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Zmotion PCIE464 User Manual

Pcie ethercat motion control card
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  • Page 2: Table Of Contents

    PCIE464 Motion Control Card User Manual V2.1.1 Content Chapter I Production Information..................3 1.1. Product Information ..................3 1.2. Interface Introduction ..................4 1.3. System Frame Specification Model Selection ..........5 1.4. Order Information ....................6 1.5. Application Environment ................... 7 1.6.
  • Page 3 Thank you for choosing our Zmotion products. Please be sure to read this manual carefully before use so that you can use this product correctly and safely. Zmotion is not responsible for any direct or indirect losses caused by the use of this product.

  • Page 4: Chapter I Production Information

    Chapter I Production Information 1.1. Product Information PCIE464 is a kind of EtherCAT + Pulse motion control card that is with PCIE interface, then it can control several stepper motors or digital servo motors. PCIE464 motion control card can be applied in multi-axis point to point, interpolation motion, trajectory planning, handwheel control, encoder position measurement, IO control, position latch, etc.

  • Page 5: Interface Introduction

    PCIE464 Motion Control Card User Manual V2.1.1 Support pulse closed loop, and pitch compensation. PCIE464 motion control card is applied in high-speed and high-precision situation, like, 3C electronics processing, detection equipment, semiconductor equipment, SMT processing, laser processing, optical communication equipment, lithium battery and photovoltaic equipment, and non-standard automated equipment.

  • Page 6: System Frame Specification Model Selection

    PCIE464 Motion Control Card User Manual V2.1.1 S200 DIP switch, used to set ID of PCIE464  RUN: ON when the power is connected Controller State Led  RUN: ON when it runs normally ALM: ON when it runs wrongly 1.3.

  • Page 7: Order Information

    PCIE464 Motion Control Card User Manual V2.1.1 EtherCAT High-Speed Latch Hardware Comparison Output General PWM Point to Point Electronic Cam Linear Interpolation Circular Interpolation  Continuous Interpolation Scara Robotic Arm Program Space 1920kbyte Power Down Storage  Dimension (mm) 144*120 1.4.

  • Page 8: Application Environment

    PCIE464 Motion Control Card User Manual V2.1.1 female head) 16 IN & 16 OUT digital wiring board Wiring Board ACC37-7103 Optional after changing IDC40 as DB37. 1.5. Application Environment Item Parameters Work Temperature -10℃-55℃ Work relative Humidity 10%-95% non-condensing -40℃～80℃ (not frozen)

  • Page 9: Hardware Installment

    PCIE464 Motion Control Card User Manual V2.1.1 1.6. Hardware Installment The card slot interface is designed according to PCIE*1 standard card, which means it can be compatible with PCIE*1 ~ PCIE*16. PCIE doesn’t support plug in or pull out when in hot, so please close the computer before inserting and pulling the card.

  • Page 10: Chapter Ii Hardware Interface

    Chapter II Hardware Interface 2.1. J400 Signal Interface J400 is the main interface of PCIE464 motor control and I/O signal control. Signal terminal is shown as below. For terminals, please refer to “single-ended axis interface”, “IN digital input”, and “OUT digital output”.
  • Page 11 Description: Max output load of PCIE464 E5V is 300mA, please don’t connect to large power load. Max current of PCIE464 OUT is 300mA, it can connect to most of loads directly, please calculate the current. IN2-7 support single-ended encoder axis, but they only support 24V encoder input. When...

  • Page 12: X400 Signal Interface

    Local pulse-axis / encoder function of J400 PIN21-PIN26 depends on firmware, that is, it can’t be used as IN and OUT at the same time. IOs of PCIE464 are isolated IOs, please input from EGND and E24V for IO power supply. Note the positive pole and negative pole.

  • Page 13: Io Power Input

    PCIE464 Motion Control Card User Manual V2.1.1 IN16/OUT31 General IO Signal OUT16/IN31 General IO Signal IN17/OUT30 General IO Signal OUT17/IN30 General IO Signal IN18/OUT29 General IO Signal OUT18/IN29 General IO Signal IN19/OUT28 General IO Signal OUT19/IN28 General IO Signal IN20/OUT27...

  • Page 14: Can Communication Interface

    PCIE464 Motion Control Card User Manual V2.1.1 → Wiring: 2.4. CAN Communication Interface CAN communication interface is connected by PIN18 (CANH) and PIN19 (CANL) of J400. And please note PIN17 (EGND) must be connected to CAN ground of CAN module, that is, achieve grounded to prevent CAN chip from burning out.
  • Page 15 PCIE464 Motion Control Card User Manual V2.1.1 → Wiring: NOTES ⚫ As above, the daisy chain topology is used for wiring (the star topology structure cannot be used). And the distance between nodes is shorter, it is better. Please connect a 120Ω terminal resistor in parallel to each end of the CAN bus for ⚫...
  • Page 16 PCIE464 Motion Control Card User Manual V2.1.1 → Usage: (1) Please wiring correctly and power on, then connect controller to ZDevelop (RTSys) through “PCI” interface. (2) Configure controller CAN main station: a) Use “CANIO_ADDRESS” command to set main station “address” and “velocity”.

  • Page 17: In Digital Input Interface

    PCIE464 Motion Control Card User Manual V2.1.1 (6) For above command details and other commands, please refer to “ZBasic Programming Manual”. 2.5. IN Digital Input Interface Digital inputs are distributed in J400 (IN0-IN7) and X400 (IN8-IN39). → Specification: Item High-speed input (IN0-IN7)
  • Page 18 PCIE464 Motion Control Card User Manual V2.1.1 NOTES ⚫ Digital input wiring is shown above, external load can be button switch, or sensor, or others, they need to match signals correctly. It is recommended to use the same one power supply of load and controller, ⚫...

  • Page 19: Out Digital Output Interface

    PCIE464 Motion Control Card User Manual V2.1.1 2.6. OUT Digital Output Interface Digital outputs are distributed in signal interfaces of J400 (OUT0-7) and X400 (OUT8- OUT39). → Specification: High-speed output Low-speed output Item (OUT0-7) (OUT8-23) Output method NPN / Leakage Type Output frequency <400KHz...
  • Page 20 PCIE464 Motion Control Card User Manual V2.1.1 NOTES ⚫ Digital output wiring is shown above, external load can be the relay, or solenoid valve, or others. Please note their signals should be matched. It is recommended to use the same one power supply for load and controller, ⚫...

  • Page 21: Local-Axis Interface

    PCIE464 Motion Control Card User Manual V2.1.1 configured by “HW_PSWITCH2” command. (5) When it is used as pulse-axis, the usage is same as AXIS. For more details, please check “usage” in “2.8 single-ended axis interface”. (6) For above command details and other commands, please refer to “ZBasic Programming Manual”.
  • Page 22 PCIE464 Motion Control Card User Manual V2.1.1 NOTES ⚫ Local-axis interface wiring is shown above, but it may differ from drive models, please wire them carefully. While using differential signals, both grounding sides must be connected, then it can ⚫...

  • Page 23: Single-Ended Axis Interface

    PCIE464 Motion Control Card User Manual V2.1.1 through “PCI” interface. (2) Set basic parameters through corresponding commands, like, BASE, ATYPE, UNITS, SPEED, ACCEL, DECEL, etc. In addition, remap axis No. through AXIS_ADDRESS command, enable through AXIS_ENABLE, and run linear motion through MOVE.
  • Page 24 PCIE464 Motion Control Card User Manual V2.1.1 information, please go to “J400 Singal Interface”. → Specification: Item Description Pulse / Directional (PUL/DIR) Signal Type Single-ended output signals Pulse / Directional (PUL/DIR) Signal Voltage Range 0-24V Pulse / Directional (PUL/DIR) Signal Max Frequency <500kHz...
  • Page 25 PCIE464 Motion Control Card User Manual V2.1.1 NOTES Local-axis interface wiring is shown above, but it may differ from drive models, ⚫ please wire them carefully. ⚫ For pulse directional interface of 5V drive, please connect drive PUL+ and DIR+ to E5V interface.

  • Page 26: Ethercat Bus Interface / Ethernet

    PCIE464 Motion Control Card User Manual V2.1.1 (4) For above command details and other commands, please refer to “ZBasic Programming Manual”. 2.9. EtherCAT Bus Interface / Ethernet This interface can be used as EtherCAT interface to connect to bus device, also can be used as Ethernet.
  • Page 27 PCIE464 Motion Control Card User Manual V2.1.1 Refresh Period Max 500us Category 5e STP Communication cable (shielded twist pair) Communication length Recommended <50m --As EtherNET Interface-- Description Item Communication MODBUS_TCP protocol Communication speed 100Mbps Default IP 192.168.0.11 Category 5e STP...
  • Page 28 PCIE464 Motion Control Card User Manual V2.1.1 --As EtherNET Interface-- ➢ Controller Ethernet can be connected to PC, HMI by point-to-point connection through one category 5e shielded cable. Controller also can be connected to the interchanger, that is, through the interchanger, ➢...
  • Page 29 PCIE464 Motion Control Card User Manual V2.1.1 b) Use AXIS_ADDRESS command to map axis No., it can refer to 3.2 EtherCAT expansion – resources mapping. c) Use SLOT_START command to open the bus or use SLOT_STOP to close the bus.

  • Page 30: Dip Switch

    PCIE464 Motion Control Card User Manual V2.1.1 --As Ethernet Interface-- (1) Please wiring correctly and power on, then connect controller to ZDevelop (RTSys) through “Ethernet” interface. (2) It can modify controller IP through “IP_ADDRESS” command, please attention controller IP address and PC IP address should be in the same network segment.
  • Page 31 PCIE464 Motion Control Card User Manual V2.1.1...

  • Page 32: Chapter Iii Resources Expansion

    PCIE464 Motion Control Card User Manual V2.1.1 Chapter III Resources Expansion When there are no enough local resources in this card, it can expand more through CAN bus or EtherCAT bus. 3.1. IO CAN Bus Expansion There are three kinds of CAN bus expansion modules to extend more IOs, analog IOs, and axes (up to 2 for axis), they are ZIO, ZAIO, and ZMIO310-CAN.
  • Page 33 PCIE464 Motion Control Card User Manual V2.1.1 When there are multiple expansion modules connected on the CAN bus, please ⚫ connect to each one 120ohm resistor on the two ends of CAN bus (CANH and CAHL) in parallel, in this way, impendence can be matched. If the expansion module has 8- code, it only needs to dial code 8 as ON.
  • Page 34 PCIE464 Motion Control Card User Manual V2.1.1 decimal system), there are four options. DIP 5-6 combination value CAN communication speed 500KBPS (default value) 250KBPS 125KBPS 1MBPS ⚫ 7: reserved 8: 120 ohm resistor, dial it as ON = one 120 ohm resistor is connected between CANL ⚫...
  • Page 35 PCIE464 Motion Control Card User Manual V2.1.1 AIO Mapping (code 1 – code 4 state and corresponding address ID, please refer to ⚫ above form) Address ID Starting AD No. End AD No. Starting DA No. End DA No. ➢ Axis Mapping: When the CAN bus expansion mode is used to expand the pulse axis, 2 axes can be expanded at most.

  • Page 36: Ethercat Bus Expansion

    PCIE464 Motion Control Card User Manual V2.1.1 ‘map axis 1 of CAN expansion module whose ID is 2 as axis 7 For more command details and other commands, please refer to “ZBasic Programming Manual”. ➢ Expanded Resources Checking Connect controller to ZDevelop, then open “controller – state the controller – ZcanNodes”...
  • Page 37 PCIE464 Motion Control Card User Manual V2.1.1 When each EIO expansion module completes wiring, no need to second develop, it only needs to map module IO No. and axis No. on the controller EtherCAT. --EIO Expansion Module Wiring Reference-- No. and corresponding meaning: Slot No.
  • Page 38 PCIE464 Motion Control Card User Manual V2.1.1 → Resources Mapping: ➢ IO Mapping EtherCAT expansion module IO mapping is set by code NODE_IO and NODE_AIO commands. Before mapping IO, please check controller local max IO No. (there are general IO interface and specialized IO interface).
  • Page 39 PCIE464 Motion Control Card User Manual V2.1.1 Manual”. ➢ Expanded Resources Checking Connect controller to ZDevelop, then open “controller – state the controller – ZcanNodes” window. In this window, all expansion modules’ ID and corresponding mapping No. can be viewed clearly.

  • Page 40: Chapter Iv Accessories

    PCIE464 Motion Control Card User Manual V2.1.1 Chapter IV Accessories For PCIE464 motion control card, it can use with IO accessories together, order below accessories as needed. 4.1. EXDB37M-37 Wiring Board EXDB37M-37 wiring board is for J400 signal interface, using DB37 cable to connect the J400.

  • Page 41: Acc37 Wiring Board

    PCIE464 Motion Control Card User Manual V2.1.1 4.3. ACC37 Wiring Board ACC37 is the wiring board for X400 signal, using flat wiring cable and DB37 to connect to X400. For this wiring board specification, please refer to X400 signal interface specification.
  • Page 42 PCIE464 Motion Control Card User Manual V2.1.1...

  • Page 43: Chapter V Installation

    PCIE464 Motion Control Card User Manual V2.1.1 Chapter V Installation 5.1. PCIE464 Installation Install steps: 1. Turn off the PC power. 2. Open the computer case, select a free PCIE card slot, and use a screwdriver to remove the corresponding baffle strip.
  • Page 44 PCIE464 Motion Control Card User Manual V2.1.1 c. after clicking “next”, it is installing. If there is antivirus software or safety manager risk tip, please allow them, or you could exit corresponding software before install. When installed, below window will appear:...
  • Page 45 PCIE464 Motion Control Card User Manual V2.1.1 Note: if there is no drive program detected by Windows automatically after opening PC, or the drive program is removed, you could manually update drive program in device manager, then do above step by step.
  • Page 46 PCIE464 Motion Control Card User Manual V2.1.1 Method 2: install manually a. open the Device Manager menu and select the PCI device in Other Devices. b. if there are multiple PCI devices, right-click "Properties" to view detailed information, select "Hardware ID" for properties, and confirm that it is a PCI device starting with...
  • Page 47 PCIE464 Motion Control Card User Manual V2.1.1 c. find PCI Device, right-click to select “update drive program”. d. select “browse my PC to check drive program”.
  • Page 48 PCIE464 Motion Control Card User Manual V2.1.1 e. click “browse”, and select driver folder. Then, click “next”. If there is antivirus software or safety manager risk tip during installing, please allow them, or you could exit corresponding software before install. When installed, below...
  • Page 49 PCIE464 Motion Control Card User Manual V2.1.1 g. If there is “Zmotion Pci Controller” in the device manager, the installation is successful.

  • Page 50: Chapter Vi Program & Applications

    6.1. 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 51 PCIE464 Motion Control Card User Manual V2.1.1 Click “File” – “New File”, select file type to build, here select Basic, click “OK”. Double click “AutoRun”, enter task number 0.
  • Page 52 PCIE464 Motion Control Card User Manual V2.1.1 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 53 PCIE464 Motion Control Card User Manual V2.1.1 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 54 PCIE464 Motion Control Card User Manual V2.1.1 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 55: Firmware Upgrade

    “controller – connect”, find PCI/LOCAL method, click “connect”. If connected, there will be “Connected to Controller: PCIE464 Version: 4.93 – 20231220.” In “output” window. b. Click “controller – state the controller”, find basic info, then current software version can be checked.

  • Page 56: 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 57 PCIE464 Motion Control Card User Manual V2.1.1 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 58 PCIE464 Motion Control Card User Manual V2.1.1 Declare relevant header files and define controller connection handle, so far the project is newly created.

  • Page 59: Chapter Vii Run And Maintain

    PCIE464 Motion Control Card User Manual V2.1.1 Chapter VII 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 60: Common Problems

    PCIE464 Motion Control Card User Manual V2.1.1 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 61 PCIE464 Motion Control Card User Manual V2.1.1 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. Check whether the limit sensor is working normally, and whether the "input"...

  • Page 62: Appendix

    PCIE464 Motion Control Card User Manual V2.1.1 Appendix Wiring reference...

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