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Summary of Contents for Zmotion EIO16084
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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.
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Page 5: Table Of Contents
EIO16084 Bus Expansion Module User Manual V1.5 Content Chapter I Production Information..................3 1.1. Product Information ..................3 1.2. Function Features ....................3 1.3. System Frame ....................3 1.4. Hardware Installment ..................4 Chapter II Product Specification ..................6 2.1. - Page 6 EIO16084 Bus Expansion Module User Manual V1.5 5.1. Input & Output ....................25 5.2. The First Drive on The First Expansion Module ..........25 Chapter VI Run and Maintain .................... 28 6.1. Regular Inspection and Maintenance ............. 28 6.2. Common Problems ..................29...
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Page 7: Chapter I Production Information
Chapter I Production Information 1.1. Product Information EIO16084 bus expansion module is used for EtherCAT bus controller, when IO and other resources are not enough, an expansion module is needed. And controller can link with multiple EtherCAT expansion modules through EtherCAT bus at the same time. And IO and axis resources of EIO16084 can be accessed by mapping Number. -
Page 8: Hardware Installment
EIO16084 Bus Expansion Module User Manual V1.5 1.4. Hardware Installment EIO16084 bus expansion module 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, ⚫... - Page 9 EIO16084 Bus Expansion Module User Manual V1.5 ⚫ In order to facilitate ventilation and controller replacement, 2-3cm should be left between the upper and lower parts of the controller and the installation environment and surrounding components. Considering the convenient operation and maintenance of the ⚫...
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Page 10: Chapter Ii Product Specification
EIO16084 Bus Expansion Module User Manual V1.5 Chapter II Product Specification 2.1. Interface Definition 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... -
Page 11: Order Information
EIO16084 Bus Expansion Module User Manual V1.5 24V DC power supplies for main control area Main power of expansion module. Each can be configured as differential pulse Pulse axis output and differential encoder input. 2.2. Order Information Inner Inner ECAT IN /... -
Page 12: Chapter Iii Wiring, Communication Configuration
EIO16084 Bus Expansion Module 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 it is 24V DC power. → Terminal Definition: Terminal... -
Page 13: In Digital Input
EIO16084 Bus Expansion Module User Manual V1.5 3.3. IN Digital Input → Terminal Definition Terminal Name Type Function 1 External power ground EGND External power ground EGND Input 0 Input 1 Input 2 Input 3 NPN type, digital inputs Input 4... -
Page 14: Digital Input Wiring
EIO16084 Bus Expansion Module User Manual V1.5 Isolation mode optoelectronic isolation Note: the above parameters are standard values when the voltage of expansion module power supply (E+24V port) is 24V. 3.3.2. Digital Input Wiring → Wiring Note: ⚫ The wiring principle of digital inputs IN (0-15) is shown in the figure above. The external signal source can be an optocoupler, a key switch or a sensor, etc., all can... -
Page 15: Digital Output Specification
EIO16084 Bus Expansion Module User Manual V1.5 OUT1 digital outputs Output 1 OUT2 Output 2 OUT3 Output 3 OUT4 Output 4 OUT5 Output 5 OUT6 Output 6 OUT7 Output 7 3.4.1. Digital Output Specification Item Digital Output (OUT0-7) Output mode... -
Page 16: Digital Output Wiring
3.5. EtherCAT Bus Interface EIO16084 bus expansion module has 2 100M EtherCAT communication interfaces, and they support EtherCAT protocol. EtherCAT IN is connected to main controller or former level expansion module, but EtherCAT OUT is connected to drive equipment or next... - Page 17 EIO16084 Bus Expansion Module 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...
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Page 18: Axis Differential Pulse Axis Interface
EIO16084 Bus Expansion Module 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 19 EIO16084 Bus Expansion Module User Manual V1.5 → Interface Definition Interface Signal Description EGND Negative pole of IO 24V power IN16- General input (recommended as 19/ALM driver alarm) OUT8- General output (recommended as 11/ENABLE driver enable) Encoder differential input signal A-...
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Page 20: Axis Interface Signal Specification & Wiring
EIO16084 Bus Expansion Module User Manual V1.5 Reserved Reserved Reserved Reserved Note: ALM, ENABLE, CLR and INP are recommended to be used as axis IO, because the drive capacity is small. OVCC, +5V are only used for communication between the controller and the servo driver, please do not use it as power supply for other places. - Page 21 EIO16084 Bus Expansion Module User Manual V1.5 Isolation optoelectronic isolation +5V，GND Maximum output current for 5V 50mA OVCC, EGND Maximum output current for 24V 50mA → Wiring Reference: Reference example of wiring with Panasonic A5/A6 servo driver:...
- Page 22 EIO16084 Bus Expansion Module 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...
- Page 23 EIO16084 Bus Expansion Module User Manual V1.5 connect carefully. Please use STP, especially in bad environments, and make sure the shielding layer is fully grounded.
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Page 24: Chapter Iv Expansion Module
Chapter IV Expansion Module 4.1. EtherCAT Expansion Wiring Reference EIO16084 expansion module is powered by the single power. The main power can supply power for IO, the main power uses 24V DC power. After the expansion wiring is completed, each EIO expansion module does not need to develop again. -
Page 25: Ethercat Expansion Module Usage
After the controller is powered on, please use the ETHERNET interface and RS232 serial port to connect to ZDevelop. The EIO16084 expansion module can only be used after bus initialization. ① Execute the bus initialization program, identify the device number of the EIO... - Page 26 EIO16084 Bus Expansion Module User Manual V1.5 Corresponding input state values can be directly read through “IN” command, or through “ZDevelop/View/IN”. Please refer to ZBasic Programming Manual. Open or close outputs through “OP” command, or through “ZDevelop/View/OP”. Please refer to ZBasic Programming Manual.
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Page 27: Ethercat Bus Expansion Resource Mapping
Regardless of whether the IO on the expansion module is used or not, the NODE IO ⚫ command needs to be used to map the input and output numbers of the EIO16084. The DRIVE_PROFILE of the expansion module is set to 0, and the ATYPE is set to 65, but the actual axis type is not 65 because it is a pulse type drive. - Page 28 '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 is the first pulse driver connected to EIO16084, otherwise it is the EtherCAT driver.
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Page 29: Chapter V Data Dictionary
EIO16084 Bus Expansion Module User Manual V1.5 Chapter V Data Dictionary SDO command configures drive parameters: For example: the real axis type setting of the extended pulse axis is set through the data dictionary 6011h, (refer to the parameters in the table below, set in order according... - Page 30 EIO16084 Bus Expansion Module User Manual V1.5 step pulse ⚫ directional encoder pulse directional ⚫ encoder pulse directional ⚫ step/servo + EZ signal input See controller introduction 6012h Invert_Step UNSIGNED16 Invert_Step B0-origin electrical level B1-limit position level B8-automatic enable 6013h...
- Page 31 EIO16084 Bus Expansion Module User Manual V1.5 B2 Operation enabled B3 Fault B4 Voltage enabled B5 Quick stop B7 Warning B8 EZ status B9 Remote B10 Target reached B11 Internal limit active B12-13 Operation mode specific B14 EA status B15 EB status...
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Page 32: Chapter Vi Run And Maintain
EIO16084 Bus Expansion Module 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 33: Common Problems
EIO16084 Bus Expansion Module 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 34 EIO16084 Bus Expansion Module 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 35 EIO16084 Bus Expansion Module 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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