MOCTEC EMC8Z User manual
用户手册/User's Manual
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EMC8Z
Ether CAT 总线控制器使用手册
Ether CAT Ether CAT controller user manual User's Manual
摩川技术(深圳）有限公司
Moschon Technology (Shenzhen) Co. , Ltd.
该产品由深圳市泰奇科智能技术有限公司独家发行，版权所有！
用户手册/User's Manual
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目录
前言/Foreword....................................................................................................................................................................... 3
1 概述/Overview...................................................................................................................................................................4
1.1 产品介绍/Product Introduction...................................................................................................................................4
1.2 特性/Characteristics..................................................................................................................................................... 4
1.3 连接配置/Connection configuration..........................................................................................................................5
1.4 安装和编程/Installation and programming............................................................................................................5
2 硬件描述 / Hardware description...............................................................................................................................6
2.1 EMC8Z 系列型号规格/EMC8Z series model specification..................................................................................... 6
2.2 EMC6Z/8Z 接线/EMC6Z/8z connection........................................................................................................................7
3 扩展模块/ Extension Module...................................................................................................................................... 13
3.1 扩展模块 CAN 总线、输入输出、电源接线参考/Extension module CAN bus, in............................................. 13
put and output, power connection reference..............................................................................................................13
4 硬件安装/Hardware installation.............................................................................................................................. 14
4.1 EMC8Z 安装/EMC8Z installation................................................................................................................................14
5 常见问题/Frequently asked questions.................................................................................................................... 15
6 保修及售后服务 /Warranty and after-sales service............................................................................................. 16
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前言/Foreword
感谢您使用本公司总线控制器。
Thank you for using our bus controller.
在使用本产品前，请务必仔细阅读本手册，了解必要的安全信息、注意事项以及操作方法等。错误的操作可能引
发极其严重的后果。
Before using this product, please read this manual carefully to understand the necessary safety information,
precautions, and operation methods.Incorrect operation can have extremely serious consequences.
本产品的设计和制造不具备保护人身安全免受机械系统威胁的能力，请用户在机械系统设计和制造过程中考虑安
全防护措施，防止因不当的操作或产品异常造成事故。
This product is designed and manufactured without the ability to protect personal safety from mechanical system
threats. Users are advised to consider safety precautions during mechanical system design and manufacturing to prevent
accidents caused by improper operation or product abnormalities.
由于产品的改进，手册内容可能变更，恕不另行通知。用户对产品的任何改装我公司将不承担任何责任。
阅读时，请注意手册中的以下标示：
Due to product improvements, the contents of this manual are subject to change without notice. Our company will not be
responsible for any modification of the product by the user.
When reading, please pay attention to the following signs in the manual:
注意：提醒您注意文字中的要点。
小心：表示错误的操作可能导致人身伤害和设备损坏。
本产品经过国家强制 3C 认证，CE 认证，ROHS 认证
This product has passed the national mandatory 3C certification, CE certification, ROHS certification
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1 概述/Overview
1.1 产品介绍/Product Introduction
EMC8Z 是运动控制器集成梯形图和组态软件的产品。EMC8Z 可应用于各种需要脱机或联机运行的场
合。 EMC8Z 支持最多达 12 轴直线插补、电子凸轮、电子齿轮、同步跟随、虚拟轴设置等。 EMC8Z 支
持多任务同时运行，同时可以在 PC 上直接仿真运行。
EMC8Z is a motion controller integrated ladder diagram and configuration software products.
EMC8Z can be used in all kinds of situations that need to run offline or online. EMC8Z supports
up to 12-axis LINEAR interpolation, electronic cam, electronic gear, synchronous follow,
virtual shaft setup, etc. . The EMC8Z supports multitasking and can be run directly on a PC.
1.2 特性/Characteristics
● 支持 EtherCAT 总线通讯
Support for Ethercat bus communication
● 最多达 12 轴运动控制（虚拟轴数）
Up to 12-axis motion control (virtual axis)
● ECAT 最快 1ms 的刷新周期
The fastest refresh cycle of ECAT is 1ms
● 通过 CAN 总线，最多可扩展到 512 个隔离输入或输出口
With CAN bus, it CAN be extended to 512 isolated i/o ports
● 轴正负限位信号口/原点信号口可以随意配置为任何输入口
The axis positive and negative limit signal port/origin signal port can be randomly configured
as any input port
● 输出口最大输出电流可达 300mA,可直接驱动部分电磁阀
The maximum output current can reach 300MA, which can drive part of solenoid valve directly
● RS232、RS485 接口、以太网接口
RS232, RS485 interface, ethernet interface
● 支持最多达 12 轴直线插补
Supports up to 12-axis LINEAR interpolation
● 支持电子凸轮、电子齿轮、位置锁存、同步跟随、虚拟轴等功能
Support Electronic Cam, electronic gear, position latching, synchronous follow, virtual axis
and other functions
● 支持 ZBasic 多文件多任务编程
Support Zbasic multi-file multi-task programming
● 多种程序加密手段，保护客户的知识产权
A variety of encryption procedures to protect the intellectual property rights of customers
● 掉电检测，掉电存储
Power-down detection, power-down storage
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1.3 连接配置/Connection configuration
EMC8Z 运动控制器支持以太网，232，CAN，485 等通讯接口，通过 CAN 总线可以连接各个扩展模
块，从而扩展输入输出点数或运动轴(CAN 总线两端需要并接 120 欧姆的电阻)。
The EMC8Z motion controller supports Ethernet, 232, CAN, 485 and other communication
interfaces. The CAN bus CAN be used to connect the extension modules to extend the input/output
points or the motion axis (both ends of the CAN bus require 120 ohms of resistance to be
connected) .
1.4 安装和编程/Installation and programming
EMC 控制器通过 Moschon 开发环境来调试，Moschon 是一个很方便的编程、 编译和调试环境。
Moschon 可以通过串口、485、USB 或以太网与控制器建立连接。应用程序可以使用 VC,VB，VS，
C++Builder，C#,等软件来开发。调试时可以 把 Moschon 软件同时连接到控制器，程序运行时需要动
态库 emotion.dll。
The EMC controller is debugged through the Moschon development environment, which is a
convenient programming, compilation, and debugging environment. Moschon can connect to the
controller via serial port, 485, USB, or Ethernet. Application Program can use VC, VB, VS,
c + + Builder, c # , and other software to develop. When debugging Moschon software can be
connected to the controller at the same time, the program needs dynamic library emotion. Dll.
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2 硬件描述 / Hardware description
2.1 EMC8Z 系列型号规格/EMC8Z series model specification
型号
Model number
EMC8Z
基本轴数
Number of basic axes
8
最多扩展轴数
Maximum number of
extended axes
12
基本轴类型
BASIC AXIS type
Ether CAT
内部 IO 数
INTERNAL IO number
16 进 16 出（带过流保护）
16 in 16 out (with overcurrent protection)
最多扩展 IO 数
Maximum number of
extended Io
512 进 512 出
512 In, 512 out
内部 AD/DA 数
Internal Ad/da number
2 路 DA（0-10V）
Route 2 DA (0-10V)
最多扩展 AD/DA
EXTEND AD/DA at most
256 路 AD，128DA
256 Ad, 128DA
脉冲位数
Number of pulses
32
编码器位数
Encoder digit
32
速度加速度位数
Number of bits of
acceleration
32
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数组空间
Array space
320000
程序空间
Program space
6144kbyte
Flash 空间
Flash space
8129kbyte
电源输入
Power input
24V 直流输入（功耗 10W 内，不用风扇散热），IO24V 输入
24V DC input (power consumption within 10W, no fan cooling) , IO24V input
通讯接口
Communication
interface
RS232,RS485,RS422,以太网，U 盘，CAN,Ether CAT
RS232, RS485, RS422, Ethernet, USB, CAN, Ether CAT
外形尺寸
Contour dimension
252*133mm
注：本系列不带脉冲轴和编码器
Note:This series does not carry pulse axes and encoders
2.1.1 订货信息
型号
Model number
规格描述
Specification
EMC8Z
8 轴 Ether CAT 控制，不支持圆弧插补、连续插补、不支持机械手
8 axis Ether CAT control, no ARC interpolation, continuous
interpolation, no manipulator
2.2 EMC6Z/8Z 接线/EMC6Z/8z connection
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注：
1.EMC8Z 具有 8 个轴，最多达 12 个虚拟轴。EMC8Z 可以通过扩展模块来扩展轴。
2.EMC8Z 板上自带 40 个通用输入口，16 个通用输出口，2 个 0-10V DA。
3.EMC8Z 带 1 个 RS232 串口，1 个 RS485,1 个 RS422，1 个以太网接口。
4.EMC8Z 带一个 CAN 总线接口，支持通过 ZCAN 协议来连接扩展模块。
5.EMC8Z 带一个 EtherCAT 接口，支持通过 ZCAN 协议来连接扩展模块。
Note:
1.EMC8Z has 8 axes and up to 12 virtual axes. The EMC8Z can extend the axis by extending the
module.
2.EMC8Z board with 40 general-purpose input, 16 general-purpose output, 20-10V DA.
3.EMC8Z WITH 1 RS232 serial port, 1 RS485,1 RS422,1 Ethernet interface.
4.The EMC8Z comes with a CAN bus interface that supports connecting extension modules through
the ZCAN protocol.
5.EMC8Z comes with an EtherCAT interface that supports connecting extension modules through
the ZCAN protocol.
2.2.1 电源接口 CN16/Power Interface CN16
针脚号
Stitch number
名称
Name
说明
Account for
1
EARTH
安规地/屏蔽层
Ground/shielding layer
2
GND
内部电源地
Internal power source
3
+24V
内部电源 24V 输入
Internal Power 24V input
2.2.2 通讯接口 CN17/COM INTERFACE CN17
CAN 总线上链接多个控制器时，需要在最两边控制器的 CANL 与 CANH 端并接 120 欧姆的电阻。
CAN 总线通讯双方必须保证对应 GND 连上或是控制器和扩展模块用同一个电源。EMC8Z 控制器和扩展
模块用不同电源供电时：控制器电源 EGND 要连接扩展模块电源的 GND，否则可能烧坏 CAN。（接线参
考见第三章扩展模块）
When multiple controllers are linked on the CAN bus, a 120 ohm resistor is required at
the CANL and Canh ends of the most two-sided controller. Both sides of the CAN bus communication
must ensure that the corresponding GND is connected or that the controller and the extension
module use the same power supply. When the EMC8Z controller and the extension module are powered
by a different power source: The controller power source, the EGND, is connected to the
extension module power GND , otherwise it may burn out the CAN. (for wiring, see the extension
module in Chapter 3.)
针脚号
Stitch number
名称
Name
说明
Account for
1
485B
485-
2
485A
485+
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3
GND
内部电源地
Internal power source
4
CANL
CAN 差分数据-
Can differential data -
5
CANH
CAN 差分数据+
CAN difference data
2.2.3 RS232 接口 CN12/RS232 interface CN12
RS232 接口。其 9pin 引脚定义如下：
RS232 interface. The 9pin pin is defined as follows:
针脚号
Stitch number
名称
Name
说明
Account for
2
RXD
接收数据引脚
Data receiving pin
3
TXD
发送数据引脚
Send Data Pin
5
GND
内部电源地
Internal power source
9
E5V
电源 5V 输出，可用于对文本屏供电
Power Supply 5V output, can be used to power the text
screen
注：与电脑连接需要使用双母头的交叉线
Note: The computer connection requires the use of a double-header cross-line
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2.2.4 通用输入信号/Universal input signal
2.2.4.1 输入 0-7/Enter 0-7
针脚号
Stitch number
名称
Name
说明
Account for
1
IN7
输入 7
Inputting7
2
IN6
输入 6
Inputting6
3
IN5
输入 5
Inputting5
4
IN4
输入 4
Inputting4
5
IN3
输入 3
Inputting3
6
IN2
输入 2
Inputting2
7
IN1
输入 1
Inputting1
8
IN0
输入 0
Inputting0
9
EGND
IO 电源地
Io Power source
10
EGND
IO 电源地
Io Power source
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2.2.4.2 输入 8-15/Enter 8-15
2.2.5 通用输出 CN10/General purpose output CN10
针脚号
Stitch number
名称
Name
说明
Account for
1
IN15
输入 15
Inputting15
2
IN14
输入 14
Inputting14
3
IN13
输入 13
Inputting13
4
IN12
输入 12
Inputting12
5
IN11
输入 11
Inputting11
6
IN10
输入 10
Inputting10
7
IN9
输入 9
Inputting9
8
IN8
输入 8
Inputting8
9
EGND
IO 电源地
Io Power source
10
EGND
IO 电源地
Io Power source
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2.2.5.1 输出 0-7/Output 0-7
2.2.5.1 输出 8-15/Output 8-15
针脚号
Stitch number
名称
Name
说明
Account for
1
EGND
IO 电源地
Io Power source
2
E24V
IO 电源正，输入电源
Io Power on. Input Power
3
OUT0
输出 0
Output 0
4
OUT1
输出 1
Output1
5
OUT2
输出 2
Output2
6
OUT3
输出 3
Output3
7
OUT4
输出 4
Output4
8
OUT5
输出 5
Output5
9
OUT6
输出 6
Output6
10
OUT7
输出 7
Output7
针脚号
Stitch number
名称
Name
说明
Account for
1
EGND
IO 电源地
Io Power source
2
E24V
IO 电源正，输入电源
Io Power on. Input Power
3
OUT8
输出 8
Output 8
4
OUT9
输出 1
Output9
5
OUT10
输出 10
Output10
6
OUT11
输出 11
Output11
7
OUT12
输出 12
Output12
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注：请把内部电源 24V 和外部 IO 电源 24V 分开供电，特别是现场电磁干扰严重的情况下
Note: Please Supply Internal Power Supply 24V and external IO power supply 24V separately,
especially in case of serious electromagnetic interference
2.2.6 ADDA 信号 /Adda signal
针脚号
Stitch number
名称
Name
说明
Account for
1
DAGND
模拟输出口 GND
Analog Export Gnd
2
DA1
0-10V 模拟输入口 1
0-10V analog Input 1
3
DA0
0-10V 模拟输出口 0
0-10V analog output 0
3 扩展模块/ Extension Module
3.1 扩展模块 CAN 总线、输入输出、电源接线参考/Extension module CAN bus, in
put and output, power connection reference
CAN 总线上链接多个 MIO 扩展模块时，需要在最末端的 MIO 扩展模块 CANL 与 CANH 端并 接一
个 120 欧姆的电阻。
EMC8 系列控制器采用单电源供电，MIO 扩展卡采用双电源供电，使用时将 IO 板的两路电源接到
一路电源即可。EMC8Z 控制器和扩展模块用不同电源供电时：控制器电源 EGND 要 连接扩展模块电源
的 GND，否则可能烧坏 CAN。
When multiple MIO extension modules are linked on the CAN bus, a 120 ohm resistor is
connected to the Terminal Mio Extension Module CANL and Canh.
EMC8 series controller is powered by single power supply, MIO EXPANSION CARD is powered
by double power supply. When in use, two power supply of IO board can be connected to one power
supply. When the EMC8Z controller and the extension module are powered by a different power
source: the controller power source, the EGND, is connected to the extension module power GND ,
otherwise it may burn out the CAN.
8
OUT13
输出 13
Output13
9
OUT14
输出 14
Output14
10
OUT15
输出 15
Output15
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4 硬件安装/Hardware installation
4.1 EMC8Z 安装/EMC8Z installation
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单位/Unit：mm
安装孔直径/Diameter of mounting hole： 5.5mm
高度/Height：75mm
5 常见问题/Frequently asked questions
问题
Questions
解决问题的建议
Advice on how to solve a problem
电机不转动
Motor not turning
确认控制器的 ATYPE 有配置正确
Verify that the controller's ATYPE is configured correctly
确认脉冲发送方式和驱动器的输入脉冲方式是否匹配
Verify that the pulse mode is matched to the driver's input pulse mode
确认是否有硬件限位，软件限位，ALM 信号起作用
Verify that the hardware, software, and ALM signals are active
可以用测试软件进行测试，观察脉冲计数等是否正常
Can use the test software to test, observe whether the pulse count is
normal or not
控制器已经正常工作，正常发出脉冲，
但电机不转动
The controller is working
properly, sending out pulses
normally, but the motor is not
turning
检查驱动器和电机之间的连接是否正确，驱动器与控制器之间的接线是否接触良
好
Check that the connection between the drive and the motor is correct and
that the wiring between the drive and the controller is in good contact
确保驱动器工作正常，没有出现报警
Make sure the drive is working properly and there is no alarm
电机可以转动，但工作不正常
The motor can turn, but it doesn't
work properly
检查设置减速度和速度是否超过了设备极限
Check that the deceleration setting and the speed limit of the equipment
are exceeded
检查输出脉冲频率是否超过了驱动器的接收极限
Check if the output pulse frequency exceeds the receiving limit of the
driver
检查控制器和驱动器是否正确接地，抗干扰措施是否做好
Check the controller and driver are properly grounded, anti-interference
measures are done
脉冲和方向信号输出端光电隔离电路中使用的限流电阻过大，工作电流偏小
The current limiting resistance used in the photoelectric isolation
circuit at the output of pulse and direction signals is too large and
the working current is too small
能够控制电机，但电机出现振荡或是
过冲
Can control the motor, but the
motor oscillates or overshoots
可能是驱动器参数设置不当，检查驱动器参数设置
Drive parameter settings may be incorrect. Check drive parameter settings
应用软件中加减速时间和运动速度设置不合理
The setting of acceleration and deceleration time and motion speed is
unreasonable in application software
能够控制电机，但工作时，回原点定
位不准
Can control the motor, but work,
back to the origin location is not
accurate
原点信号开关是否工作正常
Whether the origin signal switch is working properly
原点信号是否受到干扰
If the origin signal is being jammed
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限位信号不起作用
The Stop Signal's not working
限位传感器工作不正常
The limit sensor is not working properly
限位传感器信号受到干扰
The limit sensor signal is jammed
扩展模块连接不上，扩展模块警告灯
亮
The extension module is not
connected. The extension module
warning light is on
检查 120 欧姆电阻是否有安装在两端
Check that the 120 ohm resistor is installed at both ends
检查是否有多个扩展模块采用同样的 ID
Check to see if multiple extension modules have the same ID
输入口检测不到信号
No signal detected at the input
port
检查 IO 电源有无供给
Check the IO power supply
检查信号电平是否与输入口匹配
Check if the signal level matches the input port
检查输入口编号是否与 IO 板的 ID 相匹配
Check that the input port number matches the IO board ID
输出口操作时没有反应
There is no response at the output
port
检查 IO 电源有无供给，IO 板上也要供电源
Check the IO power supply, IO board to power
检查输入口编号是否与 IO 板的 ID 相匹配
Check that the input port number matches the IO board ID
控制器网口连接不上
The controller network interface
is not connected
网口的灯是否点亮？
Is the light on at the net port?
是否采用直连网线且电脑不支持自动交叉？
Do you use a direct line and the computer does not support automatic
crossover?
控制器 IP 地址是否被修改？
Has the controller Ip address been modified?
PC 的网卡 IP 地址是否与控制器一个网段？
Is the IP address of the PC's network card a network segment with the
controller?
控制器串口连接不上
The serial port of the controller
is not connected
串口参数是否被运行程序修改，可以通过？*SETCOM 查看当前的所有串口配置
Is The serial port parameter modified by the running program and can be
passed? * SETCOM looks at all current serial port configurations
6 保修及售后服务 /Warranty and after-sales service
请保留好包装箱以便运输、储存或需要退回本公司维修时使用。一年保修期：
Please keep the packing box for transportation, storage or need to return to the company
for maintenance.One year warranty period:
来自本驱动器使用一年内因为产品自身的原因造成的损坏，负责保修。
From the use of this drive within one year because of the product itself caused by the
damage, responsible for the warranty.
不在保修之列：/Not covered by warranty:
不恰当的接线、电源电压和用户外围配置造成的损坏。/Damage caused by improper wiring, power
supply voltage and user peripheral configuration.
无本公司书面授权条件下，用户擅自对产品进行更改。/Without the written authorization of the
company, users make changes to the products without authorization.
用户手册/User's Manual
第17 页 共 17 页
超出电气和环境的要求使用。/Use beyond electrical and environmental requirements.
驱动器序列编号被撕下或无法辨认。/The drive serial number has been torn off or is
unreadable.
外壳被明显破坏。/The outer shell was visibly damaged.
不可抗拒的灾害。/An irresistible disaster.6.2 售后服务 /Aftersales Service
添加微信或者拨打电话
（+86）18926788846
Email：Tech@TQKTEC.COM
您拨打电话之前，请先记录以下信息：
Before you call, please record the following information:
故障现象/Fault phenomenon
产品型号和序列号/Product model and serial number
安装日期或者生产日期/Installation date or production date
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