ZLTECH ZLIS42C Manual
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ZLTECH ZLIS42C Manual

Integrated step-servo motor
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ZLIS42C
Integrated Step-Servo Motor
Manual
【 P le a se r e ad t he m a nua l i n det a il b ef or e use, t o a v o i d da m a g e t o t he m ot or 】
Shenzhen ZhongLing Technology Co.,Ltd.
Ad d : 8 th Fl oor, Buildi ng 3 , Qi yu Indu s tri al Ci ty, Gongl e
Ti ezai Rd ., Xi xi ang St., Bao' an Di s t, Sh en zh en, C hin a
Pos tc od e: 5181 02
Tel : +86- 0755 -2979 9 302
Fax: +8 6-07 55-2 912 428 3
E m ai l: s al es @zl ingk j.c om
Web: www.z ling kj .c om

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  • Page 1 ZLIS42C Integrated Step-Servo Motor Manual 【 P le a se r e ad t he m a nua l i n det a il b ef or e use, t o a v o i d da m a g e t o t he m ot or 】...

  • Page 2: Table Of Contents

    4.1. STEP RESOLUTION SETTING ..................13 4.2. MOTOR ROTATION DIRECTION SETTING ..............14 5. CANOPEN PROTOCOL ..................14 5.1. COMMUNICATION SPECIFICATION FOLLOWED BY ZLIS42C ........14 5.2. CANOPEN FUNCTION DESCRIPTION ................14 5.3. DRIVER CONTROL PROTOCOL C A402 ................ 18 5.4.

  • Page 3: Preface

    This manual describes the installation, debugging, maintenance, operation and Wiring other aspects of the integrated step-servo motor ZLIS42C. Please read this manual in detail before use, and be familiar with the safety precautions. This manual may Please perform the wiring work by professional electrical engineer;...

  • Page 4: Product Introduction

    The alarm can be reset only after the operation signal is cut off. Alarm resetting in the running signal state will cause the integrated step-servo motor The ZLIS42C is a 2 phase digital step-servo motor with high-performance digital to restart suddenly;...

  • Page 5: Electrical, Environmental Index

    ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 ■ 4 DIP switch selection, 16-segment step resolution; 2.2. Environmental Index ■ With over-voltage, over-current, out of tolerance protect function etc; Cooling Type Natural cooling or forced cooling ■With built-in 2500-wire magnetic encoder, provides real-time feedback of motor...

  • Page 6: Driver Interface And Wiring

    3.2 Control Signal Wiring interface CANL CANH ZLIS42C series driver provides 4 optically isolated programmable input interfaces, which CANL is compatible with NPN wiring and PNP wiring. The 4(X0-X3) programmable input signals are isolated from the external control 3.1.2 DIP switch...

  • Page 7: Can Communication Port Description

    Fig.2 Control signal interface wiring diagram 3.3. CAN communication port description ZLIS42C series driver provides 4PIN communication port. For pin definition, please refer to 3.1.1 Power Port / Communication Port, which includes CANH, CANL, CANH and CANL. Note: Please use shielded twisted-pair cables for communication cables and ground them to ensure stable communication.

  • Page 8: Dip Switch Setting

    4 red driver board. internal reference User can use CAN bus to control up to 127 ZLIS42C series drivers at the same time. The Driver internal fault 5 red error driver communication address is set with a 4-digit DIP switch. The address setting range Parameter reading is 0-15, where address 0 is reserved by the system.
  • Page 9 1005h,1006h,1007h Object The value of the Node-ID node address ranges from 1 to 127. The ZLIS42C series driver supports the following types of CANopen messages: Peer object of CANopen master / slave connection set PDO (Process Data Object) message Object...
  • Page 10 Communication Parameter and Mapping Parameter. object EMCY. EMCY belongs to the producer/consumer communication model, and all ZLIS42C series driver supports 4 RPDO and 4 TPDO, and describes the communication devices in the network can consume the message. EMCY message occupies all 8 bytes parameters and mapping parameters of each PDO communication port according to the of data.
  • Page 11 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 amplifier is ready. The drive parameters may be changed. The drive function is disabled. OPERATION ENABLE No faults have been detected. The drive function is enabled and power is applied to the motor. The drive parameters may be changed.(This corresponds to...
  • Page 12 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 ※ Status word switching state Status word Status word Bit definition Function Description State Bit6 Bit5 Bit3 Bit2 Bit1 Bit0 6040=0: xxxx xxxx xxxx 0000 6040=6: xxxx xxxx xxxx 0001...
  • Page 13 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 through the object 6061h (Modes_of_operation_display). ZLIS42C series driver When the total pulse number set by user is small, the motor may need to decelerate currently supports 3 working modes: Profile Position Mode, Profile Velocity Mode, before it accelerates to the maximum speed (that is, the motor does not accelerate to Homing Mode.
  • Page 14 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 r/min Example 6083h Profile_acceleration 0-2000ms 100ms Make the motor run relatively based on the parameters (acceleration time 100ms, 6084h Profile_deceleration 0-2000ms 100ms deceleration time 100ms, maximum speed 60r / min, total pulse number 3200).
  • Page 15 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 The acceleration curve under speed mode is shown in the figure below. Differ from position mode, speed mode only needs to set 3 parameters: initial speed (address ※Bit10 and Bit12 of status word show driver status...
  • Page 16 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 distance, then look for the origin at a slow speed in reverse direction. After finding it, 5.3.6 Homing Mode stop and the homing operation is completed.
  • Page 17 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 immediately stop fail return origin. 4) 6098h = 18: Look for the negative limit signal in the reverse direction. After encountering the negative limit signal, decelerate to stop and retreat for a certain distance, and then search for the negative limit signal in the reverse direction at a 6) 6098h = 29: Find the origin in the positive direction.
  • Page 18 5.4 Object dictionary Bit8 Homing attained 1: Zero return mode is complete The ZLIS42C series bus type stepper motor driver parameter register includes three 0: Halt = 0 The home position is not reached; Bit10 Target reached parts, namely 1000h ~ 1FFFh register defined by CIA301, 2000h ~ 2FFFh register defined Halt = 1 motor deceleration;...
  • Page 19 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 CiA301, CiA402 0192 Event Timer Event Timer RW/S protocol 1401h Number of entries Number 1001h Error Register Driver current error sub-indexes status COB ID RPDO1 COB ID...
  • Page 20 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 Entry_2 1800h Number of entries Number Mapping Unmapped RW/S sub-indexes Entry_3 COB ID TPDO0 COB ID 180+No Mapping Unmapped RW/S de-ID Entry_4 Transmission Type Transmission Type...
  • Page 21 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 Transmission Type Transmission Type RW/S 1A03h Number of entries Number of entries Inhibit Time Inhibit Time RW/S Mapping Unmapped RW/S Compatibility Compatibility Entry Entry Entry Mapping...
  • Page 22 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 Address-Subdivision 2006h Subdivision RW/S communication attribute RW / S are 0—200(Pu/rev); Setting write function updated to EEPROM 1—400 (Pu/rev); code value synchronously; 2—800 (Pu/rev); 3—1600(Pu/rev); updated 1: Do not update;...
  • Page 23 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 Input terminal Bit0: input terminal RW/S effective level Y0 control bit; effective level X0 control bit; Bit1: Y1 control bit of Bit1: input terminal output terminal;...
  • Page 24 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 2049h Current loop Factory default 1000 out-of-tolerance; proportional setting, user does not FF08h: missing phase; coefficient need to set FF10h: Internal reference voltage 204Ah Current loop...
  • Page 25 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 command alue Unit: r / min 0: Invalid; 607Ah Target_position Total number of 5000 1: Stop normally , pulses in position switch to switched on mode;...
  • Page 26 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 ZLIS42C Integrated Step-Servo Motor Manual Version 1.10 peed_during_sear querying the origin 6099h ch_for_switch position; Range: 5-3000 r/min; Homing_speeds_S Return speed after peed_during_sear querying the origin; r/min ch_for_zero Range: 5-3000r/min 609Ah Homing_accelerat acceleration/ 100ms deceleration time;...

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