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Zmotion ZMC006CE 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

    ZMC006CE 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 ZMC006CE Motion Controller User Manual V1.5 3.6. Analog Output....................27 3.6.1. AD/DA Analog Input/Output Specification & Wiring ......27 3.6.2. Basic Usage Method ................28 3.7. U Disk ......................29 3.8. EtherCAT Bus / ETHERNET ................29 3.9. ENCODER ......................32 3.9.1.

  • Page 7: Chapter I Production Information

    ZMC006CE 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. ZMC006CE economical multi-axis motion controller is a stand-alone motion controller that is compatible with EtherCAT bus and pulse type. The controller itself...

  • Page 8: System Frame

    ZMC006CE Motion Controller 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: EtherCAT, RS232, RS485, U Disk ◆ Support up to 12 axes linear interpolation, arbitrary circular interpolation, helical interpolation, spline interpolation.

  • Page 9: Hardware Installment

    ZMC006CE Motion Controller User Manual V1.5 1.4. Hardware Installment The ZMC006CE 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 ZMC006CE 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

    ZMC006CE Motion Controller User Manual V1.5 Chapter II Product Specification 2.1. Basic Specification Item Description Model ZMC006CE Basic Axes Max Extended Axes Basic Axis Type EtherCAT/local pulse axis/encoder axis General IO: 24 inputs and 8 outputs. Internal IOs Axis interface IO: there are 6 inputs and 6 outputs in total in 6 AXIS axis interfaces.

  • Page 12: Interface Definition

    ZMC006CE Motion Controller User Manual V1.5 2.2. 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 13: Work Environment

    ZMC006CE Motion Controller User Manual V1.5 EtherCAT bus interface, connect to EtherCAT bus drive and EtherCAT bus expansion module. EtherCAT bus interface EtherNET: MODBUS_TCP protocol, EtherCAT /EtherNET expand the number of network ports through the interchanger, and the number of net port channels can be checked through “?*port”...
  • Page 14 ZMC006CE Motion Controller User Manual V1.5 Direction 3 axial direction Shock (collide) 15g, 11ms, half sinusoid, 3 axial direction Degree of Protection IP20...

  • Page 15: Chapter Iii Wiring & Communication

    ZMC006CE Motion Controller User Manual V1.5 Chapter III Wiring & Communication 3.1. Power Input The power supply input adopts a 5Pin screw-type pluggable wiring terminal, and the interval (means the gap distance between two ports) should be 5.08mm. This 5Pin terminal is the power supply of the controller.

  • Page 16: Can Communication Specification & Wiring

    ZMC006CE Motion Controller User Manual V1.5 3.1.2. CAN Communication Specification & Wiring The CAN interface of the controller adopts the standard CAN communication protocol, which mainly includes three ports, CANL, CANH and the public end. And it can connect expansion modules and other standard CAN devices.
  • Page 17 ZMC006CE Motion Controller User Manual V1.5 → Wiring Notes: ⚫ As above, the daisy chain topology is used for wiring (the star topology structure cannot be used). When the use environment is ideal and there are no many nodes, the branch structure also can be used.

  • Page 18: Basic Usage Method

    ZMC006CE Motion Controller User Manual V1.5 3.1.3. Basic Usage Method (1) Please follow the above wiring instructions to wiring correctly. (2) After powered on, please use EtherNET or RS232 to connect to ZDevelop. (3) Please use the "CANIO_ADDRESS" command to set the master's "address" and "speed"...

  • Page 19: Rs232A/Rs485 Specification & Wiring

    ZMC006CE Motion Controller User Manual V1.5 → Interface Definition: Terminal Name Type Function 1, 6, 8 Spare Reserved 232A- RS232A (port 0) signal, Input receive data 232A- RS232A (port 0) signal, Output send data 485A/+ Input/Output RS485 (port2) signal A/+...
  • Page 20 ZMC006CE Motion Controller User Manual V1.5 → Wiring Reference: → Wiring Notes: ⚫ The wiring of RS232A (port0) 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 21: Basic Usage

    ZMC006CE Motion Controller User Manual V1.5 → Cable Requirements: Shielded Twisted Pair, and the shielded cable is grounded. 3.2.2. Basic Usage (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 22: Rs232B Serial Port

    ZMC006CE Motion Controller User Manual V1.5 3.3. RS232B Serial Port RS232B is integrated in one standard DB9 male socket and supports MODBUS_RTU protocol and custom communication. → Interface Definition: Terminal Name Type Function 1, 4, 6, 7, 8, 9 Spare...
  • Page 23 ZMC006CE Motion Controller User Manual V1.5 Item RS232B (port1) Maximum Communication Rate 115200bps Terminal Resistor Topology Structure Connect correspondingly (1 to 1) The number of nodes can be extended The Longer communication distance is, Communication Distance the lower communication rate is, maximum 10m is suggested.

  • Page 24: Basic Usage

    ZMC006CE Motion Controller User Manual V1.5 3.3.2. Basic Usage (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 (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.

  • Page 25: In Digital Input & Latch Port

    ZMC006CE Motion Controller User Manual V1.5 3.4. IN Digital Input & Latch Port The digital input adopts 3 groups of 10Pin (there are 3 groups of 10 terminals) screw- type pluggable terminals, and the gap distance between terminals should be 5.08mm. In addition, the latch function is integrated in digital input signal.

  • Page 26: Digital Input Specification & Wiring

    ZMC006CE Motion Controller User Manual V1.5 Input 8 Input 9 IN10 Input 10 IN11 Input 11 NPN type, digital IN12 Input 12 input IN13 Input 13 IN14 Input 14 IN15 Input 15 EGND External power ground EGND IN16 Input 16...

  • Page 27: Basic Usage Method

    ZMC006CE Motion Controller User Manual V1.5 Isolation mode optoelectronic isolation Note: the above parameters are standard values when the voltage of controller power supply (E+24V port) is 24V. → Wiring Reference → Wiring Note: The wiring principle of digital input IN (0-23) is shown in the figure above. The ⚫...

  • Page 28: Out Digital Output & Pwm Terminal

    ZMC006CE Motion Controller User Manual V1.5 it can be read through “ZDevelop/View/In”. Please refer to “ZBasic” for details. (4) Latch function can be set and triggered through “REGIST” instruction, in software, use REG_INPUTS to configure. Please refer to “ZBasic” for details.

  • Page 29: Digital Output Specification & Wiring

    ZMC006CE Motion Controller User Manual V1.5 3.5.1. Digital Output Specification & Wiring → Specification Item Digital Output (OUT0-7) Output mode NPN leakage type, it is 0V when outputs Frequency ＜8kHz Voltage level DC24V Max output current +300mA Max leakage current when off 25μA...

  • Page 30: Basic Usage Method

    ZMC006CE Motion Controller User Manual V1.5 → Wiring Note: The wiring principle of digital output OUT (0-7) 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 31: Analog Output

    ZMC006CE Motion Controller User Manual V1.5 3.6. Analog Output The analog port adopts a set of 3Pin screw-type pluggable terminals with a spacing of 5.08mm. → Terminal Definition Terminal Name Type Function AGND Public End Unique public end of this analog...

  • Page 32: Basic Usage Method

    ZMC006CE 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

    ZMC006CE Motion Controller User Manual V1.5 3.7. U Disk The ZMC006CE 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 ZMC006CE 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...
  • Page 35 ZMC006CE Motion Controller User Manual V1.5 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 36: Encoder

    ⚫ connector and the module in a horizontal direction. Please use tube-type pre-insulated terminals and cables with appropriate wire diameters to connect the user terminals. 3.9. ENCODER ZMC006CE provides 1 encoder interface, and each interface is standard DB9 male socket.

  • Page 37: Encoder Interface Specification & Wiring

    ZMC006CE Motion Controller User Manual V1.5 → Interface Definition Interface Signal Description Encoder differential input signal A+ Encoder differential input signal A- Encoder differential input signal B+ Encoder differential input signal B- Pulse/encoder signal 5V power negative pole Encoder differential input signal Z+...

  • Page 38: Axis Differential Pulse Axis Interface

    ZMC006CE Motion Controller User Manual V1.5 3.10. AXIS Differential Pulse Axis Interface This product provides 6 local differential pulse axis interfaces, each interface is a standard DB9 female socket. → Interface Definition Interface Signal Description PUL+ Servo/step pulse output differential signal +...

  • Page 39: Axis Interface Signal Specification & Wiring

    ZMC006CE Motion Controller User Manual V1.5 3.10.1. AXIS Interface Signal Specification & Wiring → Specification: Signal Item Description Signal type Differential output signal PUL/DIR Signal voltage range 0-5V Signal max frequency 10MHz NPN leak type, low electric level Input method...

  • Page 40: Basic Usage

    ZMC006CE 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 41 ZMC006CE Motion Controller User Manual V1.5 connected directly, one adapter is needed for hardware) to connect to ZDevelop. (3) Set axis parameters, such as, ATYPE, UNITS, SPEED, ACCEL, FWD_IN, REV_IN, etc. (4) There are many parameters related to pulse axis, they can be set and checked through relative instructions, please see “axis parameter and axis status”...
  • Page 42 ZMC006CE Motion Controller User Manual V1.5 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 MOVE(10) AXIS(0) 'axis 0 moves distance of 10*1000 pulses in positive...

  • Page 43: Chapter Iv Expansion Module

    ZMC006CE 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 ZMC006CE Motion Controller User Manual V1.5 → Wiring Note: ZMC006CE 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 45: Can Bus Expansion Resource Mapping

    ZMC006CE 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 ZMC006CE 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 ZMC006CE 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 ZMC006CE 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 49: Ethercat Bus Expansion

    ZMC006CE 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

    ZMC006CE 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 ZMC006CE 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 ZMC006CE 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 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 ZMC006CE 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 ZMC006CE 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 ZMC006CE 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 ZMC006CE 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 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 ZMC006CE 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 ZMC006CE 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 61: Chapter Vi Run And Maintain

    ZMC006CE 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

    ZMC006CE 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 ZMC006CE 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 ZMC006CE 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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