Zmotion ZMC212BE Manual
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Zmotion ZMC212BE 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

    ZMC212BE 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 ..................5 Chapter II Product Specification ..................7 2.1. Basic Specification .................... 7 2.2.
  • Page 6 ZMC212BE Motion Controller User Manual V1.5 3.6. AD/DA Analog Input & Output ................. 25 3.6.1. Analog Input / Output Specification & Wiring ........26 3.6.2. Basic Usage Method ................27 3.7. U Disk ......................28 3.8. ETHERNET ....................... 28 3.9.

  • Page 7: Chapter I Production Information

    16 axes for complex continuous trajectory control requirements. ZMC212BE economical multi-axis motion controller can be applied in electronic semiconductor equipment (testing equipment, assembly equipment, locking equipment, soldering machine), dispensing equipment, non-standard equipment, printing and packaging equipment, textile and garment equipment, stage entertainment equipment, medical equipment, assembly line, etc.

  • Page 8: System Frame

    ZMC212BE Motion Controller User Manual V1.5 ◆ Interfaces: EtherCAT, RS232, RS485, U Disk, Ethernet. ◆ Support linear interpolation, any circular interpolation, helical interpolation and spline interpolation of 16 axes at most. ◆ Support electronic cam, electronic gear, position latch, synchronous follow, virtual axis, etc.

  • Page 9: Hardware Installment

    ZMC212BE Motion Controller User Manual V1.5 1.4. Hardware Installment The ZMC212BE motion controller adopts the horizontal installation method of screw fixing, and each controller should be installed with 4 screws for fastening. → Unit: mm → Installment Hole Diameter: 4.5mm ⚫...
  • Page 10 ZMC212BE Motion Controller User Manual V1.5 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 powder, oil mist, salt, and organic solvents...

  • Page 11: Chapter Ii Product Specification

    ZMC212BE Motion Controller User Manual V1.5 Chapter II Product Specification 2.1. Basic Specification Item Description Model ZMC212BE Basic Axes Max Extended Axes Basic Axes Type EtherCAT/local pulse axis/encoder axis Digital IO 24 inputs, 8 outputs Max Extended IO 4096 inputs, 4096 outputs AD/DA 2 general ADs, 0-10V.

  • Page 12: Interface Definition

    ZMC212BE Motion Controller User Manual V1.5 2.2. Interface Definition → Interface Description Mark Interface Number Description IO power indicator: it lights when IO power is IO POW conducted. Status Power indicator: it lights when power is Indication conducted. Light Run indicator: it lights when runs normally...

  • Page 13: Work Environment

    ZMC212BE Motion Controller User Manual V1.5 RS232 serial RS232 Use MODBUS_RTU protocol port (port0) RS485 serial RS485 Use MODBUS_RTU protocol port (port1) EtherCAT bus Connect to EtherCAT bus drive and EtherCAT EtherCAT interface bus expansion module Use MODBUS_TCP protocol, expand Ethernet...
  • Page 14 ZMC212BE Motion Controller User Manual V1.5 Acceleration 1g(directly install)(>9Hz) Direction 3 axial direction Shock (collide) 15g, 11ms, half sinusoid, 3 axial direction Degree of Protection IP20...

  • Page 15: Chapter Iii Wiring, Communication Configuration

    ZMC212BE Motion Controller User Manual V1.5 Chapter Wiring, Communication Configuration 3.1. Power Input The power input adopts a screw-type pluggable terminal with a 5Pin pitch of 5.08mm, which is shared by controller main power supply and CAN communication. → Terminal Definition:...
  • Page 16 ZMC212BE Motion Controller User Manual V1.5 mainly 3 terminals, CANL, CANH and public end. And it supports connecting ZIO/ZMIO expansion module and other standard CAN devices. → Specification Item Max Communication Rate 1M(bps) Terminal Resistor 120Ω Topology Daisy chain connection structure...

  • Page 17: Basic Usage Method

    ZMC212BE Motion Controller User Manual V1.5 Please connect a 120Ω terminal resistor (when there is one to one connection or the ⚫ number of slave stations is few and the wiring is relatively short, the terminal resistor can not be added) in parallel at the two ends of the CAN bus to match the circuit impedance and ensure communication stability.

  • Page 18: Rs232 Serial Port

    ZMC212BE Motion Controller User Manual V1.5 "speed" according to the needs, and use the "CANIO_ENABLE" command to enable or disable the internal CAN master function, or through "ZDevelop/Controller/State the Controller/Communication Info” to view the CAN status intuitively, and refer to the “ZBasic Programming Manual”...

  • Page 19: Rs232 Communication Specification & Wiring

    ZMC212BE Motion Controller User Manual V1.5 Terminal Name Type Function 1、4、 Spare Reserved 6、7、8 Input RS232, receive signal Output RS232, send signal +5V power supply output (-) and Output communication public end +5V power supply output (+), max Output is 300mA 3.2.1.

  • Page 20: Basic Usage Method

    ZMC212BE Motion Controller User Manual V1.5 Please be sure to connect the public end 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 21: Rs485 Serial Port

    ZMC212BE Motion Controller User Manual V1.5 3.3. RS485 Serial Port The communication interface adopts a screw-type pluggable terminal with a 3Pin pitch of 5.08mm. RS485 communication can be connected through the corresponding interface of this terminal. → Specification Terminal Name...
  • Page 22 ZMC212BE Motion Controller User Manual V1.5 Max Communication Rate 115200 (bps) Terminal Resistor Topology Daisy chain connection structure Nodes can be extended Up to 127 Longer communication distance, lower Communication Distance communication rate, max 100m is recommended. → Wiring Reference Connect 485A and 485B of RS485 to 485A and 485B of the controller correspondingly, and connect the public end of both parties together.

  • Page 23: Basic Usage Method

    ZMC212BE Motion Controller User Manual V1.5 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 24: In Digital Input & High-Speed Latch Port

    ZMC212BE Motion Controller User Manual V1.5 3.4. IN Digital Input & High-Speed Latch Port The digital input adopts 3 groups of 10Pin screw-type pluggable terminals with a pitch of 5.08mm, and the latch function is integrated in digital signal inputs.

  • Page 25: Digital Input Specification & Wiring

    ZMC212BE Motion Controller User Manual V1.5 IN12 Input 12 IN13 Input 13 IN14 Input 14 IN15 Input 15 EGND IO public end EGND IN16 Input 16 IN17 Input 17 IN18 Input 18 IN19 Input 19 NPN type, general inputs. IN20...

  • Page 26: Basic Usage Method

    ZMC212BE Motion Controller User Manual V1.5 voltage (E+24V port) is 24V. → Wiring Reference → Wiring Note: The wiring principle of general input (IN0-23) is shown in the figure above. The ⚫ external signal source can be an optocoupler or a key switch or sensor, etc., all can be connected as long as the output level meets the requirements.

  • Page 27: Out Digital Output

    ZMC212BE Motion Controller User Manual V1.5 (4) Latch function can be set and opened through “REGIST” instruction, in software, use REG_INPUTS to configure. Please refer to “ZBasic” for details. 3.5. OUT Digital Output The digital output adopts a set of screw-type pluggable terminals with a spacing of 5.08mm.
  • Page 28 ZMC212BE Motion Controller User Manual V1.5 Output frequency ＜8kHz Output voltage level DC24V Max output current +300mA Max leakage current when OFF 25μA Respond time to ON 12μs Respond time to OFF 80μs Overcurrent protection Support Isolation method Optical isolation...

  • Page 29: Basic Usage Method

    ZMC212BE Motion Controller User Manual V1.5 are in the same power supply system, this connection can also be omitted. 3.5.2. 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 and RS485 to connect to ZDevelop.

  • Page 30: Analog Input / Output Specification & Wiring

    ZMC212BE Motion Controller User Manual V1.5 Output Analog output terminal AOUT(0) DAGND Public end Analog public end Input Analog input terminal AIN(1) Input Analog input terminal AIN(0) ADGND Public end Analog public end 3.6.1. Analog Input / Output Specification & Wiring →...

  • Page 31: Basic Usage Method

    ZMC212BE Motion Controller User Manual V1.5 Please use twisted-pair shielded cables, especially in harsh environments, and make ⚫ sure the shielding layer is fully grounded. → Cable Requirements: Twisted pair shielded wire, and shielded cable grounded. 3.6.2. Basic Usage Method (1) Please follow the above wiring instructions for correct wiring.

  • Page 32: U Disk

    ZMC212BE Motion Controller User Manual V1.5 3.7. U Disk The ZMC212BE 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: Ethercat Bus Interface

    The schematic diagram is as follows: 3.9. EtherCAT Bus Interface ZMC212BE 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 ZMC212BE Motion Controller User 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: Encoder Interface

    Please use tube-type pre-insulated terminals and cables with appropriate wire diameters to connect the user terminals. 3.10. ENCODER Interface ZMC212BE provides 2 encoder interfaces, and they are integrated in one 16pin horn connector male seat. It provides 0V and +5V output, which can provide 5V power for encoders.

  • Page 36: Encoder Interface Specification & Wiring

    ZMC212BE Motion Controller User Manual V1.5 EA1- Encoder differential input signal A1- EB1+ Encoder differential input signal B1+ EB1- Encoder differential input signal B1- Encoder signal 5V power negative pole EZ1+ Encoder differential input signal Z1+ EZ1- Encoder differential input signal Z1-...

  • Page 37: Axis Differential Pulse Axis Interface

    ZMC212BE Motion Controller User Manual V1.5 Notes: ➢ The wiring principle of the encoder interface is as shown in the figure above. There are differences in the wiring methods of different models of drivers, so please connect with caution. Please use twisted-pair shielded wires, especially in harsh environments. Make sure ➢...

  • Page 38: Axis Interface Signal Specification & Wiring

    ZMC212BE Motion Controller User Manual V1.5 → Interface Definition Interface Signal Description PUL1+ Servo/step pulse output differential signal + PUL1- Servo/step pulse output differential signal - DIR1+ Servo/step directional output differential signal + DIR1- Servo/step directional output differential signal -...
  • Page 39 ZMC212BE Motion Controller User Manual V1.5 → Wiring Reference: Reference example of wiring with Panasonic A5/A6 servo driver: → 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

    ZMC212BE Motion Controller User Manual V1.5 3.11.2. Basic Usage (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, it can be connected directly) and RS485 (default parameter can be connected directly, one adapter is needed for hardware) to connect to ZDevelop.
  • Page 41 ZMC212BE Motion Controller User 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

    ZMC212BE 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), EIO series EtherCAT bus expansion modules or ZMIO310 vertical bus expansion modules. For details, please refer to each manual.
  • Page 43 ZMC212BE Motion Controller User Manual V1.5 → Wiring Note: ZMC212BE controller uses the single power, and CAN 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

    ZMC212BE Motion Controller User 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 ZMC212BE Motion Controller User 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 ZMC212BE Motion Controller User 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 ZMC212BE Motion Controller User 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 48: Ethercat Bus Expansion

    ZMC212BE Motion Controller User 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

    ZMC212BE Motion Controller User Manual V1.5 Involved number concepts in above figure are as follows: the bus-related command parameters will use the following numbers: Slot No. (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 ZMC212BE Motion Controller User 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 ZMC212BE Motion Controller User Manual V1.5 Example: AXIS_ADDRESS(0)=(0<<16)+0+1 'the first drive on the EtherCAT bus, drive No. 0 is bound as axis 0 AXIS_ADDRESS(1)=(0<<16)+1+1 'the second drive on the EtherCAT bus, drive No. 1 is bound as axis 1 If the first node is EIO16084, and EIO16084 is connected to drive, then driver 0 here...

  • Page 52: Chapter V Program And 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 53 ZMC212BE 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 54 ZMC212BE 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 55 ZMC212BE 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 56 ZMC212BE 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 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 ZMC212BE 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 59 ZMC212BE 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 60: Chapter Vi Run And Maintain

    ZMC212BE 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 61: Common Problems

    ZMC212BE 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 62 ZMC212BE 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 63 ZMC212BE 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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