Zmotion ZMC306N Manual
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Zmotion ZMC306N Manual

Pulse + bus motion controller
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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

    ZMC306N 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 ZMC306N Motion Controller User Manual V1.5 3.6. AD / DA: Analog Input / Output ............... 26 3.6.1. Analog Output Specification & Wiring ..........27 3.6.2. Basic Usage Method ................28 3.7. U Disk ......................29 3.8. ETHERNET ....................... 29 3.9.

  • Page 7: Chapter I Production Information

    ZMC306N 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. ZMC306N high-performance multi-axis motion controller is a stand-alone motion controller compatible with EtherCAT bus (N means dual-bus: EtherCAT & Panasonic RTEX) and pulse type.
  • Page 8 ZMC306N Motion Controller User Manual V1.5 isolation outputs can be extended at most. ◆ 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 500mA, which can directly drive some kinds of solenoid valves.

  • Page 9: System Frame

    ZMC306N Motion Controller User Manual V1.5 1.3. System Frame 1.4. Hardware Installment The ZMC306N 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 ZMC306N 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

    ZMC306N Motion Controller User Manual V1.5 Chapter II Product Specification 2.1. Basic Specification Item Description Model ZMC306N ZMC304N Basic Axes Max Extended Axes Basic Axes Type EtherCAT/RTEX/pulse/encoder axes General IOs: 24 inputs, 16 outputs Digital IO Axis Interface IOs: each pulse axis has 1 input and 1...

  • Page 12: Order Information

    ZMC306N Motion Controller User Manual V1.5 2.2. Order Information Model Description 6 axes, point to point, linear, circular, electronic cam, continuous ZMC306N trajectory motion, robotic car instructions. 4 axes, point to point, linear, circular, electronic cam, continuous ZMC304N trajectory motion, robotic car instructions.
  • Page 13 ZMC306N 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...

  • Page 14: Work Environment

    ZMC306N Motion Controller User Manual V1.5 PWM and hardware comparison output function. Analog input Resolution: 12 bits, 0-10V Analog output Resolution: 12 bits, 0-10V It includes differential pulse output AXIS Pulse axis and differential encoder input. 2.4. Work Environment Item...

  • Page 15: Chapter Iii Wiring, Communication Configuration

    ZMC306N 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

    ZMC306N 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 ZMC306N 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.
  • Page 18 ZMC306N Motion Controller User Manual V1.5 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 (when point to point connection is used or the number of slave stations is not many and the wiring is short, the terminal resistor can not be used).

  • Page 19: Basic Usage Method

    ZMC306N Motion Controller User Manual V1.5 3.2.2. Basic Usage Method (1) Please follow the above wiring instructions for correct wiring. (2) After power on, please use any of the three interfaces ETHERNET, RS232, and RS485 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 20: Rs232, Rs422 Serial Port

    ZMC306N Motion Controller User Manual V1.5 (7) After all the settings are completed, restart the power supply of all stations to establish communication. (8) Note that the "speed" settings of each node on the CAN bus must be consistent, and the "address"...

  • Page 21: Rs232 Communication Interface Specification & Wiring

    ZMC306N Motion Controller User Manual V1.5 3.3.1. RS232 Communication Interface Specification & Wiring → Specification: Item RS232 (port 0) RS422 (port2) Max Communication Rate 115200 (bps) 115200 (bps) Terminal Resistor Topology Connect correspondingly (1 to 1) Nodes can be extended...

  • Page 22: Basic Usage Method

    ZMC306N Motion Controller User Manual V1.5 connected, and it is recommended to use a double-female cross line when connecting to a computer. ⚫ The wiring of RS422 is as above, and the sending and receiving signals also need to be cross-connected, and the differential signals of the same group need to be twisted.

  • Page 23: In Digital Input & High-Speed Latch & Single-Ended Encoder

    ZMC306N Motion Controller User Manual V1.5 (4) Correctly set the relevant parameters of the third-party equipment according to their respective instructions to match the parameters of each node. (5) When all is configured, it can start to do communicating. (6) Communication data of RS232 / RS485 can be directly viewed through “ZDevelop / Controller / State the Controller / CommunicationInfo”.
  • Page 24 ZMC306N Motion Controller User Manual V1.5 leakage Input 1 latch type, high- speed Input 2 input Input 3 leakage Input 4 type, low- Input 5 speed Input 6 input Input 7 EGND IO public end EGND IO public end Input 8...

  • Page 25: Digital Input Specification & Wiring

    ZMC306N Motion Controller 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 Impedance 3.3KΩ...

  • Page 26: Basic Usage Method

    ZMC306N Motion Controller User Manual V1.5 ⚫ For the common terminal, please select the "EGND" port on the IO 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 27: Out: Digital Output, Pwm Terminal, Hardware Comparison Output, Single

    ZMC306N 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 28: Digital Output Specification & Wiring

    ZMC306N Motion Controller User Manual V1.5 OUT11 low- Output 11 speed OUT12 Output 12 input OUT13 Output 13 OUT14 Output 14 OUT15 Output 15 Note:  The E5V power output port is used for PWM or single-ended axis common anode wiring, and it is not recommended for other purposes with low power.
  • Page 29 ZMC306N Motion Controller User Manual V1.5 Note: The times in the form are typical based on the resistive load, and may change  when the load circuit changes. Due to the leak-type output, the shutdown of the output will be obviously ...

  • Page 30: Basic Usage Method

    ZMC306N Motion Controller User Manual V1.5 3.5.2. Basic Usage Method (1) Please follow the above wiring instructions for correct wiring. (2) After power on, please use any of the three interfaces ETHERNET, RS232 and RS485 to connect to ZDevelop. (3) Terminal can be operated to ON or OFF directly through “OP” command, also, it can be opened or closed through “ZDevelop/View/Op”.

  • Page 31: Analog Output Specification & Wiring

    ZMC306N Motion Controller User Manual V1.5 Terminal Name Type Function Analog output terminal AOUT(0) Output Analog output terminal AOUT(1) AGND Public end Analog public end Analog input terminal AIN (0) Input Analog input terminal AIN (1) 3.6.1. Analog Output Specification & Wiring →...

  • Page 32: Basic Usage Method

    ZMC306N Motion Controller User Manual V1.5 Please use twisted-pair shielded cables, especially in harsh environments, and make ⚫ sure the shielding layer is fully grounded. → Cable Requirements: Twisted pair shielded wire, and shielded cable grounded. 3.6.2. Basic Usage Method (1) Please follow the above wiring instructions for correct wiring.

  • Page 33: U Disk

    ZMC306N Motion Controller User Manual V1.5 3.7. U Disk The ZMC306N 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 34: Rtex Bus Interface

    The schematic diagram is as follows: 3.9. RTEX Bus Interface ZMC306N motion controller has 2 100M RTEX communication interfaces, 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 35: Rtex Bus Interface Rule & Wiring

    ZMC306N 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 36: Ethercat Bus Interface

    See the configuration diagram below for the wiring method of RTEX: 3.10. EtherCAT Bus Interface ZMC306N 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 37 ZMC306N 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 38: Axis Differential Pulse Axis Interface

    ZMC306N Motion Controller User Manual V1.5 Cable pair 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 with the cable and insert it into the RJ45 interface until it makes a "click"...

  • Page 39: Axis Interface Signal Specification & Wiring

    ZMC306N Motion Controller User Manual V1.5 Encoder differential input signal Z- Positive pole of +5V power of pulse/encoder signal Reserved Reserved DIR+ Servo or step direction output + Negative pole of +5V power PUL- Servo or step pulse output -...
  • Page 40 ZMC306N Motion Controller User Manual V1.5 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 Voltage level...
  • Page 41 ZMC306N 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 42: Basic Usage Method

    ZMC306N Motion Controller User Manual V1.5 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. (2) After power on, please use any of the three interfaces ETHERNET, RS232 (default parameter, it can be connected directly) and RS485 (default parameters, it can be connected directly, for hardware, adapter is needed) to connect to ZDevelop.
  • Page 43 ZMC306N 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 44 ZMC306N 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...

  • Page 45: Chapter Iv Expansion Module

    ZMC306N 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 46 ZMC306N Motion Controller User Manual V1.5 → Wiring Note: ZMC306N 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 47: Can Bus Expansion Resource Mapping

    ZMC306N 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 48 ZMC306N 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 49 ZMC306N 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 50 ZMC306N 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 51: Ethercat Bus Expansion

    ZMC306N 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 52: Ethercat Bus Expansion Resource Mapping

    ZMC306N 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 53 ZMC306N 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 54 ZMC306N 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 55: 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 56 ZMC306N 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 57 ZMC306N 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 58 ZMC306N 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 59 ZMC306N 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 60: 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 61 ZMC306N 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 62 ZMC306N 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 63: Chapter Vi Run And Maintain

    ZMC306N 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 64: Common Problems

    ZMC306N 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 65 ZMC306N 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 66 ZMC306N 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...

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