Zmotion ZMC308BE Manual
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Zmotion ZMC308BE 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

    ZMC308BE Motion Controller Hardware 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 ZMC308BE Motion Controller Hardware Manual V1.5 3.6.1. Analog Input / Output Specification & Wiring ........26 3.6.2. Basic Usage ..................27 3.7. U Disk ......................27 3.8. ETHERNET ....................... 28 3.9. EtherCAT Bus Interface ................... 29 3.10. AXIS Differential Pulse Axis Interface ............31 3.10.1.

  • Page 7: Chapter I Production Information

    ZMC308BE Motion Controller Hardware 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. ZMC308BE high-performance multi-axis motion controller is a stand-alone motion controller compatible with EtherCAT bus and pulse type. The controller itself supports complex continuous trajectory control requirements of up to 16 axes.

  • Page 8: System Frame

    ZMC308BE Motion Controller Hardware Manual V1.5 ◆ Support linear interpolation, any circular interpolation and helical interpolation of 16 axes at most. ◆ Support electronic cam, electronic gear, position latch, synchronous follow, virtual axis, etc. ◆ Support pulse closed loop, pitch compensation and other functions.

  • Page 9: Hardware Installment

    ZMC308BE Motion Controller Hardware Manual V1.5 1.4. Hardware Installment The ZMC308BE motion controller adopts the horizontal installation method of screw fixing, and each controller should be installed with 6 screws for fastening. → Unit: mm → Installment Hole Diameter: 5.5mm →...
  • Page 10 ZMC308BE Motion Controller Hardware 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

    ZMC308BE Motion Controller Hardware Manual V1.5 Chapter II Product Specification 2.1. Basic Specification Item Description Model ZMC308BE ZMC306BE Basic Axes Max Extended Axes Basic Axes Type Pulse output, all axes are with encoder, bus axis. Digital IO 40 inputs, 16 outputs...

  • Page 12: Interface Definition

    ZMC308BE Motion Controller Hardware Manual V1.5 8 axes, point to point, linear, circular, electronic cam, continuous ZMC308BE trajectory motion, robotic car instructions, EtherCAT Bus. 6 axes, point to point, linear, circular, electronic cam, continuous ZMC306BE trajectory motion, robotic car instructions, EtherCAT Bus.
  • Page 13 ZMC308BE Motion Controller Hardware 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

    ZMC308BE Motion Controller Hardware 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

    ZMC308BE Motion Controller Hardware Manual V1.5 Chapter Wiring, Communication Configuration 3.1. Power Input The power input adopts a screw-type pluggable terminal with a 3Pin pitch of 5.08mm, which is the power supply of the controller. → Terminal Definition: Terminal Name...

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

    ZMC308BE Motion Controller Hardware 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 ZMC308BE Motion Controller Hardware 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 ZMC308BE Motion Controller Hardware Manual V1.5 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. When the use environment is ideal and there are few nodes, the branch structure can also be considered.

  • Page 19: Basic Usage

    ZMC308BE Motion Controller Hardware Manual V1.5 3.2.2. Basic Usage (1) Please follow the above wiring instructions for correct wiring. (2) After power on, please use ETHERNET or RS232 (default parameter can be connected directly) 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 Serial Port

    ZMC308BE Motion Controller Hardware 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

    ZMC308BE Motion Controller Hardware Manual V1.5 Input RS232 signal receive Output RS232 signal send 5V power supply outputs negative EGND Output pole and this communication common terminal 5V power supply outputs positive Output pole, max is 300mA 3.3.1. RS232 Communication Interface Specification &...

  • Page 22: Basic Usage

    ZMC308BE Motion Controller Hardware Manual V1.5 connecting to a computer. Please be sure to connect the common terminal of each communication node to ⚫ prevent the communication chip from burning out. ⚫ Please use twisted-pair shielded cables, especially in harsh environments, and make sure the shielding layer is fully grounded.

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

    ZMC308BE Motion Controller Hardware Manual V1.5 3.4. IN Digital Input & High-Speed Latch Port The digital input adopts 4 groups of 10Pin screw-type pluggable terminals with a pitch of 5.08mm, and it is integrated with the latch function. → Wiring Definition...

  • Page 24: Digital Input Specification & Wiring

    ZMC308BE Motion Controller Hardware Manual V1.5 IN36 Switch Output 36 Limit 6+ IN34 Switch Output 34 Limit 5+ IN32 Switch Output 32 Limit 4+ IN30 Switch Output 30 Home 6 IN28 Switch Output 28 Home 4 IN15 Switch Output 15...

  • Page 25: Basic Usage

    ZMC308BE Motion Controller Hardware Manual V1.5 → Wiring Reference → Wiring Note: ⚫ For the common terminal, please select the "EGND" port on the 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 26: Out Digital Output, Pwm Terminal, Hardware Comparison Output

    ZMC308BE Motion Controller Hardware Manual V1.5 REG_INPUTS to configure. Please refer to “ZBasic” for details. 3.5. OUT Digital Output, PWM Terminal, Hardware Comparison Output The digital output adopts 2 sets of 10Pin screw-type pluggable terminals with a spacing of 5.08mm, and the digital output signal is integrated with PWM and hardware comparison output functions.

  • Page 27: Digital Output Specification & Wiring

    ZMC308BE Motion Controller Hardware Manual V1.5 OUT13 Switch output 13 OUT11 Switch output 11 OUT9 NPN, low- Switch output 9 speed output OUT7 Switch output 7 OUT5 Switch output 5 OUT3 Switch output 3 Switch output 1 Hardware NPN, high-...

  • Page 28: Basic Usage

    ZMC308BE Motion Controller Hardware Manual V1.5 affected by the external load circuit, and the output frequency should not be set too high in the application. And for high-speed output, it is better to set less than 400KHz, for low-speed output, it’s better to set under 8KHz. If higher speed is required, please contact us to adjust parameters or custom hardware.

  • Page 29: Ad/Da Analog Input & Output

    (5) Hardware comparison output can be set and opened through “HW_PSWITCH2”. Please refer to ZBasic for details. 3.6. AD/DA Analog Input & Output ZMC308BE provides one analog input / analog output, there are 4 ADs and 2 DAs, and each interface is standard DB female. → Wiring Definition...

  • Page 30: Analog Input / Output Specification & Wiring

    ZMC308BE Motion Controller Hardware Manual V1.5 Note: ZMC308BE internal AD/DA uses internal power supply. 3.6.1. Analog Input / Output Specification & Wiring → Specification DA（0-1） Item AD (0-3) Resolution 12-bit 12-bit Data range 0-4095 0-4095 Signal range 0-10V output 0-10V input...

  • Page 31: Basic Usage

    “ZDevelop/View/AD/DA”. Please refer to “ZBasic” for details. 3.7. U Disk The ZMC308BE 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 32: Ethernet

    500mA Whether Isolates 3.8. ETHERNET ZMC308BE motion controller has a Ethernet port, supports MODBUS_TCP protocol and custom communication, and the default IP address is 192.168.0.11. The pin definition diagram is as follows: The Ethernet port of the controller can be connected point-to-point with a computer,...

  • Page 33: Ethercat Bus Interface

    The schematic diagram is as follows: 3.9. EtherCAT Bus Interface ZMC308BE 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 34 ZMC308BE Motion Controller Hardware 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 35: Axis Differential Pulse Axis Interface

    ZMC308BE Motion Controller Hardware 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 with the cable and insert it into the RJ45 ⚫...
  • Page 36 ZMC308BE Motion Controller Hardware Manual V1.5 Encoder differential input signal Z- Pulse/encoder signal 5V power supply positive pole Reserved Hang in the air Servo or step direction output DIR+ differential signal+ Pulse/encoder signal 5V power supply negative Servo or step pulse output...

  • Page 37: Axis Interface Signal Specification & Wiring

    ZMC308BE Motion Controller Hardware Manual V1.5 driver, please do not use it as power supply for other places. 3.10.1. AXIS Interface Signal Specification & Wiring → Specification: Signal Item Description Signal type Differential output signal PUL/DIR Signal voltage range 0-5V...
  • Page 38 ZMC308BE Motion Controller Hardware 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. When the speed met the requirement, use low-speed differential pulse port...

  • Page 39: Basic Usage

    ZMC308BE Motion Controller Hardware Manual V1.5 preferentially. When high-speed differential pulse interface is used, please connect internal digital ground of controller to high-speed pulse reference ground of drive.  Please use twisted-pair shielded cables, especially in harsh environments, and make sure the shielding layer is fully grounded.
  • Page 40 ZMC308BE Motion Controller Hardware 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 41: Chapter Iv Expansion Module

    ZMC308BE Motion Controller Hardware 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 ZMC308BE Motion Controller Hardware Manual V1.5 → Wiring Note: ZMC308BE 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 43: Can Bus Expansion Resource Mapping

    ZMC308BE Motion Controller Hardware 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 44 ZMC308BE Motion Controller Hardware 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 ZMC308BE Motion Controller Hardware 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 ZMC308BE Motion Controller Hardware 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: Ethercat Bus Expansion

    ZMC308BE Motion Controller Hardware 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: Ethercat Bus Expansion Resource Mapping

    ZMC308BE Motion Controller Hardware 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 49 ZMC308BE Motion Controller Hardware 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 50 ZMC308BE Motion Controller Hardware 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 51: Chapter V Expansion Module

    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 52 ZMC308BE Motion Controller Hardware 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 53 ZMC308BE Motion Controller Hardware 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 54 ZMC308BE Motion Controller Hardware 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 55 ZMC308BE Motion Controller Hardware 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 56: 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 57 ZMC308BE Motion Controller Hardware 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 58 ZMC308BE Motion Controller Hardware 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 59: Chapter Vi Run And Maintain

    ZMC308BE Motion Controller Hardware 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 60: Common Problems

    ZMC308BE Motion Controller Hardware 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 61 ZMC308BE Motion Controller Hardware 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 62 ZMC308BE Motion Controller Hardware 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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