Zmotion ECI2608 User manual

ECI2000 Network Motion Control Card Hardware Manual Version1.3
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ECI2608 Network Motion Control
Card Hardware Manual
Version 1.3

ECI2000 Network Motion Control Card Hardware Manual Version1.3
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Copyright statement
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.
ZMC controller software involved in details as well as the
introduction and routines of each instruction, please refer to ZBASIC
software manual.
Information contained in this manual is only for reference. Due to
improvements in design and functions and other aspects, Zmotion
Technology reserves the final interpretation! Subject to change without
notice!
Pay attention to safety when debug the machine! Be sure to
design effective safety devices in the machine, and add the error
handling procedures in software. Zmotion has no obligation or
responsibility for the loss.

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Content
ECI2608 Network Motion Control Card Hardware Manual.............................................................1
Chapter I Control Card Introduction.................................................................................................4
1.1 Connection Configuration...................................................................................................4
1.2 Installation and Programming.............................................................................................5
1.3 Features...............................................................................................................................6
Chapter II Hardware Description......................................................................................................7
2.1 ECI2000 Series Controller ..................................................................................................7
2.1.1 Order Information ....................................................................................................8
2.2 ECI2000 Wiring Reference.................................................................................................9
2.2.1 Power / CAN Interface...........................................................................................10
2.2.2 RS232 Interface......................................................................................................11
2.2.3 General Input signal ...............................................................................................11
2.2.4 Input 0-7.................................................................................................................11
2.2.5 Input 8-15...............................................................................................................12
2.2.6 Input 16-23.............................................................................................................12
2.2.7 Output / IO power signal........................................................................................13
2.2.8 Axis Interface Signal..............................................................................................14
2.2.9 Axis Wiring Reference ...................................................................................................15
2.2.9.1 Wiring Reference for Low-speed Differential Pulse and Encoder Axis..............15
2.2.9.2 Wiring reference for High-speed Differential Pulse or Encoder Axis.........17
2.2.9.3 Wiring Reference for Encoder Axis ............................................................19
Chapter III Expansion Module........................................................................................................20
3.1 Wiring Reference For CAN, Input, Output and Power .....................................................20
Chapter IV Common Problems.......................................................................................................21
Chapter V Hardware Installation.....................................................................................................23
5.1 ECI2000 Installation .........................................................................................................23
5.2 ECI2000 Wiring Reference...............................................................................................24

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Chapter I Control Card Introduction
⚫ECI is the abbreviation of network motion control card published by ZMOTION
Technology.
⚫ECI2000 Series control card supports linear interpolation up to 12 axes, and
interpolation of random circular, spherical, helical, electronic cam, electronic gear,
synchronous follow, virtual axis, robot structure, etc. Real-time motion control can
be achieved through optimized network communication protocol.
1.1 Connection Configuration
ECI network motion control card supports Ethernet and 232 communication
interfaces connect with computer, and receive instructions from computer. Also, it links
with each expansion module through ZCAN bus to extend inputs, outputs and axes of
motion (a 120Ω resistance is needed between CANL and CANH).

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1.2 Installation and Programming
ZDevelop Development Environment
ECI motion control card is programmed and debugged by ZDevelop software.
ZDevelop, the software is easy to program, compile and debug. Link ZDevelop and
controller through serial port or Ethernet.
Application procedures can be programmed by VC, VB, VS, C ++ Builder, C #
and other software development. When debugs, Zevelop software can be connected
with controller simultaneously, but needs a dynamic library when the procedure is
running: zmotion.dll.

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1.3 Features
⚫Motion control of up to 12 axes.
⚫Pulse output mode: Direction / pulse or double mode.
⚫Encoder position measurement is supported and can be configured as hand wheel
input mode.
⚫Maximum frequency output of each axis: 10MHz.
⚫Maximum inputs or outputs can reach 512 through CAN.
⚫The positive or negative limit signal / origin signal of axis can be configured to any
inputs.
⚫The output current can reach 300mA, which can directly drive some kinds of
solenoid valves.
⚫Interface: RS232, Ethernet.
⚫Linear interpolation of up to 12 axes, interpolation of random, spherical and helical.
⚫Electronic cam, electronic gear, position latch, synchronous follow and virtual axis
etc.
⚫Multi-file and multi-task programming in ZBasic.
⚫A variety of program encryption methods to protect the intellectual property rights
of customers.

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Chapter II Hardware Description
2.1 ECI2000 Series Controller
ECI2400
ECI2600
Axes
4
6
Max extended axes
12
Basic axis type
Pulse / encoder
Internal IO
24 + i inputs and 8 + i outputs (8 channels with
overcurrent protection) (i is the axis number)
Max extended IO
Up to 256 inputs and 256 outputs
Max extended AD/DA
125 ADs, 64DAs
Pulse bit
32
Encoder bit
32
Speed/acceleration bit
32
Max pulse frequency
10Mhz
Axis motion buffer
128
Array space
1600
Procedure space
4Kbyte
Flash space
128KByte
Power input
24V DC input (since consumption is within 10W, fan
cooling is not needed), IO 24V input.
Communication
RS232, Ethernet, CAN
Size
201*134mm

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2.1.1 Order Information
Model
Specification
ECI2400
4 axes, point to point, electronic cam, doesn’t support interpolation
ECI2402
4 axes, point to point, electronic cam, linear interpolation
ECI2406
4 axes, point to point, electronic cam, linear interpolation, circular
interpolation
ECI2408
4 axes, point to point, electronic cam, linear interpolation, circular
interpolation, continuous interpolation, robotic arm structure
ECI2600
6 axes, point to point, electronic cam, doesn’t support interpolation
ECI2602
6 axes, point to point, electronic cam, linear interpolation
ECI2606
6 axes, point to point, electronic cam, linear interpolation, circular
interpolation
ECI2608
6 axes, point to point, electronic cam, linear interpolation, circular
interpolation, continuous interpolation, robotic arm structure

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2.2 ECI2000 Wiring Reference
➢ECI2000 has most 6 axes, each axis has independent encoder, virtual axis can reach
12 axes through expansion module.
➢ECI2000 has 24 general inputs and 8 general outputs.
➢ECI2000 has one RS232 serial port and one Ethernet interface.
➢ECI2000 has one CAN bus interface, which supports connect with expansion
module and motion controller through ZCAN protocol.

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2.2.1 Power / CAN Interface
PIN NO
Name
Description
1
GND
Internal power ground
2
CANL
CAN differential data -
3
EARTH/SHIELD
Shield
4
CANH
CAN differential data +
5
+24V
Internal power 24V input
Please offer internal 24V power and external IO power separately, especially
when there is severe electromagnetic interference on site, 2 24V power supplies must
be applied, or one power that can offer 24V output with 2 channels isolation. When
serial port connects with touch screen, please use internal 24V power to supply touch
screen.
For communication quality, please use twisted pair shielded wire, and shield
connects with the ground, the internal power of controller and expansion module use
the same one.
When multi controllers are linked on CAN bus, it is necessary to connect 120 Ω
resistor between CANL and CANH of the last IO expansion module.

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2.2.2 RS232 Interface
PIN NO
Name
Description
2
RXD
Receive data PIN
3
TXD
Send data PIN
5
GND
Internal power ground
9
DC5V
Power 5V output, it supplies text screen.
Crossover cable with two female head is needed when try to link to computer.
2.2.3 General Input signal
2.2.4 Input 0-7
PIN
Name
Description
1
EGND
IO power ground
2
EGND
IO power ground
3
IN0
Input 0 (latch A)

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4
IN1
Input 1 (latch B)
5
IN2
Input 2
6
IN3
Input 3
7
IN4
Input 4
8
IN5
Input 5
9
IN6
Input 6
10
IN7
Input 7
Input 0 and input 1 have latch input A and latch input B function synchronously,
input signals are N type low electricity level valid input.
2.2.5 Input 8-15
PIN
Name
Description
1
EGND
IO power ground
2
EGND
IO power ground
3
IN8
Input 8
4
IN9
Input 9
5
IN10
Input 10
6
IN11
Input 11
7
IN12
Input 12
8
IN13
Input 13
9
IN14
Input 14
10
IN15
Input 15
2.2.6 Input 16-23
PIN
Name
Description
1
EGND
IO power ground
2
EGND
IO power ground

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3
IN16
Input 16
4
IN17
Input 17
5
IN18
Input 18
6
IN19
Input 19
7
IN20
Input 20
8
IN21
Input 21
9
IN22
Input 22
10
IN23
Input 23
2.2.7 Output / IO power signal
PIN
Name
Description
1
OUT7
Output 7
2
OUT6
Output 6
3
OUT5
Output 5
4
OUT4
Output 4
5
OUT3
Output 3
6
OUT2
Output 2
7
OUT1
Output 1
8
OUT0
Output 0
9
E24V
IO power, input power

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10
EGND
IO power ground
Please offer internal 24V power and external IO power separately, especially
when there is severe electromagnetic interference on site.
2.2.8 Axis Interface Signal
◆Each terminal includes 2 axis signal interfaces, and it provides 0V and + 5Voutput,
which also can provide 5V power for the encoder.
◆Do set its parameterATYPE before use axis.
Alarm input, on-position signal and axis enable output can be used as general
input and output simultaneously.
ECI2400 only has axis 0-3.
PIN
Signal
Description
1
PUL+
Pulse differential +
2
DIR+
Directional differential +
3
GND
Internal 0V
4
EA+
Encoder A phase +
5
EB+
Encoder B phase +
6
EZ+
Encoder Z phase +
7
ALM(IN24-29)
Alarm input (to be configured, as general
input)
8
EGND
External ground
9
PUL-
Pulse differential -

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10
DIR-
Directional differential -
11
5V
Internal 5V
12
EA-
Encoder A phase -
13
EB-
Encoder B phase -
14
EZ-
Encoder Z phase -
15
SERVO(OUT8-13)
Axis enable (can be as general output, no
current amplification)
2.2.9 Axis Wiring Reference
2.2.9.1 Wiring Reference for Low-speed Differential Pulse
and Encoder Axis
Differential Connection
Single-ended Connection

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Connection with Panasonic A5 servo drive low-speed differential pulse
If connects with high-speed differential pulse or encoder axis, GND must be
connected with drive 25th GND.

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2.2.9.2 Wiring reference for High-speed Differential Pulse or Encoder
Axis
If the low-speed differential pulse meets speed requirement, use low-speed
differential pulse preferentially. Or if need to use high-speed differential pulse, do
connect internal digital GND of controller with GND of high-speed pulse interface
of drive.
High-speed Differential Pulse Connection

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Connection with Panasonic high-speed pulse
If connects with high-speed differential pulse or encoder axis, GND must be
connected with drive 25th GND.

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2.2.9.3 Wiring Reference for Encoder Axis
Encoder Connection
Some servo drives are not optocoupler isolation, now the GND must be connected
with drive GND. Most of drive encoders are not optocoupler isolation, when links with
encoder, GND must be connected together.

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Chapter III Expansion Module
See ZIO expansion card hardware manual for reference.
3.1 Wiring Reference For CAN, Input, Output and Power
When multi expansion modules are linked on CAN bus, it is necessary to connect
120Ωresistor between CANL and the CANH on the last IO expansion module.