Zmotion XPCI1C00 User manual

Foreword
The motion controller provides rich interface, and it has excellent motion control performance, which
can meet the expansion requirements of various projects.
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. The
above-mentioned actions will constitute an infringement of the copyright of the company's manual, and
Zmotion will investigate legal responsibility according to law.
For details about the ZMC controller software and the introduction and routine of each command,
please refer to the 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 debugging the machine!
Please be sure to design an effective safety protection device in the machine, and add an error
handling program in the software, otherwise Zmotion has no obligation or responsibility for the loss
caused.
In order to ensure the safe, normal and effective use of the product, please be sure to read this
product manual carefully before installing and using the product.

Safety Statement
⚫This chapter describes the safety precautions required for the correct use of this product. Before
using this product, please read the instructions for use and correctly understand the relevant
information on safety precautions.
⚫This product should be used in an environment that meets the design specifications, otherwise
it may cause equipment damage or personal injury, and malfunctions or component damage
caused by failure to comply with relevant regulations are not within the scope of product quality
assurance.
⚫Zmotion will not take any legal responsibility for personal safety accidents and property losses
caused by failure to comply with the contents of this manual or illegal operation of products.
Safety Level Definition
According to the level, it can be divided into " Danger " and " Caution ". Failure to operate as required
may result in moderate injury, minor injury or equipment damage.
Please keep this guide in a safe place for reading when needed, and be sure to hand this manual to
the end user.
Install
Danger
◆When the controller is disassembled, all external power supplies used by the
system should be disconnected before operation, otherwise it may cause
misoperation or damage to the equipment.
◆It is forbidden to use in the following places: places with dust, oil fume, conductive
dust, corrosive gas and flammable gas; places exposed to high temperature,
condensation, wind and rain; places with vibration and shock. Electric shock, fire
and misuse can cause product damage and deterioration.
Notice
◆Avoid metal shavings and wire ends falling into the hardware circuit board during
installation.
◆After installation, ensure that there are no foreign objects on the hardware circuit
board.
◆When installing, make it tightly and firmly with the mounting frame.

◆Improper installation of the controller may result in misoperation, failure and fire.
Wiring
Danger
◆The specifications and installation methods of the external wiring of the
equipment shall comply with the requirements of local power distribution
regulations.
◆When wiring, all external power supplies used by the system should be
disconnected before operation.
◆When powering on and running after the wiring work is completed, the terminals
attached to the product must be installed.
◆Cable terminals should be well insulated to ensure that the insulation distance
between cables will not be reduced after the cables are installed on the terminal
block.
Notice
◆Avoid metal shavings and wire ends falling into the hardware circuit board during
installation.
◆The cable connection should be carried out correctly on the basis of confirming
the type of the connected interface.
◆It should be confirmed that the cables pressed into the terminals are in good
contact.
◆Do not bundle the control wires and communication cables with the main circuit
or power supply wires, etc., and the distance between the wires should be more
than 100 mm, otherwise noise may cause malfunction.
◆If the controller is not installed properly, it may cause electric shock or equipment
failure or malfunction.

XPCI1C00 Motion Control Card User Manual V1.0
Content
Chapter I Production Information........................................................................................3
1.1. Product Information ..........................................................................................3
1.2. Function Features..............................................................................................3
1.3. System Frame ...................................................................................................4
1.4. Model Information.............................................................................................4
1.5. Hardware Installment........................................................................................5
Chapter II Product Specification .........................................................................................7
2.1. Basic Specification............................................................................................7
2.2. Interface Definition............................................................................................7
2.3. Work Environment .............................................................................................8
Chapter III Wiring, Communication Configuration ..............................................................9
3.1. Power Input .......................................................................................................9
3.2. X300, X301 Signal Interface..............................................................................9
3.2.1. ACC-1C00 Adapter .................................................................................9
3.2.2. Terminal Definition ...............................................................................10
3.3. X500 Signal Interface......................................................................................16
3.3.1. Adapter EXDB37M-37 ..........................................................................16
3.3.2. Terminal Definition ...............................................................................17
3.4. Pulse Directional Output .................................................................................17
3.4.1. Pulse Direction Axis Specification & Wiring.........................................18
3.4.2. Basic Usage Method ............................................................................19
3.5. Encoder Input ..................................................................................................21
3.5.1. Encoder Interface Specification & Wiring.............................................21
3.5.2. Basic Usage Method ............................................................................22
3.6. IN: Digital Input................................................................................................24
3.6.1. Digital Input Specification & Wiring .....................................................24
3.6.2. Position Sensor & Signal Distribution..................................................27
3.6.3. Basic Usage Method ............................................................................27
3.7. OUT: Digital Output..........................................................................................28
3.7.1. Digital Output Specification & Wiring...................................................28
3.7.2. Basic Usage Method ............................................................................29
3.8. DIP Switch .......................................................................................................30
3.8.1. Differential/Single-ended DIP Switch ..................................................30
3.8.2. S200 DIP Switch...................................................................................31
Chapter IV Accessories .....................................................................................................32
4.1. Standard Accessories .....................................................................................32
4.2. Optional Accessories ......................................................................................33
Chapter V Installation........................................................................................................35

XPCI1C00 Motion Control Card User Manual V1.0
5.1. XPCI1C00 Installation .....................................................................................35
5.2. Drive Program Installation ..............................................................................35
5.3. Ordinary Network Card Install EtherCAT Bus Protocol ...................................41
Chapter VI Program & Applications...................................................................................46
6.1. ZDevelop Software Usage...............................................................................46
6.2. PC Upper-Computer Program Application .....................................................51
Chapter VII Run and Maintain ...........................................................................................54
7.1. Regular Inspection and Maintenance .............................................................54
7.2. Common Problems..........................................................................................55

XPCI1C00 Motion Control Card User Manual V1.0
Chapter I Production Information
1.1. Product Information
XPCI1C00 motion control card is a kind of new type PCI bus control card. It can
control multiple step motors or digital servo motors. And there are many functions on it,
such as, multi-axis point to point motion, interpolation, trajectory planning, IO control, etc.
XPCI series motion control cards need to be used with MotionRT. Please refer to
Chapter V.
1.2. Function Features
◆12 axes motion control at most.
◆Pulse output mode: pulse / direction
◆Support encoder position measurement, which can be configured as handwheel
input mode.
◆Mechanical control input signal: +/-EL, ORG, ALM, optoelectronic isolation.
◆Maximum pulse output frequency of pulse axis is 5MHZ.
◆The maximum output current of general digital outputs can reach 300mA, which can
directly drive some kinds of solenoid valves.
◆Support linear interpolation, arbitrary circular interpolation, helical interpolation
◆Support electronic cam, electronic gear, position latch, synchronous follow, virtual
axis and other functions.
◆Support pulse closed loop, pitch compensation and other functions.
◆Support multi-file and multi-task programming in ZBasic.

XPCI1C00 Motion Control Card User Manual V1.0
◆A variety of program encryption methods to protect the intellectual property rights of
customers.
1.3. System Frame
1.4. Model Information
XPCI is the abbreviation of the PCI motion control card model launched by Zmotion.

XPCI1C00 Motion Control Card User Manual V1.0
The naming rules are as follows:
1.5. Hardware Installment
Size: 155*108mm
The card slot interface is designed according to the PCI V3.0 standard 32-bit card,
and it is backward compatible with the standard PCI V2.3.
PCI doesn’t support plug in or pull out when in hot, so please close the computer
before inserting and pulling the card.

XPCI1C00 Motion Control Card User Manual V1.0
Please handle it carefully. Before touching the control card circuit or
inserting/pulling the control card, please wear anti-static gloves or touch an
effectively grounded metal object to discharge the human body to prevent
possible static electricity from damaging the motion control card.
Installation
attention
⚫Non-professionals are strictly prohibited to operate. Specifically,
professionals who had been trained related electrical equipment,
or who master electrical knowledge.
⚫Please be sure to read the product instruction manual and safety
precautions carefully before installation.
⚫Before installation, please ensure that the product is powered off.
⚫Do not disassemble the module, otherwise the machine may be
damaged.
⚫Avoid direct sunlight installation.
⚫In order to facilitate ventilation and controller replacement, 2-3cm
should be left between the upper and lower parts of the controller
and the installation environment and surrounding components.
⚫Considering the convenient operation and maintenance of the
controller, please do not install the controller in the following
places:
a) places where the surrounding ambient temperature exceeds
the range of -20°C-60°C
b) places where the ambient humidity exceeds the range of 10%-
95% (non-condensing)
c) places with corrosive gases and flammable gases
d) places with many conductive powders such as dust and iron
powder, oil mist, salt, and organic solvents

XPCI1C00 Motion Control Card User Manual V1.0
Chapter II Product Specification
2.1. Basic Specification
Item
Description
Model
XPCI1C00
Basic Axes
12
Type of Basic Axes
Local pulse axes
Digital IO
There are 49 inputs and 32 outputs (with overcurrent
protection).
IO Input Frequency
<5kHz
IO Output Frequency
<8kHz
Highest Pulse Frequency
5MHz
Motion Buffer of Each Axis
4096
Power Supply Input
24V DC input
Dimensions
155*108mm
2.2. Interface Definition
→Interface Description

XPCI1C00 Motion Control Card User Manual V1.0
Mark
Interface
Number
Description
POW
The led that indicates the
current state.
1
Power state: it lights when power is
conducted.
RUN
1
Run state: it lights when runs normally
ALM
1
Error state: it lights when runs incorrectly
X300
Signal Interface
1
Include 0-5 axis motor control signals and IO
control signals, which is used with adapter.
X301
Signal Interface
1
Include 6-11 axis motor control signals and
IO control signals, which is used with adapter.
X500
Signal Interface
1
Include 0-3 axis encoder signals, which is
used with adapter.
2.3. Work Environment
Item
Parameters
Work Temperature
-20℃-60℃
Work relative Humidity
5%-95% non-condensing
Storage Temperature
-40℃～70℃(not frozen)
Storage Humidity
Below 90%RH (no frost)
Vibration
Below 4.9m/s^2
Shock
Below 19.6m/s^2
Degree of Protection
IP20

XPCI1C00 Motion Control Card User Manual V1.0
Chapter III Wiring, Communication
Configuration
3.1. Power Input
The power input adopts DC24V power supply, which is connected through the EGND and
E24V terminals of the 5.08mm screw terminal on the ACC-1C00 wiring board. For specific
interface specifications, please refer to 3.2.2 “Terminal Definition”.
→Specification:
Item
Description
Voltage
DC24V(-10%~10%)
The current to open
≤0.5A
The current to work
≤0.4A
Anti-reverse connection
Valid
Overcurrent Protection
Valid
3.2. X300, X301 Signal Interface
X300 and X301 are main interfaces for motion control and IO signal control of XPCI1C00.
It is VHDCI socket, and it is necessary to connect ACC-1C00 adapter. Below shows X300
and X304 signal terminal:
3.2.1. ACC-1C00 Adapter
ACC-1C00 is the adapter of X300 and X301 signal terminal, use VHDCI168 cable to

XPCI1C00 Motion Control Card User Manual V1.0
connect.
Size: 169*100mm
3.2.2. Terminal Definition
→X300 Pin Definition
Pin
Name
Description
1
PUL0+
Pulse signal (+) of axis 0
2
PUL0-
Pulse signal (-) of axis 0
3
DIR0+
Directional signal (+) of axis 0
4
DIR0-
Directional signal (-) of axis 0
5
PUL1+
Pulse signal (+) of axis 1
6
PUL1-
Pulse signal (-) of axis 1
7
DIR1+
Directional signal (+) of axis 1
8
DIR1-
Directional signal (-) of axis 1
9
PUL2+
Pulse signal (+) of axis 2
10
PUL2-
Pulse signal (-) of axis 2
11
DIR2+
Directional signal (+) of axis 2
12
DIR2-
Directional signal (-) of axis 2
13
IN37/ORG0
Origin signal of axis 0

XPCI1C00 Motion Control Card User Manual V1.0
14
IN38/ORG1
Origin signal of axis 1
15
IN39/ORG2
Origin signal of axis 2
16
IN0/ALM0/R0/EA4
Alarm signal of axis 0/latch 0/encoder 4
17
IN1/ALM1/R1/EB4
Alarm signal of axis 1/latch 1/encoder 4
18
IN3/ALM2/R2
Alarm signal of axis 2/latch 2
19
IN4/ALM3/R3
Alarm signal of axis 3/latch 3
20
IN5/ALM4/R4
Alarm signal of axis 4/encoder 4
21
IN6/ALM5
Alarm signal of axis 5
22
IN7/EL0+
(+) position limit signal of axis 0
23
IN8/EL0+
(-) position limit signal of axis 0
24
IN9/EL1+
(+) position limit signal of axis 1
25
OUT0/HW0
Comparison output 0
26
OUT1/HW1
Comparison output 1
27
OUT2/PWM0
Low-speed PWM0
28
OUT3/PWM1
Low-speed PWM1
29
OUT4
General output 4
30
OUT5
General output 5
31
OUT6
General output 6
32
OUT7
General output 7
33
+24V
24V power, input
34
EGND
24V power ground
Pin
Name
Description
35
PUL3+
Pulse signal (+) of axis 3
36
PUL3-
Pulse signal (-) of axis 3
37
DIR3+
Directional signal (+) of axis 3
38
DIR3-
Directional signal (-) of axis 3
39
PUL4+
Pulse signal (+) of axis 4
40
PUL4-
Pulse signal (-) of axis 4
41
DIR04+
Directional signal (+) of axis 4

XPCI1C00 Motion Control Card User Manual V1.0
42
DIR0-4
Directional signal (-) of axis 4
43
PUL5+
Pulse signal (+) of axis 5
44
PUL5-
Pulse signal (-) of axis 5
45
DIR5+
Directional signal (+) of axis 5
46
DIR5-
Directional signal (-) of axis 5
47
IN40/ORG3
Origin signal of axis 3
48
IN41/ORG4
Origin signal of axis 4
49
IN42/ORG5
Origin signal of axis 5
50
IN10/EL1-
(-) position limit signal of axis 1
51
IN11/EL2+
(+) position limit signal of axis 2
52
IN12/EL2-
(-) position limit signal of axis 2
53
IN13/EL3+
(+) position limit signal of axis 3
54
IN14/EL3-
(-) position limit signal of axis 3
55
IN15/EL4+
(+) position limit signal of axis 4
56
IN16/EL4-
(-) position limit signal of axis 4
57
IN17/EL5+
(+) position limit signal of axis 5
58
IN18/EL-
(-) position limit signal of axis 5
59
OUT8
General output 8
60
OUT9
General output 9
61
OUT10/ERC0
Error clear signal of axis 0
62
OUT11/ERC1
Error clear signal of axis 1
63
OUT12/ERC2
Error clear signal of axis 2
64
OUT13/ERC3
Error clear signal of axis 3
65
OUT14/ERC4
Error clear signal of axis 4
66
OUT15/ERC5
Error clear signal of axis 5
67
GND
Internal power ground
68
IN0
General input 0
Note:
⚫Pay attention to the positive and negative poles of the IO power supply of XPCI1C00 to avoid

XPCI1C00 Motion Control Card User Manual V1.0
burning the IO port.
⚫The maximum output current of XPCI1C00 is 300mA, which can be directly connected to
most of loads. Please calculate the current.
⚫The IO port of XPCI1C00 is an isolated IO port, please input the power supply of the IO port
from EGND and 24V+.
⚫IN2-5 can be configured as pulse axis latch input, and IN2-3 can be configured as latch
input of encoder axis.
⚫IN1, IN2, and IN5 are used as EA4, EB4, and EZ4 of the 24V encoder, and are used when there
is no handwheel.
⚫PWM0 and PWM0 are low-speed ports, and the maximum output frequency is 10KHz.
⚫For the special function hardware comparison output HW0 and HW1 need control card
license with HW.
→X301 Pin Definition
Pin
Name
Description
1
PUL6+
Pulse signal (+) of axis 6
2
PUL6-
Pulse signal (-) of axis 6
3
DIR6+
Directional signal (+) of axis 6
4
DIR6-
Directional signal (-) of axis 6
5
PUL7+
Pulse signal (+) of axis 7
6
PUL7-
Pulse signal (-) of axis 7
7
DIR7+
Directional signal (+) of axis 7
8
DIR7-
Directional signal (-) of axis 7
9
PUL8+
Pulse signal (+) of axis 8
10
PUL8-
Pulse signal (-) of axis 8
11
DIR8+
Directional signal (+) of axis 8
12
DIR8-
Directional signal (-) of axis 8
13
IN43/ORG6
Origin signal of axis 6
14
IN44/ORG7
Origin signal of axis 7

XPCI1C00 Motion Control Card User Manual V1.0
15
IN45/ORG8
Origin signal of axis 8
16
IN19/ALM6
Alarm signal of axis 6
17
IN20/ALM7
Alarm signal of axis 7
18
IN21/ALM8
Alarm signal of axis 8
19
IN22/ALM9
Alarm signal of axis 9
20
IN23/ALM10
Alarm signal of axis 10
21
IN24/ALM11
Alarm signal of axis 11
22
IN25/EL6+
(+) position limit signal of axis 6
23
IN26/EL6-
(-) position limit signal of axis 6
24
IN27/EL7+
(+) position limit signal of axis 7
25
OUT16
General output 16
26
OUT17
General output 17
27
OUT18
General output 18
28
OUT19
General output 19
29
OUT20
General output 20
30
OUT21
General output 21
31
OUT22
General output 22
32
OUT23
General output 23
33
+24V
24V power, input
34
EGND
24V power ground
Pin
Name
Description
35
PUL9+
Pulse signal (+) of axis 9
36
PUL9-
Pulse signal (-) of axis 9
37
DIR9+
Directional signal (+) of axis 9
38
DIR9-
Directional signal (-) of axis 9
39
PUL10+
Pulse signal (+) of axis 10
40
PUL10-
Pulse signal (-) of axis 10
41
DIR010+
Directional signal (+) of axis 10
42
DIR10-
Directional signal (-) of axis 10

XPCI1C00 Motion Control Card User Manual V1.0
43
PUL11+
Pulse signal (+) of axis 11
44
PUL11-
Pulse signal (-) of axis 11
45
DIR11+
Directional signal (+) of axis 11
46
DIR11-
Directional signal (-) of axis 11
47
IN46/ORG3
Origin signal of axis 9
48
IN47/ORG4
Origin signal of axis 10
49
IN48/ORG5
Origin signal of axis 11
50
IN28/EL7-
(-) position limit signal of axis 7
51
IN29/EL8+
(+) position limit signal of axis 8
52
IN30/EL8-
(-) position limit signal of axis 8
53
IN31/EL9+
(+) position limit signal of axis 9
54
IN32/EL9-
(-) position limit signal of axis 9
55
IN33/EL10+
(+) position limit signal of axis 10
56
IN34/EL10-
(-) position limit signal of axis 10
57
IN35/EL11+
(+) position limit signal of axis 11
58
IN36/EL11-
(-) position limit signal of axis 11
59
OUT24
General output 24
60
OUT25
General output 25
61
OUT26/ERC6
Error clear signal of axis 6
62
OUT27/ERC7
Error clear signal of axis 7
63
OUT28/ERC8
Error clear signal of axis 8
64
OUT29/ERC9
Error clear signal of axis 9
65
OUT30/ERC10
Error clear signal of axis 10
66
OUT31/ERC11
Error clear signal of axis 11
67
GND
Internal power ground
68
NC
Reserved
Note:
⚫Pay attention to the positive and negative poles of the IO power supply of XPCI1C00 to avoid
burning the IO port.

XPCI1C00 Motion Control Card User Manual V1.0
⚫The maximum output current of XPCI1C00 is 300mA, which can be directly connected to
most of loads. Please calculate the current.
⚫The IO port of XPCI1C00 is an isolated IO port, please input the power supply of the IO port
from EGND and 24V+.
3.3. X500 Signal Interface
The X500 interface is the encoder signal interface, and the EXDB37M-37 adapter board is
used to connect external devices. This terminal is optional, if you need to use encoder, it
can be selected.
→Interface Appearance
3.3.1. Adapter EXDB37M-37
EXDB37M-37 is the adapter board of X500 signal, and it is connected through adapter
cable and DB37.
Size: 107*85mm