Zmotion ZMC303 User manual

ZMC303 Hardware Manual
Version 1.3

ZMC303 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 to add
error handling procedures in software. Zmotion has no
obligation or responsibility for the loss.

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Contents
ZMC303 Hardware Manual..............................................................................................................1
Chapter I Introduction Of Controllers...............................................................................................1
1.1 Connection Configuration...................................................................................................1
1.2 Installation And Programming............................................................................................2
1.3 Features...............................................................................................................................3
Chapter II Hardware Description......................................................................................................4
2.1 ZMC303 Series Controller..................................................................................................4
2.1.1 Order Information ....................................................................................................5
2.2 Wiring Reference ................................................................................................................6
2.2.1 Power Interface........................................................................................................7
2.2.2 Communication Interface.........................................................................................8
2.2.3 RS232 Interface........................................................................................................8
2.2.4 General Input..........................................................................................................10
2.2.4.1 Input 0-7....................................................................................................10
2.2.4.2 Input 8-15..................................................................................................11
2.2.4.3 Input 16-23................................................................................................11
2.2.5 General Output.......................................................................................................12
2.2.6AD/DA Signal........................................................................................................13
2.2.7 USB Drive..............................................................................................................13
2.2.8Axis Interface.........................................................................................................13
2.2.8.1 Axis 0-2.....................................................................................................13
2.2.9Axis 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 EncoderAxis......17
2.2.9.3 Wiring Reference for Encoder...................................................................18
Chapter III Expansion Module........................................................................................................20
3.1 Wiring Reference For CAN, Input, Output and Power.....................................................20

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Chapter IV Common Problems.......................................................................................................21
Chapter V Hardware Installation.....................................................................................................23
5.1 ZMC303 Installation Size.................................................................................................23

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Chapter I Introduction of Controllers
ZMC is the abbreviation of network motion controller model launched by ZMOTION
technology.
ZMC303 series controller supports linear interpolation of up to 10 axis, interpolation
of circular, spherical, electronic cam, electronic gear, synchronous following, virtual
axis setting etc. Real-time motion control can be realized by using optimized network
communication protocol.
One Computer can link with up to 256 ZMC controllers.
1.1 Connection Configuration
Typical Connection Configuration
The controller supports ETHERNET, USB, CAN, 485 and other communication
interfaces. Input, output or axis can be extended through CAN bus. (Resistance of 120
Ω is required between CANL and CANH).
ZMC controller supports data saving or reading through USB Drive. (Except for
ZMC00X series)

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1.2Installation And Programming
ZDEVELOP Development Environment
Debugging of ZMC controller is available in ZDEVELOP. Since ZDEVELOP is a
very convenient programming, compiling and debugging environment.
Communication between controller and ZDEVELOP can be built through serial port,
485, USB or Ethernet.
Application can be developed in PC by using software such as VC.VB, VS. C++
Builder, C# etc. But dynamic library zmotion.dll is needed when operating procedure
in PC. ZDEVELOP can be connected to the controller when debugging the PC
based procedure in order to detect more information.

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1.3 Features
⚫Motion control of up to 10 axes.
⚫Pulse output mode: direction / pulse or double pulse.
⚫Encoder position measurement is supported and can be configured as hand wheel
input mode.
⚫Maximum pulse frequency output of each axis: 10MHZ.
⚫Maximum inputs or outputs can reach 512 through CAN bus.
⚫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.
⚫Interfaces: USB drive, RS485, RS422 and ETHERNET etc.
⚫Linear interpolation of up to 10 axes, interpolation of random, spherical and
helical.
⚫Electronic cam, electronic gear, position latch synchronous follow, virtual axis
etc.
⚫Pulse closed loop, pitch compensation and other functions.
⚫Multi-file and multi-task programming in ZBasic.
⚫A variety of program encryption methods to protect the intellectual property
rights of customers.
⚫Power failure detection and power failure storage.

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Chapter II Hardware Description
2.1 ZMC303 Series Controller
ZMC303
Axes
3
Maximum extended axes
10
Type of basic axes
Pulse output, with encoder.
Internal IO
24+3 inputs, 8+3 outputs, (8 channels with overcurrent
protection)
Maximum extended IO
512 inputs and 512 outputs
PWM
2(output frequency 1M)
Internal ADDA
2 ADs, 2DAs. (0-10V)
Maximum extend ADDA
256 ADs, 128 DAs
Pulse bits
32
Encoder bits
32
Speed/Acceleration bit
32
Max pulse frequency
10Mhz
Axis motion buffer
128
Array size
32000
Procedure size
300KByte
Flash size
128MByte
Power input
24V DC (power consumption is within 10W, fan cooling is
not needed), IO consumption is not included.
Communication
RS232, RS485, RS422, ETHERNET, USB drive, CAN
Size
205*134mm

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Configure axis 6 to 8 as encoder type, then these axes will be mapped to axis 0-2
as encoder axes, which will get encoder feedback of axis 0-2.
Axis 4 can be configured as an encoder when using IN0-2. (It must be 24V) It
can also support 24V hand wheel.
2.1.1 Order Information
Model
Specification Description
ZMC303
3 axes, Point to point, Interpolation of linear, interpolation of circular,
spherical and helical etc. electronic cam, continuous motion, Robotic
Instruction.

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2.2 Wiring Reference
➢There are 3 basic axes, 3 5V encoders and 1 24V encoder in ZMC303, it supports
up to 10 virtual axes, and can be extended axes through expansion module.
➢There are 24 general inputs, 8 outputs (additional 1 input and 1 output), 2 0-10V
AD and 2 0-10V DA, 1 RS232, 1 RS485 1 USB drive and one Ethernet.
➢1 CAN bus, which is used to link with expansion modules through ZCAN
communication protocol.

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2.2.1 Power Interface
PIN
Name
Description
1
+24V
24V Power supply
2
EGND
External ground
3
FG/EARTH
Shield
ZMC303 series controller uses single power, and the ZMC0-2 series and ZIO
extension cards use double power.
Controller 5V axes and encoder interface use internal power, IO uses external
power supply, extended axes and encoders through ZIO expansion module use
external power.

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2.2.2 Communication Interface
PIN NO
Name
Description
1
485B
485-
2
485A
485+
3
EGND
External ground
4
CANL
CAN differential data+
5
CANH
CAN differential data-
6
EGND
External ground
7
422TX-
422 send-
8
422TX+
422 send+
9
422RX-
422 receive-
10
422RX+
422 receive+
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.
Communication interfaces on ZMC3XX series controllers usually use external
24V power. Be careful when linking with other controllers or touch screen.
CAN bus communication two sides should connect with relative GND, or
controller and ZIO expansion module use the same power. When they use
different power, controller power GND links to ZIO expansion module power
GND, or CAN will be burned out.

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2.2.3 RS232 Interface
Pins definition of RS232 as follows:
PIN NO
Name
Description
2
RXD
Receive data PIN
3
TXD
Send data PIN
5
EGND
External ground
9
E5V
External 5v output, it supplies text screen.
Crossover cable with two female head is needed when try to link to computer.

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2.2.4 General Input
Additional 1 input in each axis channel. See interface description for details.
2.2.4.1 Input 0-7
PIN
Name
Description
Default
1
EGND
External ground
2
EGND
External ground
3
IN0
Input 0
Latch A，EA4
4
IN1
Input 1
Latch B, EB4
5
IN2
Input 2
EZ4
6
IN3
Input 3
7
IN4
Input 4
8
IN5
Input 5
9
IN6
Input 6
10
IN7
Input 7
Input o and input 1 both support latch A and latch B synchronously.
Encoder 4 reserves as 24V encoder input, which supports handwheel input (EZ
frequency is 5Khz).

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2.2.4.2 Input 8-15
PIN
Name
Description
Default
1
EGND
External ground
2
EGND
External ground
3
IN8
Input8
4
IN9
Input9
5
IN10
Input10
6
IN11
Input11
7
IN12
Input12
8
IN13
Input13
9
IN14
Input14
10
IN15
Input15
2.2.4.3 Input 16-23
PIN
Name
Description
Default
1
EGND
External ground
2
EGND
External ground
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

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2.2.5 General Output
Output Circuit
Additional 1 output in each axis without current amplification. See interface
description for details.
PIN
Name
Description
1
EGND
External Ground
2
E5V
External 5V supply
3
OUT0
Output 0, PWM0
4
OUT1
Output 1, PWM1
5
OUT2
Output 2
6
OUT3
Output 3
7
OUT4
Output 4
8
OUT5
Output 5
9
OUT6
Output 6
10
OUT7
Output 7
Out0-1 support PWM function, they are general outputs when PWM functions
are shut down.

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2.2.6 AD/DA Signal
PIN
Name
Description
1
AOUT0
0-10V analog output 0
2
AOUT1
0-10V analog output 1
3
DAGND
analog port GND
4
AIN0
0-10V analog input 0
5
AIN1
0-10V analog input 1
6
ADGND
Analog GND
Inside ZMC303ADDA uses internal power.
2.2.7 USB Drive
PIN
Name
Description
1
V
The internal +5V power
2
D-
Differential data D-
3
D+
Differential data D+
4
GND
Internal ground
2.2.8 Axis Interface
2.2.8.1 Axis 0-2
◼It provides 0V and +5V, which can provide 5V power for the encoder.
◼Do set its parameterATYPE before use axis.

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PIN
Signal
Description
1
PUL+
Pulse difference+
2
DIR+
Directional difference+
3
GND
Internal 0V
4
EA+
Encoder A phase +
5
EB+
Encoder B phase +
6
EZ+
Encoder Z phase +
7
ALM(IN24-26)
Alarm input (It needs to be configured
and can be used as general input)
8
EGND
External ground
9
PUL-
Pulse difference -
10
DIR-
Directional difference -
11
5V
Internal 5V
12
EA-
Encoder A phase -
13
EB-
Encoder B phase -
14
EZ-
Encoder Z phase -
15
SERVON(OUT8-10)
Axis enabled, (It can be used as a
general output without current
amplification)

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2.2.9 Axis Wiring Reference
2.2.9.1 Wiring Reference for Low-speed Differential Pulse
and EncoderAxis
Differential Connection
Single-ended Connection

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Low-speed differential pulse wiring reference between ZMC303 and Panasonic A5
servo drive
If high-speed differential pulse or encoder is connected, pin 3(GND)of controller
and pin 25(GND) of drive should be connected together.