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Related Manuals for Zmotion ZMC432
Summary of Contents for Zmotion ZMC432
- 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
ZMC432 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 ZMC432 Motion Controller User Manual V1.5 3.6.1. Analog Output Specification & Wiring ..........26 3.6.2. Basic Usage Method ................27 3.7. U Disk ......................28 3.8. ETHERNET ....................... 28 3.9. EtherCAT Bus Interface ................... 30 3.10. AXIS Differential Pulse Axis Interface ............32 3.10.1.
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Page 7: Chapter I Production Information
ZMC432 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: System Frame
ZMC432 Motion Controller User Manual V1.5 directly drive some kinds of solenoid valves. ◆ Interfaces: EtherCAT, RS232, RS485, U Disk, Ethernet. ◆ Support up to 32 axes linear interpolation, arbitrary circular interpolation, helical interpolation and spline interpolation. ◆ Support electronic cam, electronic gear, position latch, synchronous follow, virtual axis and other functions. -
Page 9: Hardware Installment
ZMC432 Motion Controller User Manual V1.5 1.4. Hardware Installment The ZMC432 motion controller is installed horizontally with screws, and each controller should be fastened with 4 screws. → Unit: mm → Mounting Hole Diameter 4.5mm Non-professionals are strictly prohibited to operate. Specifically, ⚫... - Page 10 ZMC432 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
ZMC432 Motion Controller User Manual V1.5 Chapter II Product Specification 2.1. Basic Specification Item Description Model ZMC432 ZMC432-16 Basic Axes Max Extended Axes Type of Basic Axes EtherCAT, there are 6 local pulse axes. There are 24 inputs and 12 outputs, and each pulse axis Digital IO has 1 input and 1 output. -
Page 12: Order Information
32 axes, point to point, linear, circular, electronic cam, continuous ZMC432 trajectory motion, robot structure. 16 axes, point to point, linear, circular, electronic cam, continuous ZMC432-16 trajectory motion, robot structure. ZMC432-16R Functions of ZMC432-16 + Delta + 6-joint robot structure. -
Page 13: Interface Definition
ZMC432 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
ZMC432 Motion Controller User Manual V1.5 EtherCAT bus interface, connect to EtherCAT EtherCAT EtherCAT bus interface bus drive and EtherCAT bus expansion 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”... - Page 15 ZMC432 Motion Controller User Manual V1.5 Displacement 3.5mm(directly install)(<9Hz) Acceleration 1g(directly install)(>9Hz) Direction 3 axial direction Shock (collide) 15g, 11ms, half sinusoid, 3 axial direction Degree of Protection IP20...
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Page 16: Chapter Iii Wiring, Communication Configuration
ZMC432 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, 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 Interface
ZMC432 Motion Controller User Manual V1.5 Overcurrent Protection Valid 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 18 ZMC432 Motion Controller User Manual V1.5 The longer communication distance is, the Communication Distance 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”...
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Page 19: Basic Usage Method
ZMC432 Motion Controller User Manual V1.5 cannot be used). When the use environment is ideal and there are no many nodes, 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. - Page 20 ZMC432 Motion Controller User 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"...
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Page 21: Rs232 Serial Port
ZMC432 Motion Controller User 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 22: Basic Usage
ZMC432 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
ZMC432 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: Digital Input Specification & Wiring
ZMC432 Motion Controller User Manual V1.5 → Terminal Definition 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 NPN leakage type,... - Page 25 ZMC432 Motion Controller User Manual V1.5 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 4.7KΩ Voltage level DC24V DC24V The voltage to open <15V...
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Page 26: Basic Usage Method
ZMC432 Motion Controller 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 any one interface among the three interfaces ETHERNET, RS232 and RS485 to connect to ZDevelop. -
Page 27: Digital Output Specification & Wiring
ZMC432 Motion Controller User Manual V1.5 → Terminal Definition Terminal Name Type Function 1 Function 2 Function 3 External power EGND ground External 5V power output, max is 300mA OUT0 NPN Leakage Output 0 PWM 0 Hardware type, high- Comparison... - Page 28 ZMC432 Motion Controller User Manual V1.5 Frequency ＜400kHz ＜8kHz Voltage level DC24V DC24V Max output current +300mA +300mA Max leakage 25μA 25μA current when off Respond time to 1μs (resistive load typical 12μs conduct value) Respond time to 3μs 80μs...
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Page 29: Basic Usage Method
ZMC432 Motion Controller User Manual V1.5 output OUT (2-11) 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
ZMC432 Motion Controller User Manual V1.5 Please refer to ZBasic for details. 3.6. Analog Output The analog port adopts a set of 5Pin screw-type pluggable terminals with a spacing of 3.81mm. → Terminal Definition Terminal Name Type Function Reserved Spare... -
Page 31: Basic Usage Method
ZMC432 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 with this signal range. Please use STP, especially in bad environments, and make sure the shielding layer is ⚫... -
Page 32: U Disk
Highest Communication Ratio 12Mbps Max Output Current of 5V 500mA Whether Isolates 3.8. ETHERNET ZMC432 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:... - Page 33 ZMC432 Motion Controller User Manual V1.5 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 is as follows: The controller can also be connected to the interchanger through an Ethernet cable, and then use interchanger to connect to other devices, then multi-point connection can be achieved.
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Page 34: Ethercat Bus Interface
ZMC432 Motion Controller User Manual V1.5 3.9. EtherCAT Bus Interface ZMC432 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 ZMC432 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...
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Page 36: Axis Differential Pulse Axis Interface
ZMC432 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
ZMC432 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 ZMC432 Motion Controller User Manual V1.5 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 5MHz NPN leak type, it is triggered Input method when low electric level is input.
- Page 39 ZMC432 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 40: Basic Usage Method
ZMC432 Motion Controller User Manual V1.5 connect carefully. 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 ZMC432 Motion Controller User Manual V1.5 (5) Control corresponding motion through “View – Manual”. Refer to BASIC Routine:...
- Page 42 ZMC432 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...
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Page 43: Chapter Iv Expansion Module
ZMC432 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 ZMC432 Motion Controller User Manual V1.5 → Wiring Note: ZMC432 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 45: Can Bus Expansion Resource Mapping
ZMC432 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 ZMC432 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 ZMC432 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 ZMC432 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...
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Page 49: Ethercat Bus Expansion
ZMC432 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
ZMC432 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 ZMC432 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 ZMC432 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 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 ZMC432 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 ZMC432 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 ZMC432 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 ZMC432 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 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 ZMC432 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 ZMC432 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 61: Chapter Vi Run And Maintain
ZMC432 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
ZMC432 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 ZMC432 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 ZMC432 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...