Zmotion ZMC416BE Manual
  1. Manuals
  2. Brands
  3. Zmotion Manuals
  4. Controller
  5. ZMC416BE
  6. Manual

Zmotion ZMC416BE Manual

Pulse + bus motion controller
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual

Advertisement

Table of Contents
loading

Related Manuals for Zmotion ZMC416BE

Summary of Contents for Zmotion ZMC416BE

  • 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

    ZMC416BE 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 ZMC416BE Motion Controller User Manual V1.5 3.6.1. Analog Input / Output Specification & Wiring ........26 3.6.2. Basic Usage ..................27 3.7. U Disk ......................28 3.8. ETHERNET ....................... 28 3.9. EtherCAT Bus Interface ................... 30 3.10. ENCODER Interface ..................32 3.10.1.

  • Page 7: Chapter I Production Information

    ZMC416BE 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. ZMC416BE high-performance multi-axis motion controller is a stand-alone motion controller compatible with EtherCAT bus and pulse type. The controller itself supports 16 axes at most, but it can be extended to 32 axes for complex continuous trajectory control requirements.

  • Page 8: System Frame

    ZMC416BE Motion Controller User Manual V1.5 ◆ Interfaces: EtherCAT, RS232, RS485, RS422, U Disk, Ethernet. ◆ Support linear interpolation, any circular interpolation, helical interpolation and spline interpolation of 32 axes at most. ◆ Support electronic cam, electronic gear, position latch, synchronous follow, virtual axis, etc.

  • Page 9: Hardware Installment

    ZMC416BE Motion Controller User Manual V1.5 1.4. Hardware Installment The ZMC416BE 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 ZMC416BE Motion Controller User Manual V1.5 places where the surrounding ambient temperature exceeds the range of -20° C-60° C places where the ambient humidity exceeds the range of 10%- 95% (non-condensing) places with corrosive gases and flammable gases places with many conductive powders such as dust and iron...

  • Page 11: Chapter Ii Product Specification

    ZMC416BE Motion Controller User Manual V1.5 Chapter II Product Specification 2.1. Basic Specification Item Description Model ZMC416BE 16 (15 specialized pulse axis interfaces + 1 general Basic Axes output that supports pulse output and EtherCAT bus axis) Max Extended Axes...

  • Page 12: Order Information

    ZMC416BE Motion Controller User Manual V1.5 2.2. Order Information Model Description 16 axes, point to point, linear, circular, electronic cam, continuous ZMC416BE trajectory motion, robotic car instructions. ZMC416BE-1 16 axes, point to point, electronic cam. ZMC416BE-2 16 axes, point to point, linear, electronic cam.
  • Page 13 ZMC416BE 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 normally Light Error indicator: lights when runs abnormally RS232 serial RS232...

  • Page 14: Work Environment

    ZMC416BE Motion Controller User 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

    ZMC416BE Motion Controller User Manual V1.5 Chapter Wiring, Communication Configuration 3.1. Power Input The power input adopts a screw-type pluggable terminal with a 5Pin pitch of 3.81mm, which is the power supply of the controller. → Terminal Definition: Terminal Name...

  • Page 16: Rs485, Rs422, Can Communication Specification & Wiring

    ZMC416BE Motion Controller User Manual V1.5 → Terminal Definition: Terminal Name Function 485B 485- 485A 485+ EGND External power supply ground CANL CAN differential data - CANH CAN differential data + EGND External power supply ground 422TX- RS422 send -...
  • Page 17 ZMC416BE Motion Controller User Manual V1.5 Topology Daisy chain connection structure Point to point Nodes can be Up to 127 Up to 16 Up to 10 extended Communication Longer communication distance, lower communication rate, Distance max 100m is recommended. → Wiring Reference...
  • Page 18 ZMC416BE Motion Controller User Manual V1.5 Connect 422TX and 422RX of RS422 to 422TX and 422RX of the corresponding controller, and connect the common terminal EGND of both RS422 communication parties together. → Wiring Notes: ⚫ As above, the daisy chain topology is used for wiring, so the star topology cannot be used.

  • Page 19: Basic Usage

    ZMC416BE Motion Controller User Manual V1.5 Twisted pair shielded wire, and shielded cable grounded. 3.2.2. Basic Usage (1) Please follow the above wiring instructions for correct wiring. (2) After power on, please use ETHERNET, RS232 or RS485 to connect to ZDevelop.

  • Page 20: Rs232 Serial Port

    ZMC416BE Motion Controller User Manual V1.5 (5) Correctly set the relevant parameters of the third-party equipment according to their respective instructions to match the parameters of each node. (6) Correctly set the "address" and "speed" of the slave expansion module according to the manual of the slave.

  • Page 21: Rs232 Communication Interface Specification & Wiring

    ZMC416BE Motion Controller User Manual V1.5 3.3.1. RS232 Communication Interface Specification & Wiring → Specification: Item RS232 Max Communication Rate (bps) 115200 Terminal Resistor Topology Connect correspondingly (point to point) Nodes can be extended Longer communication distance, lower Communication Distance communication rate, max 10m is recommended.

  • Page 22: Basic Usage

    ZMC416BE Motion Controller User Manual V1.5 → Cable Requirements: Twisted pair shielded wire, and shielded cable grounded. 3.3.2. Basic Usage (1) Please follow the above wiring instructions for correct wiring. (2) After power on, please use ETHERNET, RS232 (default parameter, it can be connected directly) and RS485 (default parameter can be directly connected, one adapter is needed for hardware) to connect to ZDevelop.

  • Page 23: In Digital Input & High-Speed Latch Port

    ZMC416BE Motion Controller User Manual V1.5 3.4. IN Digital Input & High-Speed Latch Port The digital input adopts 3 groups of 10Pin screw-type pluggable terminals with a pitch of 3.81mm, and digital signal inputs are integrated with the high-speed latch and single-ended encoder functions.

  • Page 24: Digital Input Specification & Wiring

    ZMC416BE Motion Controller User Manual V1.5 IN12 Switch Input 12 IN13 Switch Input 13 IN14 Switch Input 14 IN15 Switch Input 15 EGND External power ground EGND IN16 Switch Input 16 IN17 Switch Input 17 IN18 Switch Input 18 NPN leakage...

  • Page 25: Basic Usage

    ZMC416BE Motion Controller User Manual V1.5 Isolation mode Optical isolation Optical isolation Note: the above parameters are standard values when the controller power supply voltage (E+24V port) is 24V. → Wiring Reference → Wiring Note: The wiring principle of high-speed digital input IN (0-1) and low-speed digital input ⚫...

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

    ZMC416BE Motion Controller User Manual V1.5 (4) Latch function can be set and opened through “REGIST” instruction, in software, use REG_INPUTS to configure. Please refer to “ZBasic” for details. 3.5. OUT Digital Output, PWM Terminal, Hardware Comparison Output The digital output adopts a set of screw-type pluggable terminals with a spacing of 3.81mm, and the digital output signal is integrated with PWM, single-ended pulse and...

  • Page 27: Digital Output Specification & Wiring

    OUT0-3 have the PWM and hardware comparison output function.  In ZMC416BE, OUT2/3 have the function of axis 15. When ATYPE = 0, it is general output.  3.5.1. Digital Output Specification & Wiring →...

  • Page 28: Basic Usage

    ZMC416BE 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 (4-7) 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

    ZMC416BE 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 function can be set and used through “HW_PSWITCH2”.

  • Page 30: Analog Input / Output Specification & Wiring

    ZMC416BE Motion Controller User Manual V1.5 Common AGND Analog common terminal terminal Input Analog input terminal AIN(0) Input Analog input terminal AIN(1) Common AGND Analog common terminal terminal 3.6.1. Analog Input / Output Specification & Wiring → Specification DA（0-1） Item...

  • Page 31: Basic Usage

    ZMC416BE Motion Controller User Manual V1.5 → Wiring Note: ⚫ The analog input/output wiring method is as shown in the figure above, and the external load signal range must match it. Please use twisted-pair shielded cables, especially in harsh environments, and make ⚫...

  • Page 32: U Disk

    ZMC416BE Motion Controller User Manual V1.5 3.7. U Disk The ZMC416BE 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 33 ZMC416BE Motion Controller User Manual V1.5 The Ethernet port of the controller can be connected point-to-point with a computer, HMI, etc. through an Ethernet cable. The schematic diagram is as follows: The controller can also be connected to the interchanger through an Ethernet cable, and connected to other devices through the interchanger to realize multi-point connection.

  • Page 34: Ethercat Bus Interface

    ZMC416BE Motion Controller User Manual V1.5 3.9. EtherCAT Bus Interface ZMC416BE 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 35 ZMC416BE Motion Controller User Manual V1.5 → Specification Item Specification Communication protocol EtherCAT protocol CoE（PDO、SDO） 、FoE Valid service IO adopts input and output synchronization / DC- Synchronization method distributed clock Physical level 100BASE-TX Duplex mode full duplex Topology linear topology...

  • Page 36: Encoder Interface

    Please use tube-type pre-insulated terminals and cables with appropriate wire diameters to connect the user terminals. 3.10. ENCODER Interface ZMC416BE provides 3 encoder interfaces, and each interface is standard DB9 male socket. → Interface Definition Interface...

  • Page 37: Encoder Interface Specification & Wiring

    ZMC416BE Motion Controller User Manual V1.5 Note: encoder can be accessed through axis 16-18. 3.10.1. ENCODER Interface Specification & Wiring → Interface Definition Interface Item Description Signal type Differential input signal EA/EB/EZ Signal voltage range 0-5V Signal max frequency 5MHz...

  • Page 38: Axis Interface Signal Specification & Wiring

    ZMC416BE Motion Controller User Manual V1.5 PUL- Servo/step pulse output differential signal - DIR+ Servo/step directional output differential signal + DIR-- Servo/step directional output differential signal - Pulse/encoder signal 5V power negative pole IN24- Digital input, it is recommended to do drive alarm...
  • Page 39 ZMC416BE Motion Controller User Manual V1.5 Output method NPN leak type, 0V when outputs Output frequency ＜8kHz Output voltage level DC24V OUT8-22 Max output current +50mA Overcurrent protection Isolation Optical isolation +5V，GND 5V power max output current 50mA EGND 24V power max output current 50mA →...

  • Page 40: Basic Usage

    ZMC416BE 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 (1) Please follow the above wiring instructions for correct wiring.
  • Page 41 ZMC416BE Motion Controller User Manual V1.5 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 SPEED = 10,10...

  • Page 42: Chapter Iv Expansion Module

    ZMC416BE 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 43 ZMC416BE Motion Controller User Manual V1.5 → Wiring Note: ZMC416BE 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 44: Can Bus Expansion Resource Mapping

    ZMC416BE 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 45 ZMC416BE 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 46 ZMC416BE 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 47 ZMC416BE 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...

  • Page 48: Ethercat Bus Expansion

    ZMC416BE 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 49: Ethercat Bus Expansion Resource Mapping

    ZMC416BE 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 50 ZMC416BE 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 51 ZMC416BE 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 52: Chapter V Program And 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 53 ZMC416BE 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 54 ZMC416BE 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 55 ZMC416BE 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 56 ZMC416BE 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 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 ZMC416BE 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 59 ZMC416BE 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 60: Chapter Vi Run And Maintain

    ZMC416BE 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 61: Common Problems

    ZMC416BE 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 62 ZMC416BE 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 63 ZMC416BE 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...

Table of Contents