Zmotion ZMC432N Manual
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Zmotion ZMC432N Manual

Pulse + bus motion controller
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Summary of Contents for Zmotion ZMC432N

  • 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

    ZMC432N 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 ..................4 Chapter II Product Specification ..................7 2.1. Basic Specification .................... 7 2.2.
  • Page 6 ZMC432N Motion Controller User Manual V1.5 3.6.1. Analog Output Specification & Wiring ..........26 3.6.2. Basic Usage Method ................27 3.7. U Disk ......................28 3.8. ETHERNET ....................... 28 3.9. RTEX Bus Interface ..................29 3.9.1. RTEX Bus Interface Rule ............... 30 3.10.

  • Page 7: Chapter I Production Information

    Chapter I Production Information 1.1. Product Information ZMC432N high-performance multi-axis motion controller is a stand-alone motion controller that is compatible with RTEX bus and pulse type. The controller itself supports 32 axes at most to achieve complex continuous trajectory control requirements.

  • Page 8: System Frame

    ◆ A variety of program encryption methods to protect the intellectual property rights of customers. ◆ Support power failure detection and power failure storage. (It can detect and save when power-off) 1.3. System Frame 1.4. Hardware Installment The ZMC432N motion controller is installed horizontally with screws, and each controller...
  • Page 9 ZMC432N Motion Controller User Manual V1.5 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 ZMC432N Motion Controller User Manual V1.5 places where the surrounding ambient temperature exceeds the range of -10° C-55° 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

    ZMC432N Motion Controller User Manual V1.5 Chapter II Product Specification 2.1. Basic Specification Item Description Model ZMC432N ZMC432N-16 ZMC432N-38 Basic Axes Max Extended Axes Type of Basic Axes RTEX bus axis / 6 pulse axis / encoder axis General IO: 24 inputs, 12 outputs...

  • Page 12: Order Information

    ZMC432N Motion Controller User Manual V1.5 2.2. Order Information Model Description 32 axes, point to point, linear, circular, electronic cam, continuous ZMC432N trajectory motion, robot structure. 16 axes, point to point, linear, circular, electronic cam, continuous ZMC432N-16 trajectory motion, robot structure.

  • Page 13: Interface Definition

    ZMC432N 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

    ZMC432N Motion Controller User Manual V1.5 RTEX RX RTEX bus receive side driver. 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 ZMC432N Motion Controller User 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

    ZMC432N 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, namely, between E+24V and EGND) should be 3.81mm.

  • Page 17: Rs485, Can Communication Interface

    ZMC432N Motion Controller User Manual V1.5 3.2. RS485, CAN Communication Interface The communication interface adopts a 5Pin screw-type pluggable wiring terminal and the gap spacing between 2 terminals should be 3.81mm. For both RS485 communication and CAN communication, they can be used by connecting the corresponding interface.
  • Page 18 ZMC432N Motion Controller User Manual V1.5 lower communication rate is, and maximum of 100m is recommended. → Wiring Reference Connect 485A and 485B of RS485 to 485A and 485B of the controller correspondingly, and connect the public ends “EGND” of RS485 communication parties together.
  • Page 19 ZMC432N Motion Controller User Manual V1.5 the branch structure also can be used. Please connect a 120Ω terminal resistor in parallel to each end of the CAN bus for ⚫ matching the circuit impedance and ensuring communication stability (when it is one to one connection and the number of slave station is less and the wiring is short, terminal resistor can not be added).

  • Page 20: Basic Usage Method

    ZMC432N Motion Controller User Manual V1.5 3.2.2. 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, RS485) to connect to ZDevelop;...

  • Page 21: Rs232 Serial Port

    ZMC432N Motion Controller User Manual V1.5 (8) Note that the "speed" settings of each node on the CAN bus must be consistent, and the "address" settings cannot cause conflicts, otherwise the "ALM" alarm light will be on, and the communication establishment will fail or the communication will be disordered.
  • Page 22 ZMC432N Motion Controller User Manual V1.5 The Longer communication distance is, Communication Distance the lower communication rate is, maximum 10m is recommended. → Wiring Reference: → Wiring Notes: The wiring of RS232 is as above, it needs to cross-wiring for sending and receiving ⚫...

  • Page 23: Basic Usage

    ZMC432N 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 24: In Digital Input & High-Speed Latch Port

    ZMC432N Motion Controller User Manual V1.5 3.4. IN Digital Input & High-Speed 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 3.81mm. In addition, the high-speed latch function is integrated in digital input signal.

  • Page 25: Digital Input Specification & Wiring

    ZMC432N Motion Controller User Manual V1.5 IN23 Input 23 3.4.1. Digital Input Specification & Wiring → Specification Item High-Speed Input (IN0-3) Low-Speed Input (IN4-23) NPN type, the input is triggered when there is low-electric Input mode level Frequency ＜100kHz ＜5kHz Impedance 3.3KΩ...

  • Page 26: Basic Usage Method

    ZMC432N Motion Controller User Manual V1.5 requirements on output of electric level can be achieved. For the public end, please connect the "EGND" port on the IO power supply to the ⚫ "COM" terminal of the external input device. If the signal area power supply of the external device and the power supply of the controller are in the same power supply system, this connection also can be omitted.
  • Page 27 ZMC432N Motion Controller User Manual V1.5 3.81mm, and the PWM and hardware comparison output functions are integrated in digital output signal. → Terminal Definition Terminal Name Type Function 1 Function 2 Function 3 External power ground EGND / IO public...

  • Page 28: Digital Output Specification & Wiring

    ZMC432N Motion Controller User Manual V1.5 3.5.1. Digital Output Specification & Wiring → Specification Item High Speed Output (OUT0-1) Low Speed Output (OUT2-11) Output mode NPN leakage type, it is 0V when outputs Frequency ＜400kHz ＜8kHz Voltage level DC24V DC24V...

  • Page 29: Basic Usage Method

    ZMC432N Motion Controller User Manual V1.5 → Wiring Note: The wiring principle of high-speed digital output OUT (0-1) and low-speed digital ⚫ output OUT (2-11) 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 30: Analog Output

    ZMC432N Motion Controller User Manual V1.5 3.6. Analog Output The analog port adopts a set of 5Pin screw-type pluggable terminals with a spacing of 3.81mm. → Terminal Definition Terminal Name Type Function Reserved Spare Reserved Analog output terminal: AOUT(0) Output...

  • Page 31: Basic Usage Method

    ZMC432N 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 32: U Disk

    Highest Communication Ratio 12Mbps Max Output Current of 5V 500mA Whether Isolates 3.8. ETHERNET ZMC432N 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 33: Rtex Bus Interface

    The schematic diagram is as follows: 3.9. RTEX Bus Interface ZMC432N motion controller has two 100M RTEX communication interfaces, and it supports RTEX protocol. TX is send side, RX is receive side. RTEX bus is used to connect...

  • Page 34: Rtex Bus Interface Rule

    ZMC432N Motion Controller User Manual V1.5 to Panasonic RTEX servo driver. 3.9.1. RTEX Bus Interface Rule → Specification Controller default firmware is configured 1ms period, which can be checked through SERVO_PERIOD. Below shows corresponding drive parameters to configure: 7.20 RTEX Communication Period 7.21...

  • Page 35: Axis Differential Pulse Axis Interface

    ZMC432N Motion Controller User Manual V1.5 devices are connected into a loop, and disconnection is not allowed in the middle. When connecting multiple RTEX drives, the TX port of the controller is connected to the RX port of the first servo drive, and the TX port of the first servo drive is connected to the RX port of the second drive, and so on, and the TX port of the last drive is connected to the RX port of the controller to form a complete communication loop.
  • Page 36 ZMC432N Motion Controller User Manual V1.5 OUT12- General output (recommended as 17ENABLE driver enable) Encoder differential input signal A- Encoder differential input signal B- Encoder differential input signal Z- Positive pole of 5V power of pulse/encoder signal Reserved Reserved DIR+...

  • Page 37: Axis Interface Signal Specification & Wiring

    ZMC432N 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 Voltage range 0-5V Maximum frequency 10MHz Signal type Differential input signal EA/EB/EZ Voltage range 0-5V Maximum frequency...
  • Page 38 ZMC432N 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

    ZMC432N Motion Controller User Manual V1.5 Please use STP, especially in bad environments, and make sure the shielding layer is  fully grounded. 3.10.2. 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,...
  • Page 40 ZMC432N Motion Controller User Manual V1.5 (5) Control corresponding motion through “View – Manual”. Refer to BASIC Routine:...
  • Page 41 ZMC432N Motion Controller User Manual V1.5 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 'set axis speed as 10*1000 pulse/s ACCEL = 1000,1000 ‘set axis acceleration as 1000*1000 pulse/s/s...

  • Page 42: Chapter Iv Expansion Module

    ZMC432N 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) or ZMIO310 vertical bus expansion modules, please refer to corresponding user manual.

  • Page 43: Can Bus Expansion Resource Mapping

    ZMC432N Motion Controller User Manual V1.5 → Wiring Note: ZMC432N 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 ZMC432N Motion Controller User Manual V1.5 and CANH. The IO numbers of the entire control system cannot be repeated, and existed numbers must be avoided when mapping resources. And the DIP switch must be dialed before power-on , if re-dial after power-on, it is invalid. It needs to be powered on again to take effect.
  • Page 45 ZMC432N Motion Controller User Manual V1.5 the axis interface), use the bit 1-4 to set the ID, so as to determine the number range of IO to be expanded. If the controller itself contains 28 INs and 16 OPs, then the starting address set by the first extended board should exceed the maximum value of 28.
  • Page 46 ZMC432N Motion Controller User Manual V1.5 → Axis Mapping: When the CAN bus expansion mode is used to expand the pulse axis, ZIO16082M can be selected to expand two pulse axes. These two pulse axes need to be mapped and bound with the axis No., then access.
  • Page 47 ZMC432N Motion Controller User Manual V1.5 ATYPE(6)=8 'ZCAN extended axis type, pulse direction stepping or servo UNITS(6)=100 0 'pulse equivalent 1000 SPEED(6)=100 'speed 100uits/s ACCEL(6)=1000 'acceleration 1000units/s^2 MOVE(100) AXIS(6) 'extended axis movement 100units Extended resource viewing: According to the CAN connection, after the power is turned on, and the wiring...

  • 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 ZMC432N 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 ZMC432N 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 ZMC432N 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 ZMC432N 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 ZMC432N 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 ZMC432N Motion Controller User 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 56: Chapter Vi Run And Maintain

    ZMC432N 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

    ZMC432N 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 ZMC432N 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 ZMC432N 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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