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Zmotion ZMC308E 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

    ZMC308E 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 ....................5 1.4. Hardware Installment ..................5 Chapter II Product Specification ..................7 2.1. Basic Specification .................... 7 2.2.
  • Page 6 ZMC308E Motion Controller Hardware Manual V1.5 3.6. AD/DA Analog Input & Output ................. 26 3.6.1. Analog Input / Output Specification & Wiring ........26 3.6.2. Basic Usage Method ................27 3.7. U Disk ......................28 3.8. ETHERNET ....................... 29 3.9.

  • Page 7: Chapter I Production Information

    ZMC308E 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. ZMC308E 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 12 axes.
  • Page 8 ZMC308E Motion Controller Hardware Manual V1.5 ◆ The maximum output current of general digital outputs can reach 500mA, which can directly drive some kinds of solenoid valves. ◆ Interfaces: EtherCAT, RS232, RS485, RS422, U Disk, Ethernet. ◆ Support linear interpolation, any circular interpolation and helical interpolation of 12 axes at most.

  • Page 9: System Frame

    ZMC308E Motion Controller Hardware Manual V1.5 1.3. System Frame 1.4. Hardware Installment The ZMC308E motion controller adopts the horizontal installation method of screw fixing, and each controller should be installed with 4 screws for fastening.
  • Page 10 ZMC308E Motion Controller Hardware Manual V1.5 → Unit: mm → Installment 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. Please be sure to read the product instruction manual and safety ⚫...

  • Page 11: Chapter Ii Product Specification

    ZMC308E Motion Controller Hardware Manual V1.5 Chapter II Product Specification 2.1. Basic Specification Item Description Model ZMC308E ZMC306E ZMC304E Basic Axes Max Extended Axes Basic Axes Type EtherCAT bus axes / pulse axes / encoder axes General IOs: 24 inputs and 16 outputs...

  • Page 12: Order Information

    ZMC308E Motion Controller Hardware Manual V1.5 2.2. Order Information Model Description 8 axes, point to point, linear, circular, electronic cam, continuous ZMC308E trajectory motion, robotic arm instructions. 6 axes, point to point, linear, circular, electronic cam, continuous ZMC306E trajectory motion, robotic arm instructions.

  • Page 13: Interface Definition

    ZMC308E Motion Controller Hardware Manual V1.5 2.3. Interface Definition → 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...

  • Page 14: Work Environment

    ZMC308E Motion Controller Hardware Manual V1.5 RS422 serial RS422 Use MODBUS_RTU protocol port (port2) EtherCAT bus interface, connect to EtherCAT EtherCAT bus EtherCAT bus drive and EtherCAT bus expansion interface module Use MODBUS_TCP protocol, expand Ethernet through interchanger, the number of net port...
  • Page 15 ZMC308E Motion Controller Hardware Manual V1.5 Direction 3 axial direction Shock (collide) 15g, 11ms, half sinusoid, 3 axial direction Degree of Protection IP20...

  • Page 16: Chapter Iii Wiring, Communication Configuration

    ZMC308E 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 3.81mm, which is the power supply of the controller. → Terminal Definition: Terminal Name...

  • Page 17: Rs485, Can Communication Specification & Wiring

    ZMC308E Motion Controller Hardware Manual V1.5 → Terminal Definition: Terminal Name Function 485B 485- 485A 485+ EGND Communication public end CANL CAN differential data - CANH CAN differential data + 3.2.1. RS485, CAN Communication Specification & Wiring The RS485 serial port supports the MODBUS_RTU protocol and custom communication, mainly including 485A, 485B and public end.
  • Page 18 ZMC308E Motion Controller Hardware Manual V1.5 Connect the CANL and CANH of the standard CAN module to the CANL and CANH of the other side correspondingly. And public ends of the CAN bus communication both parties are connected together. In CAN bus left and right sides, connect a 120Ω resistor respectively (please see below graphic).

  • Page 19: Basic Usage Method

    ZMC308E Motion Controller Hardware Manual V1.5 the shielding layer is fully grounded. On-site wiring should also pay attention to the distance between strong current and ⚫ weak current wiring, it is recommended to be more than 20cm. ⚫ It should be noted that the equipment grounding (chassis) on the entire line must be good, and the grounding of the chassis should be connected to the standard factory ground pile.

  • Page 20: Rs232, Rs422 Serial Ports

    ZMC308E 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, Rs422 Communication Interface Specification & Wiring

    ZMC308E Motion Controller Hardware Manual V1.5 232RXD Input RS232, receive signal 232TXD Output RS232, send signal 422RX+ Input RS422, receive signal + Negative pole of 5V power Output supply outputs, the public end of this communication 422TX- Output RS422, send signal -...
  • Page 22 ZMC308E Motion Controller Hardware Manual V1.5 → Wiring Notes: ⚫ The wiring of RS232 is as above, the sending and receiving signals need to be cross- connected, and it is recommended to use a double-female cross line when connecting to a computer.

  • Page 23: Basic Usage Method

    ZMC308E Motion Controller Hardware Manual V1.5 3.3.2. Basic Usage Method (1) Please follow the above wiring instructions for correct wiring. (2) After power on, please use ETHERNET or RS232 (default parameter, it can be connected directly) or RS485 (default parameter, it can be connected directly, adapter head needs to be used) to connect to ZDevelop.

  • Page 24: In Digital Input & High-Speed Latch & Single-Ended Encoder

    ZMC308E Motion Controller Hardware Manual V1.5 3.4. IN Digital Input & High-Speed Latch & Single-ended Encoder The digital input adopts 3 groups of 10Pin screw-type pluggable terminals with a pitch of 3.81mm, and the high-speed latch function and single-ended encoder function are integrated.

  • Page 25: Digital Input Specification & Wiring

    ZMC308E Motion Controller Hardware Manual V1.5 IN18 Input 18 IN19 Input 19 IN20 Input 20 IN21 Input 21 IN22 Input 22 IN23 Input 23 Note: IN0-3 support 24V high-speed latch function.  IN0-2 support 24V high-speed encoder function, IN21-23 support 24V low-speed ...

  • Page 26: Basic Usage Method

    ZMC308E Motion Controller Hardware Manual V1.5 → Wiring Note: The wiring principle of high-speed digital input IN (0-3) and low-speed digital input ⚫ IN (4-23) is shown in the figure above. The external signal source can be optocoupler or key switch or sensor, etc., as long as the output level meets the requirements, it can be connected.

  • Page 27: Out Digital Output, Pwm Terminal, Hardware Comparison Output, Single

    ZMC308E Motion Controller Hardware 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 signal is integrated with PWM, hardware comparison output and single-ended pulse functions.

  • Page 28: Digital Output Specification & Wiring

    ZMC308E Motion Controller Hardware Manual V1.5 The E5V power output port is used for PWM or single-ended axis common anode wiring, and it  is not recommended for other purposes because of low power.  OUT0-3 support the functions of PWM and hardware comparison output.

  • Page 29: Basic Usage Method

    ZMC308E Motion Controller Hardware Manual V1.5 → Wiring Note: The wiring principle of high-speed digital output OUT (0-3) and low-speed digital ⚫ output OUT (4-11) is shown in the figure above. The external signal receiving end can be an optocoupler or a relay or solenoid valve, as long as the input current does not exceed 300mA.

  • Page 30: 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 ZMC308E provides one set of screw-type pluggable wiring terminal with a spacing of 3.81mm. → Wiring Definition...

  • Page 31: Basic Usage Method

    ZMC308E Motion Controller Hardware Manual V1.5 DA（0-1） Item AD (0-1) Resolution 12-bit 12-bit Data range 0-4095 0-4095 Signal range 0-10V output 0-10V input Data refresh ratio 1KHz 1KHz Voltage input impedance / >33KΩ (voltage output 300KΩ (voltage input output load...

  • Page 32: U Disk

    “ZDevelop/View/AD/DA”. Please refer to “ZBasic” for details. 3.7. U Disk The ZMC308E 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 33: Ethernet

    ZMC308E Motion Controller Hardware Manual V1.5 3.8. ETHERNET ZMC308E motion controller has an 100M 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, HMI, etc.

  • Page 34: Ethercat Bus Interface

    ZMC308E Motion Controller Hardware Manual V1.5 3.9. EtherCAT Bus Interface ZMC308E 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 35 ZMC308E 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 36: Axis Differential Pulse Axis Interface

    ZMC308E Motion Controller Hardware Manual V1.5 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 37 ZMC308E Motion Controller Hardware Manual V1.5 supply positive pole Reserved Reserved Servo or step direction output DIR+ differential signal+ Pulse/encoder signal 5V power supply negative Servo or step pulse output PUL- differential signal- Reserved Reserved Pulse/encoder signal 5V power supply negative...

  • Page 38: Axis Interface Signal Specification & Wiring

    ZMC308E Motion Controller Hardware 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 Signal type Differential input signal EA/EB/EZ Signal voltage range...
  • Page 39 ZMC308E 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.

  • Page 40: Basic Usage Method

    ZMC308E Motion Controller Hardware Manual V1.5 Please use twisted-pair shielded cables, especially in harsh environments, and make  sure the shielding layer is fully grounded. 3.10.2. 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) and RS485 (default parameter, it can be connected directly) to connect to ZDevelop.
  • Page 41 ZMC308E Motion Controller Hardware Manual V1.5 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 SPEED = 10,10...

  • Page 42: Chapter Iv Expansion Module

    ZMC308E 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 43 ZMC308E Motion Controller Hardware Manual V1.5 → Wiring Note: ZMC308E 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 44: Can Bus Expansion Resource Mapping

    ZMC308E 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 45 ZMC308E 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 46 ZMC308E 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 47 ZMC308E Motion Controller Hardware Manual V1.5 can 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 48: Ethercat Bus Expansion

    ZMC308E 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 49: Ethercat Bus Expansion Resource Mapping

    ZMC308E 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 50 ZMC308E 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 51 ZMC308E 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 52: 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 53 ZMC308E 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 54 ZMC308E 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 55 ZMC308E 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 56 ZMC308E 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 57: 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 58 ZMC308E 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 59 ZMC308E Motion Controller Hardware Manual V1.5 zmotion.lib 2) Add static Related header libraries and files: 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 60: Chapter Vi Run And Maintain

    ZMC308E 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 61: Common Problems

    ZMC308E 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 62 ZMC308E 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 63 ZMC308E 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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