Zmotion PCIE464M User Manual

Pcie ethercat motion control card

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Summary of Contents for Zmotion PCIE464M

  • Page 2 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 3: Table Of Contents

    PCIE464M Motion Control Card User Manual V2.0.1 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. Application Environment ................... 6 1.5. Hardware Installment ..................7 Chapter II Hardware Interface .....................
  • Page 4: Chapter I Production Information

    Chapter I Production Information 1.1. Product Information PCIE464M 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. PCIE464M 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

    Scara robot, etc. Support pulse closed loop, and pitch compensation. PCIE464M 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

    PCIE464M Motion Control Card User Manual V2.0.1 S600 DIP switch, used to set CAN’s 120ohm terminal resistor ⑥ RUN: ON when the power is connected Controller State RUN: ON when it runs normally ⑦ ALM: ON when it runs wrongly 1.3.
  • Page 7: Application Environment

    PCIE464M Motion Control Card User Manual V2.0.1 EtherCAT High-Speed Latch 4, IN0-3 Hardware Comparison Output 12, OUT0-11 General PWM 4, OUT0-3 Point to Point Electronic Cam Linear Interpolation Circular Interpolation  Continuous Interpolation Scara Robotic Arm Program Space 1920kbyte Power Down Storage ...
  • Page 8: Hardware Installment

    PCIE464M Motion Control Card User Manual V2.0.1 Acceleration 1g(directly install)(>9Hz) Direction 3 axial direction Shock (collide) 15g, 11ms, half sinusoid, 3 axial direction Degree of Protection IP20 1.5. 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.
  • Page 9: Chapter Ii Hardware Interface

    Chapter II Hardware Interface 2.1. IO Signal Interface IO signal interface is the main interface for PCIE464M 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 10 PCIE464M Motion Control Card User Manual V2.0.1 OUT13 OUT13, Single-Ended PUL1 OUT14 OUT14, Single-Ended DIR0 OUT15 OUT15, single-Ended PUL0 E5V power output Supply the power for external devices EGND E5V power ground / IO public end IN0, Latch R0, Encoder EA0...
  • Page 11: Io Power Input

    PCIE464M Motion Control Card User Manual V2.0.1 2.2. IO Power Input Power of I/O signal terminal uses DC24V power supply, which connects to PIN1 (E24V), and PIN2 (EGND) of IO. → Specification: Power Supply Description IN voltage DC24V± 5% Max Power Anti-inverse √...
  • Page 12 PCIE464M Motion Control Card User Manual V2.0.1 prevent CAN chip from burning out. Control card’s 120Ω terminal resistor on CAN bus is controlled by DIP switch (near to S600 signal), switch the “120Ω” as ON. → Specification: Description Communication Speed Ratio ≤1Mbps...
  • Page 13 ⚫ matching the circuit impedance and ensuring communication stability, and there is one 120Ω terminal resistor on the PCIE464M board (please turn to “120Ω”). ⚫ Please be sure to connect the public ends of each node on the CAN bus to prevent the CAN chip from burning out.
  • Page 14: In Digital Input Interface

    PCIE464M Motion Control Card User Manual V2.0.1 ZCanNodes”. (3) Match “Velocity” and “Address” of CAN slave station module correctly, then complete resource mapping. It can refer to “3.1 CAN Bus Expansion”. (4) After setting, restart all stations, then it can communicate normally. If “ALM” led of slave station is ON, which means the communication fails.
  • Page 15 PCIE464M Motion Control Card User Manual V2.0.1 Input current (typical 6.8mA 4.8mA value) Voltage to open <15V <14.5V Min current 2.3mA 1.8mA Impedance 3.3KΩ 4.7KΩ Isolation Optical isolation Optical isolation Respond time <10ms <10ms Description: There are high-speed inputs and low-speed inputs.
  • Page 16 PCIE464M Motion Control Card User Manual V2.0.1 otherwise, it needs to connect to negative poles of two powers. When on-site wiring, pay attention to make the distance between strong current and ⚫ weak current, it is recommended for the distance to be more than 30cm.
  • Page 17: Out Digital Output Interface

    PCIE464M Motion Control Card User Manual V2.0.1 2.5. OUT Digital Output Interface → Specification: Item High-speed output (OUT0-15) Output method Transistor NPN type, OD output ≤ Output frequency 500KHz Voltage level Load power: ≤36V Max output current +300mA Max leakage current when OFF...
  • Page 18 PCIE464M Motion Control Card User Manual V2.0.1 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 19: Single-Ended Axis Interface

    PCIE464M Motion Control Card User Manual V2.0.1 (6) For above command details and other commands, please refer to “ZBasic Programming Manual”. 2.6. Single-Ended Axis Interface Single-ended pulse output interface and single-ended encoder input interface are distributed in IO signal interface, for specific information, please go to “IO Singal...
  • Page 20 PCIE464M Motion Control Card User Manual V2.0.1 ◼ Single-Ended Encoder Wiring Reference (take IN0, IN1, and IN2 as the example): 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 ⚫...
  • Page 21: Ethercat Bus Interface / Ethernet

    PCIE464M Motion Control Card User Manual V2.0.1 can operation and control axis motion directly. (4) For above command details and other commands, please refer to “ZBasic Programming Manual”. 2.7. EtherCAT Bus Interface / Ethernet This interface can be used as EtherCAT interface to connect to bus device, also can be used as Ethernet.
  • Page 22 PCIE464M Motion Control Card User Manual V2.0.1 Communication speed 100Mbps 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...
  • Page 23 PCIE464M Motion Control Card User Manual V2.0.1 --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 24 PCIE464M Motion Control Card User Manual V2.0.1 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 25: Dip Switch

    PCIE464M Motion Control Card User Manual V2.0.1 --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 26 PCIE464M Motion Control Card User Manual V2.0.1 Form of relationship between code state and ID (ON = 1): Code 1 Code 2 Code 3 Code 4 Card ID...
  • Page 27: Chapter Iii Resources Expansion

    PCIE464M Motion Control Card User Manual V2.0.1 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 28 PCIE464M Motion Control Card User Manual V2.0.1 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 29 PCIE464M Motion Control Card User Manual V2.0.1 and CANH. Notes How to configure the controller as the master station, please refer to “2.1 power input ⚫ / CAN communication configuration” – usage. Communication speed rates of each node on the bus must be consistent, and the ⚫...
  • Page 30 PCIE464M Motion Control Card User Manual V2.0.1 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 31: Ethercat Bus Expansion

    PCIE464M Motion Control Card User Manual V2.0.1 ➢ 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 32 PCIE464M Motion Control Card User Manual V2.0.1 No. and corresponding meaning: Slot No. (slot) ⚫ “slot” means bus interface No. on the controller, EtherCAT bus slot No. is 0. Device No. (node) ⚫ “node” means all device No. connected one slot, starting from 0, and it will automatically number according to the device connection sequence on the bus.
  • Page 33 PCIE464M Motion Control Card User Manual V2.0.1 → 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 34 PCIE464M Motion Control Card User Manual V2.0.1 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 35: Chapter V Installation

    PCIE464M Motion Control Card User Manual V2.0.1 Chapter V Installation 4.1. PCIE464M 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 36 PCIE464M Motion Control Card User Manual V2.0.1 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 37 PCIE464M Motion Control Card User Manual V2.0.1 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 38 PCIE464M Motion Control Card User Manual V2.0.1 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 39 PCIE464M Motion Control Card User Manual V2.0.1 c. find PCI Device, right-click to select “update drive program”. d. select “browse my PC to check drive program”.
  • Page 40 PCIE464M Motion Control Card User Manual V2.0.1 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 41 PCIE464M Motion Control Card User Manual V2.0.1 g. If there is “Zmotion Pci Controller” in the device manager, the installation is successful.
  • Page 42: 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 43 PCIE464M Motion Control Card User Manual V2.0.1 Click “File” – “New File”, select file type to build, here select Basic, click “OK”. Double click “AutoRun”, enter task number 0.
  • Page 44 PCIE464M Motion Control Card User Manual V2.0.1 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 45 PCIE464M Motion Control Card User Manual V2.0.1 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 46 PCIE464M Motion Control Card User Manual V2.0.1 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 47: Firmware Upgrade

    PCIE464M Motion Control Card User Manual V2.0.1 runs with task 0, and the task number has no priority. ⚫ If no task number is set for the files in the entire project, when downloading to the controller, the system prompts the following message WARN: no program set autorun 6.2.
  • Page 48: 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 49 PCIE464M Motion Control Card User Manual V2.0.1 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 50 PCIE464M Motion Control Card User Manual V2.0.1 Declare relevant header files and define controller connection handle, so far the project is newly created.
  • Page 51: Chapter Vii Run And Maintain

    PCIE464M Motion Control Card User Manual V2.0.1 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 52: Common Problems

    PCIE464M Motion Control Card User Manual V2.0.1 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 53 PCIE464M Motion Control Card User Manual V2.0.1 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 IO power is needed.
  • Page 54: Appendix

    PCIE464M Motion Control Card User Manual V2.0.1 Appendix Wiring reference...

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