ZLTECH ZLAC8015 User manual

Shenzhen ZhongLing Technology Co.,Ltd.
Add:8th Floor, Building 3, Qiyu Industrial City, Gongle
Tiezai Rd., Xixiang St., Bao'an Dist, Shenzhen, China
Postcode: 518102
Tel: [phone]
Fax: [phone]
Email: [e-mail]
Web: www.zlingkj.com
ZLAC8015
Servo Driver Manual (Special for
Hub Servo Motor)
【Please read the manual in detail before use, to avoid damage to the driver】

ZLAC8015 ServoDriver Manual (Special for Hub Servo Motor) V1.0 ZLAC8015 ServoDriver Manual (Special for Hub Servo Motor) V1.0
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CONTENTS
RELEASE NOTES .......................................................................................................2
PREFACE..................................................................................................................3
SAFETY PRECAUTIONS..............................................................................................3
1. PRODUCT INTRODUCTION ....................................................................................6
1.1. OUTLINE .......................................................................................................6
1.2. FEATURES ...................................................................................................................... 6
1.3. APPLICATION ................................................................................................................ 6
2. ELECTRICAL, ENVIRONMENTAL INDEX....................................................................7
2.1. ELECTRICAL INDEX........................................................................................................ 7
2.2. ENVIROMENTAL INDEX................................................................................................ 7
2.3. INSTALLATION DIMENSION......................................................................................... 7
2.4. INSTALLATION............................................................................................................... 8
3. DRIVER INTERFACE AND WIRING...........................................................................9
3.1. INTERFACE DEFINITION ............................................................................................... 9
3.2 CONTROL SIGNAL WIRING......................................................................................... 11
3.3. CANOPEN COMMUNICATION PORTDESCRIPTION................................................. 13
3.4. RS485 COMMUNICATION PORT DESCRIPTION........................................................ 13
3.5. STATUS INDICATOR LED.............................................................................................. 13
4. DIP SWITCH SETTINGS ........................................................................................14
4.1. STEP RESOLUTION SETTINGS .................................................................................... 14
4.2 TERMINAL RESISTANCE SETTINGS............................................................................. 15
RELEASE NOTES
Version Update Time Update Content Updater
V1.0 2019-12-28 First Edition LHY

ZLAC8015 Serco Driver Manual (Special for Hub Servo Motor) V1.0 ZLAC8015 Serco Driver Manual (Special for Hub Servo Motor) V1.0
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PREFACE
Thanks for choosing ZLAC8015, the servo driver for hub servo motor.
This manual describes the installation, debugging, maintenance, operation and
other aspects of the servo driver ZLAC8015. Please read this manual in detail before
use, and be familiar with the safety precautions.
This manual may be revised timely when product is improved, specification and
version are changed or for some other reasons, which will not be notified
particularly.
Any questions when using our products, please read the relevant manual or call our
technical service department, we will meet your requirements in the shortest
possible time.
Marks and warning signal:
Danger: Indicates that this operation error may endanger
personal safety!
Attention: Indicates that this operation error may result in
equipment damage!
SAFETY PRECAUTIONS
Open Box and Check
Do not install integrated step-servo motor which is damaged or with
missing parts.
Installation
Installed on a non-flammable metal frame, prevent the intrusion of
dust, corrosive gases, conductive objects, liquids and flammable materials, and
maintain good heat dissipation conditions.
During installation, be sure to tighten the mounting screws of the
integrated step-servo motor. It should be protected from vibration and shock.
Wiring
Please perform the wiring work by professional electrical engineer;
Before wiring, please confirm that the input power is off. Wiring and
inspection must be performed after the power is turned off and the integrated
step-servo motor indicator is off to prevent electric shock;
When plugging and unplugging the integrated step-servo motor
terminals, make sure that its indicator is off before proceeding;
Please set the emergent stop circuit outside the controller;
Please tighten the output terminal with a suitable torque.
Electrify
Please confirm whether the main circuit input power is consistent with
the rated working voltage of the integrated step-servo motor;
Do not test the integrated step-servo motor for high voltage and
insulation resistance at will;
Do not connect the electromagnetic contactor or electromagnetic
switch to the output circuit.
Operation
Do not directly touch the output terminals after the integrated
step-servo motor is powered on;
When the system is running, the integrated step-servo motor may

ZLAC8015 Serco Driver Manual (Special for Hub Servo Motor) V1.0 ZLAC8015 Serco Driver Manual (Special for Hub Servo Motor) V1.0
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have a high temperature rise, do not touch it;
Please confirm the input and output signals to ensure safe operation;
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
to restart suddenly;
Do not change the parameter settings of the integrated step-servo
motor at will. The parameter modification needs to be performed under standby
condition.
Maintenance and Inspection
Do not touch the integrated step-servo motor terminals directly, and
some have high voltage, very dangerous;
Before powering up, be sure to install the cover; when removing the
cover, be sure to cut off the power supply first;
Before wiring, please confirm whether the input power is off;
After cutting off the main circuit input power and confirming the
integrated step-servo motor indicator light has completely extinguished, it
can be inspected and maintained;
Do the inspection and maintenance by professional electrical
engineer;
Do not do wiring, disassembling or other operation on the terminals
during power on.
There is an integrated circuit on the main control board of the servo
driver. Please pay full attention when checking to avoid damage caused by
static induction.
1. PRODUCT INTRODUCTION
1.1. OUTLINE
ZLAC8015 is a high-performance digital servo driver for hub servo motor. It has a simple
structure and high integration, and adds bus communication and single-axis controller
function.
1.2. FEATURES
■Adopt CAN bus communication, support CiA301 and CiA402 sub-protocol of
CANopen protocol, could mount up to 127 devices.CAN bus communication baud rate
defaults to 500Kbps.
■Adopt RS485 bus communication, support modbus-RTU protocol, could mount up
to 127 devices.RS485 bus communication baud rate defaults to 115200bps.
■Support operation modes such as position control, velocity control and torque
control.
■User can control the start and stop of the motor through bus communication and
query the real-time status of the motor.
■Input voltage: 24V-48VDC.
■2 isolated signal input ports, programmable, implement the driver's functions such
as enable, start stop, emergency stop and limit.
■2 isolated output ports, programmable, output driver‘s status and control signal.
■With protect function such as over-voltage, over-current.
1.3. APPLICATION
Suitable for AGV, delivery robot, service robot, automated handling machine, etc.

ZLAC8015 Serco Driver Manual (Special for Hub Servo Motor) V1.0 ZLAC8015 Serco Driver Manual (Special for Hub Servo Motor) V1.0
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2. ELECTRICAL, ENVIRONMENTAL INDEX
2.1. ELECTRICIAL INDEX
Driver Parameter Min value Typical value Max value Unit
Input voltage 20 VDC 36VDC 48VDC V
Output current(peak) 0 15 30 A
Control signal input
current
7 10 16 mA
Over-voltage
protection
- 60 - VDC
Under-voltage
protection
- 16 - VDC
Input signal voltage - 5 - VDC
Insulation resistance 100 MΩ
2.2. ENVIROMENTAL INDEX
Cooling Type Natural cooling or forced cooling
Working
environment
Application occasion Avoid dust, oil mist and corrosive gases
Working temperature 0~50℃
Max. ambient humidity 90% RH(no condensation)
Storage temperature -10~70℃
Vibration 10~55Hz/0.15mm
2.3. INSTALLATION DIMENSION
Fig.1 Installation dimension diagram (unit: mm)
2.4. INSTALLATION
User can use the wide or narrow side of the driver cooled radiator for installation. If
installing with wide side, use M3 screws to install through the holes on four corners. If
installing with narrow side, use M3 screws to install through the holes on both sides. In
order to achieve good heat dissipation, it is recommended to use narrow-side
installation.
The power device of the driver will generate heat. If it works continuously under the
condition of high input voltage and high power, the effective heat dissipation area
should be enlarged or forced cooling. Do not use it in a place where there is no air
circulation or where the ambient temperature exceeds 60 ° C. Do not install the driver
in a humid or metal debris place.

ZLAC8015 Serco Driver Manual (Special for Hub Servo Motor) V1.0 ZLAC8015 Serco Driver Manual (Special for Hub Servo Motor) V1.0
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3. DRIVER INTERFACE AND WIRING
3.1. INTERFACE DEFINITION
3.1.1 Power input port
Port Pin Mark Name Function
1 DC Power supply
interface
Power supply 24V-48V
2 GND
3 U
Motor power
interface
Wire connected to motor
4 V
5 W
3.1.2 Encoder and Hall port
Port Pin Mark Name Function
1 iA+
Encoder
2 iA-
3 iB+
4 iB-
5 RTC+ temperature sensor
6 RTC-
7 V Hall sensor
8 W
9 U
10 GND Power ground
11 VCC Power positive Output to encoder and
HALL
12 GND Power ground
3.1.3 Control signal port
Port Pin Mark Name Function
1 B- Brake-
Brake control (5-24V)
2 BGND External power
ground
3 BDC Brake+, External
power positive
4
5 IN1+ Input 1
Could be edited via
CANOPEN or 485
6 IN1-
7 IN2+ Input 2
8 IN2-
9 OUT1+ Output Could be edited via
CANOPEN or 485
10 OUT1-
11 oB+
Encoder output
12 oB-
13 oA+
14 oA-
15 5V 5V OUT Could be used to supply
power for IN or OUT
port, output current
cannot exceed 100mA
16
GND GND

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3.1.4 DIP switch
Port Pin Mark Name Function
1 SW1
DIP switch
CANOPEN termination
resistance selection
2 SW2 RS485
termination resistance
selection
3 SW3 CANOPEN address selection is
1-3. When it is 0, it can be
set to 4-127 by software.
4 SW4
5 SW5 RS485 address selection is 1-
3.
When it is 0, it can be set to
4-127 by software.
6 SW6
3.1.5 Communication port
Port Pin Mark Name Function
1 CANH CANOPEN
3 CANL
2 A RS485
4 B
5 CANH CANOPEN
7 CANL
6 A RS485
8 B
3.2 CONTROL SIGNAL WIRING
ZLAC8015 series driver provides 2 photoelectric isolation programmable input
interfaces, compatible with NPN wiring and PNP wiring.
2-channel (IN1-IN2) programmable input signal is isolated from the external control
interface by an optocoupler. The driver is compatible with common cathode and
common anode connections, as shown in the following Figure 2. In order to ensure the
reliable conduction of the optocoupler inside the driver, the drive current provided by
the controller must be at least 10mA.
The level pulse width of IN1-IN2 input needs to be bigger than 10ms, otherwise the
driver may not respond normally. The IN1-IN2 timing diagram is shown in Figure 3.
Fig.2 Input interface circuit
Fig.3 Control signal interface wiring diagram
Note: The default input voltage of the control signal is 5V. For other voltages,
current limiting resistors must be added, for example: 12V, external 1K 1 / 2W resistor;
24V, external 2K 1 / 2W resistor.
After the driver is powered on, IN1-IN2 defaults to the unspecified state. At this time,
the input signal is invalid. User could configure IN1-IN2 input functions through bus

ZLAC8015 Serco Driver Manual (Special for Hub Servo Motor) V1.0 ZLAC8015 Serco Driver Manual (Special for Hub Servo Motor) V1.0
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communication.
ZLAC8015 series driver provides 2 photoelectric isolated output terminals, supports
both of NPN and PNP wiring methods, and also supports high-level and low-level active
controllers.
1 AL M+
2 AL M-
3.3. CANOPEN COMMUNICATION PORT DESCRIPTION
ZLAC8015 series driver provides 4PIN communication port. For pin definition, please
refer to 3.1.5 Communication Port, which includes CANH, CANL, CANH and CANL.
Note: Please use shielded twisted-pair cables for communication cable and make
ground connection to ensure stable communication.
3.4. RS485 COMMUNICATION PORT DESCRIPTION
ZLAC8015 series driver provides 4PIN communication port. For pin definition, please
refer to 3.1.5 Communication Port, which includes A, B, and A, B.
Note: Please use shielded twisted-pair cables for communication cable and make
ground connection to ensure stable communication.
3.5. STATUS INDICATOR LED
The green LED is power indicator, which is always on when the driver is powered on;. It
is off when the driver is powered off. The red LED is fault indicator. When the driver fails,
the driver will stop and prompt the corresponding fault code. The fault can be cleared
when the user powers off and restarts the power. The status indicator LED represents
different operation and fault information, as shown in the following table:
Status Situation Status indicator LED
description
Over-Voltage The power supply voltage exceeds the
maximum rated voltage. 1 Red
Under-Voltage The power supply voltage is lower than
the minimum working voltage. 2 Red
Over-Current Phase current through the motor
exceeds short-circuit between phases 3 Red
Over-Load The phase current through the motor
exceeds the set overload current 4 Red
Current
out-of-tolerance
Control current and output current are
out of tolerance 5 Red
Position
out-of-tolerance
The given position is out of tolerance
with the output position 6 Red
Speed
out-of-tolerance
The given speed and output speed are
out of tolerance 7 Red
Internal reference
error Internal fault of the driver 8 Red
Parameter reading
error EEPROM parameters read error 9 Red
HALL fault The HALL cable is not plugged in or the
signal is incorrect 10 Red
High motor
temperature Motor temperature is too high 11 Red

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4. DIP SWITCH SETTING
ZLAC8015 driver uses a 6-digit DIP switch to set the terminal resistance and driver
address. The details are as follows:
SW1 SW2 SW3 SW4 SW5 SW6
4.1. STEP RESOLUTION SETTINGS
A. CAN Address
SW3 SW4 Address
OFF OFF Custom
ON OFF 1
OFF ON 2
ON ON 3
B. RS485 Address
SW5 SW6 Address
OFF OFF Custom
ON OFF 1
OFF ON 2
ON ON 3
User could use CANOPEN/RS485 bus to control up to 127 ZLAC8015 series drivers at the
same time. The driver communication address is set with a 4-digit DIP switch. The
address setting range is 1-3, where address 0 needs to be set and saved by the driver
software. SW3-SW4(SW5-SW6) switches must be all set to ON.
4.2. TERMINAL RESISTANCE SETTING
User can select whether to incorporate a 120Ω-terminal resistor through this bit.
According to the application, it is generally determined that only the master terminal
and the last slave need to connect a 120Ωterminal resistor.
CAN:
SW1 = OFF, invalid;
SW1 = ON, effective.
RS485:
SW2 = OFF, invalid;
SW2 = ON, effective.
CAN Terminal resistance RS485 Terminal resistance
CAN Address RS485 Address