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Zmotion ZMC303 Manual

Pulse 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

    ZMC303 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 ZMC303 Motion Controller User Manual V1.5 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. AXIS Differential Pulse Axis Interface ............. 31 3.9.1. AXIS Interface Signal Specification & Wiring ........32 3.9.2.

  • Page 7: Chapter I Production Information

    ZMC303 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. ZMC303 high-performance multi-axis motion controller is a kind of pulse type stand- alone motion controller. The controller itself supports 3 axes at most, but maximum 10 axes can be expanded to achieve complex continuous trajectory control requirements.

  • Page 8: System Frame

    ZMC303 Motion Controller User Manual V1.5 ◆ Support up to 10 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. ◆ Support pulse closed loop, pitch compensation and other functions.

  • Page 9: Hardware Installment

    ZMC303 Motion Controller User Manual V1.5 1.4. Hardware Installment The ZMC303 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, professionals who had been trained related electrical equipment, or who master electrical knowledge.
  • Page 10 ZMC303 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%-...

  • Page 11: Chapter Ii Product Specification

    ZMC303 Motion Controller User Manual V1.5 Chapter II Product Specification 2.1. Basic Specification Item Description Model ZMC303 Basic Axes Max Extended Axes Type of Basic Axes Local pulse axes / encoder axes General IO: 24 inputs and 8 outputs. Digital IO Axis interface IO: there are 3 inputs and 3 outputs in total in the 3 AXIS interfaces.

  • Page 12: Order Information

    ZMC303 Motion Controller User Manual V1.5 2.2. Order Information Model Description 3 axes, point to point, linear, circular, electronic cam, continuous ZMC303 trajectory motion, robot structure. ZMC303-1 3 axes, point to point, electronic cam. ZMC303-2 3 axes, point to point, linear, electronic cam.

  • Page 13: Interface Definition

    ZMC303 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

    ZMC303 Motion Controller User Manual V1.5 RS422 RS422 serial port (port2) Use MODBUS_RTU protocol 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 ZMC303 Motion Controller User Manual V1.5 Acceleration 1g(directly install)(>9Hz) Direction 3 axial direction Shock (collide) 15g, 11ms, half sinusoid, 3 axial direction Degree of Protection IP20...

  • Page 16: Chapter Iii Wiring, Communication Configuration

    ZMC303 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) should be 3.81mm.

  • Page 17: Rs485, Rs422, Can Communication Interfaces

    ZMC303 Motion Controller User Manual V1.5 3.2. RS485, RS422, CAN Communication Interfaces The communication interface adopts a 10Pin screw-type pluggable wiring terminal and the gap spacing between 2 terminals should be 3.81mm. This terminal is shared by controller RS485, CAN and RS422 communication. It supports MODBUS_RTU protocol and custom communication.
  • Page 18 ZMC303 Motion Controller User Manual V1.5 connect ZIO/ZMIO expansion modules and other standard CAN devices. → Specification Item RS485 (port 1) RS422 (port 2) Maximum 115200bps 1Mbps 115200bps Communication Rate Terminal Resistor 120Ω Topological Structure Daisy Chain Topology Point to point...
  • Page 19 ZMC303 Motion Controller User Manual V1.5 Connect 422TX and 422RX of RS422 to 422TX and 422RX of the controller correspondingly, and connect the public ends “EGND” of RS422 communication parties together. → Wiring Notes: As above, RS485 and CAN bus belong to daisy chain topology connection, and RS422 ⚫...

  • Page 20: Basic Usage Method

    ZMC303 Motion Controller User Manual V1.5 sure the shielding layer is fully grounded. When on-site wiring, pay attention to make the distance between strong current and ⚫ weak current, it is recommended for the distance to be more than 20cm.

  • Page 21: Rs232 Serial Port

    ZMC303 Motion Controller User Manual V1.5 “ZBasic Programming Manual” for details. (5) According to their respectively instructions, correctly set the relevant parameters of the third-party equipment to match the parameters of each node. (6) Correctly set the "address" and "speed" of the slave station expansion module according to the manual of the slave station.

  • Page 22: Rs232 Communication Interface Specification & Wiring

    ZMC303 Motion Controller User Manual V1.5 → Interface Definition: Terminal Name Type Function 1、4、 Spare Reserved 6、7、8 Input RS232 signal, receive data Output RS232 signal, send data Negative pole output of 5V power, EGND Output and output for the public end...

  • Page 23: Basic Usage

    ZMC303 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 24: In Digital Input & High-Speed Latch Port

    ZMC303 Motion Controller User Manual V1.5 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" for details. (4) According to their respectively instructions, correctly set the relevant parameters of the third-party equipment to match the parameters of each node.
  • Page 25 ZMC303 Motion Controller User Manual V1.5 → Terminal Definition Terminal Name Type Function 1 Function 2 Function 3 EGND External EGND power ground NPN type, Input 0 High high-speed Speed Input 1 input Latch Input 2 Input 3 NPN type,...

  • Page 26: Digital Input Specification & Wiring

    ZMC303 Motion Controller User Manual V1.5 Note: IN0 and IN1 have latch input A and latch input B function. ➢ Encoder 4 is reserved for 24V encoder, which supports 24V handwheel. But it is ➢ general input when ATYPE=0. 3.4.1. Digital Input Specification & Wiring →...

  • Page 27: Basic Usage Method

    ZMC303 Motion Controller User Manual V1.5 → Wiring Note: The wiring principle of high-speed digital input IN (0-1) and low-speed digital input ⚫ IN (2-23) is shown in the figure above. The external signal source can be an optocoupler, a key switch or a sensor, etc., all can be connected as long as the requirements on output of electric level can be achieved.

  • Page 28: Out (Digital Output, Pwm Terminal)

    ZMC303 Motion Controller User Manual V1.5 3.5. OUT (Digital Output, PWM Terminal) The digital output adopts a set of screw-type pluggable terminals with a spacing of 3.81mm, and the PWM and single-ended pulse functions are integrated in digital output signal.
  • Page 29 ZMC303 Motion Controller User Manual V1.5 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 close Overcurrent Support Support protection Isolation method...

  • Page 30: Basic Usage Method

    ZMC303 Motion Controller User Manual V1.5 ⚫ 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 31: Analog Output Specification & Wiring

    ZMC303 Motion Controller User Manual V1.5 → Terminal Definition Terminal Name Type Function Analog output terminal: AOUT(0) Output Analog output terminal: AOUT(1) Public DAGND Public end of this analog Analog input terminal: AIN(0) Input Analog input terminal: AIN(1) Public ADGND Public end of this analog 3.6.1.

  • Page 32: Basic Usage Method

    ZMC303 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 33: U Disk

    Highest Communication Ratio 12Mbps Max Output Current of 5V 500mA Whether Isolates 3.8. ETHERNET ZMC303 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 34 ZMC303 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.

  • Page 35: Axis Differential Pulse Axis Interface

    ZMC303 Motion Controller User Manual V1.5 Item Specification Cable type Flexible crossover cable, Category 5e traverse twisted pair Line pairs 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 36: Axis Interface Signal Specification & Wiring

    ZMC303 Motion Controller User Manual V1.5 Servo/stepper pulse output PUL+ (differential signal) + Servo/stepper directional output DIR+ (differential signal) + Negative pole of 5V power of pulse/encoder signal Encoder differential input signal A+ Encoder differential input signal B+ Encoder differential input signal Z+...
  • Page 37 ZMC303 Motion Controller User Manual V1.5 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. Frequency ＜5kHz Impedance 6.8KΩ...
  • Page 38 ZMC303 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 39: Basic Usage Method

    ZMC303 Motion Controller User Manual V1.5 3.9.2. 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, RS232 (default parameter, it can be connected directly) and RS485 (default parameters, it can be connected directly, but for hardware, adapter head is needed) to connect to ZDevelop.
  • Page 40 ZMC303 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 1 as pulse axes UNITS = 1000,1000 'set pulse amount as 1000 pulses SPEED = 10,10...

  • Page 41: Chapter Iv Expansion Module

    ZMC303 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 42 ZMC303 Motion Controller User Manual V1.5 → Wiring Note: ZMC303 controller uses the single power, and CAN 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 43: Can Bus Expansion Resource Mapping

    ZMC303 Motion Controller User Manual V1.5 4.2. 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 44 ZMC303 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 45 ZMC303 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 46 ZMC303 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 47 ZMC303 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 48: 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 49 ZMC303 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 50 ZMC303 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 51 ZMC303 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 52 ZMC303 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 53: 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 54 ZMC303 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 55 ZMC303 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 56: Chapter Vi Run And Maintain

    ZMC303 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 57: Common Problems

    ZMC303 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 58 ZMC303 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 59 ZMC303 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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