1.5 connect carefully. If the speed can meet the requirements, use low-speed differential pulse port  preferentially. When high-speed differential pulse interface is used, controller internal digital ground must be connected to drive high-speed pulse reference ground.
  • Page 40 ECI3828 Network Motion Control Card User Manual V1.5 (5) Control corresponding motion through “View – Manual”. Refer to BASIC Routine:...
  • Page 41 ECI3828 Network Motion Control Card 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 100*1000 pulse/s ACCEL = 1000,1000 ‘set axis acceleration as 1000*1000 pulse/s/s...

  • Page 42: Chapter Iv Expansion Module

    ECI3828 Network Motion Control Card User Manual V1.5 Chapter IV Expansion Module ZIO series expansion modules or ZMIO310-CAN coupler with sub modules can be used. Connect control card to CAN bus expansion modules, when the eighth bit of the DIP switch of the expansion module is turned to ON, which indicates that a 120 ohm resistor has been connected, but needs to connect one 120 ohm resistor externally.
  • Page 43 ECI3828 Network Motion Control Card User Manual V1.5 → Wiring Note: ECI3828 control card 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 44: Can Bus Expansion Resource Mapping

    ECI3828 Network Motion Control Card 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 45 ECI3828 Network Motion Control Card User Manual V1.5 The controller side sets the CAN communication speed through the CANIO_ADDRESS 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 46 ECI3828 Network Motion Control Card 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.
  • Page 47 ECI3828 Network Motion Control Card User Manual V1.5 → Axis Mapping: When the CAN bus expansion mode is used to expand the pulse axis, 2 pulses axes are extended. These two pulse axes need to be mapped and bound with the axis No., then access.

  • Page 48: Ethercat Bus Expansion

    ECI3828 Network Motion Control Card 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 49: Ethercat Bus Expansion Resource Mapping

    ECI3828 Network Motion Control Card 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 50 ECI3828 Network Motion Control Card 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.
  • Page 51 ECI3828 Network Motion Control Card 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 52: Chapter V Expansion Module

    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 53 ECI3828 Network Motion Control Card 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 54 ECI3828 Network Motion Control Card 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 55 ECI3828 Network Motion Control Card 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 56 ECI3828 Network Motion Control Card 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 57: 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 58 ECI3828 Network Motion Control Card 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 59 ECI3828 Network Motion Control Card 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 newly created.

  • Page 60: Chapter Vi Run And Maintain

    ECI3828 Network Motion Control Card 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 61: Common Problems

    ECI3828 Network Motion Control Card 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 62 ECI3828 Network Motion Control Card 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 63 ECI3828 Network Motion Control Card 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...

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