Zmotion ECI2820 User manual

ECI2820 Network Motion Control Card Hardware Manual Version1.0
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ECI2820 Network Motion Control
Card Hardware Manual
Version 1.0

ECI2820 Network Motion Control Card Hardware Manual Version1.0
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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
ECI2820 Network Motion Control Card Hardware Manual.............................................................1
Chapter I Control Card Introduction .................................................................................................5
1.1 Connection Configuration...................................................................................................5
1.2 Installation and Programming .............................................................................................6
1.3 Features...............................................................................................................................7
Chapter II Hardware Description......................................................................................................8
2.1 ECI2820 Series Controller ..................................................................................................8
2.1.1 Order Information ....................................................................................................9
2.2 ECI2820 Wiring Reference ...............................................................................................10
2.2.1 Power / CAN Interface...........................................................................................11
2.2.2 RS232 Interface......................................................................................................11
2.2.3 Ethernet Interface Signal........................................................................................12
2.2.4 Analog input and output signal...............................................................................12
2.2.5 General Input signal ...............................................................................................12
2.2.6 Input 0-7.................................................................................................................13
2.2.7 Input 8-15...............................................................................................................13
2.2.8 Input 16-23.............................................................................................................14
2.2.9 Output 0-7 ..............................................................................................................14
2.2.10 Output 8-15 ..........................................................................................................15
2.2.11 Handwheel Interface Signal .................................................................................16
2.2.12 Axis Interface Signal............................................................................................18
2.2.13 Axis Wiring Reference .................................................................................................20
2.2.13.1 Wiring Reference for Low-speed Differential Pulse and Encoder Axis............20
2.2.13.2 Wiring reference for High-speed Differential Pulse or Encoder Axis .......22
2.2.13.3 Wiring Reference for Encoder Axis ..........................................................24
Chapter III Expansion Module........................................................................................................25
3.1 Wiring Reference For CAN, Input, Output and Power .....................................................25
Chapter IV Common Problems.......................................................................................................26

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Chapter V Hardware Installation.....................................................................................................28
5.1 ECI2820 Installation .........................................................................................................28

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Chapter I Control Card Introduction
⚫ECI is the abbreviation of network motion control card published by ZMOTION
Technology.
⚫ECI2820 Series control card supports linear interpolation up to 16 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 16 axes.
⚫Pulse output mode: Direction / pulse or double mode.
⚫Encoder position measurement is supported and can be configured as hand wheel
input mode.
⚫Specialized handwheel input interface.
⚫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 16 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 ECI2820 Series Controller
ECI2820
Axes
8
Max extended axes
16
Basic axis type
Pulse / encoder
Internal IO
24 inputs and 16 outputs (with overcurrent protection),
each axis has another 2 inputs and 2 outputs (DB head
output current < 20mA)
Max extended IO
1024
AD/DA
2 ADs input, 0-10V, 2 DAs output, 0-10V
Max extended AD/DA
128
Pulse bit
32
Encoder bit
32
Speed/acceleration bit
32
Max pulse frequency
10Mhz
Axis motion buffer
512
Array space
10000
Procedure space
128Kbyte
Flash space
4MByte
Power input
24V DC input (since consumption is within 10W, fan
cooling is not needed)
Communication
RS232, Ethernet, CAN, CANOPEN, EtherCAT

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2.1.1 Order Information
Model name with suffix HW, means it supports precision output function, please
see HW_PSWITCH2 instruction.
Model
Specification
ECI2820
point to point, electronic cam, doesn’t support interpolation
ECI2822
point to point, electronic cam, linear interpolation
ECI2826
point to point, electronic cam, linear interpolation, circular interpolation
ECI2828
point to point, electronic cam, linear interpolation, circular interpolation,
continuous interpolation
ECI2828-
HW
point to point, electronic cam, circular interpolation, hardware comparison
output, precision output, continuous interpolation

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2.2 ECI2820 Wiring Reference
➢ECI2820 has most 8 axes, each axis has independent encoder, virtual axis can reach
16 axes through expansion module.
➢ECI2820 has 24 general inputs and 16 general outputs, 2 ADs and 2 DAs.
➢ECI2820 has one RS232 serial port and one Ethernet interface.
➢ECI2820 has one CAN bus interface, which supports connect with expansion
module and motion controller through ZCAN protocol.
➢ECI2820 has one CANOPEN interface (function is supported by software version).
➢ECI2820 has one EtherCAT bus interface, which can expand digital analog IO and
pulse location module.
➢ECI2820 has one handwheel interface.

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2.2.1 Power / CAN Interface
PIN NO
Name
Description
1
EGND
Power ground
2
CANL
CAN differential data -
3
EARTH/SHIELD
Shield
4
CANH
CAN differential data +
5
+24V
Internal power 24V input
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.
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.

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2.2.3 Ethernet Interface Signal
It supports one group 100M Ethernet communication. When the green lights
constantly, means there connects and works under full duplex modes. When the
yellow light blinks, means it is communicating now.
2.2.4 Analog input and output signal
PIN
Name
Description
1
DA0
0-10V analog output 0
2
DA1
0-10V analog output 1
3
ADGND
Analog GND
4
AD0
0-10V analog input 0
5
AD1
0-10V analog input 1
ECI2820 analog ADDA uses internal power.
2.2.5 General Input signal

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2.2.6 Input 0-7
PIN
Name
Description
1
EGND
External power ground (not connect with switch power)
2
EGND
External power ground (not connect with switch power)
3
IN0
Input 0 (latch)
4
IN1
Input 1 (latch)
5
IN2
Input 2 (latch)
6
IN3
Input 3 (latch)
7
IN4
Input 4
8
IN5
Input 5
9
IN6
Input 6
10
IN7
Input 7
Input 0 - input 1 have latch input function synchronously, input signals are N type
low electricity level valid input.
EGND in the input terminal can be used to connect with common terminal of
input switch, don’t link with ground line of switch power. Please hang it in the air when
no use.
2.2.7 Input 8-15
PIN
Name
Description
1
EGND
External power ground (not connect with switch power)
2
EGND
External power ground (not connect with switch power)
3
IN8
Input 8
4
IN9
Input 9
5
IN10
Input 10
6
IN11
Input 11

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7
IN12
Input 12
8
IN13
Input 13
9
IN14
Input 14
10
IN15
Input 15
2.2.8 Input 16-23
PIN
Name
Description
1
EGND
External power ground (not connect with switch power)
2
EGND
External power ground (not connect with switch power)
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
2.2.9 Output 0-7

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PIN
Name
Description
1
OUT7
Output 7
2
OUT6
Output 6
3
OUT5
Output 5
4
OUT4
Output 4
5
OUT3
High-speed output 3, support PWM and comparison output
6
OUT2
High-speed output 2, support PWM and comparison output
7
OUT1
High-speed output 1, support PWM and comparison output
8
OUT0
High-speed output 0, support PWM and comparison output
9
E5V
5V power generated from 24V, output, 300mA
10
EGND
External power ground (not connect with switch power)
OUT0-3 have PWM function and hardware comparison output function (HW
mode).
2.2.10 Output 8-15
PIN
Name
Description
1
OUT15
Output 15
2
OUT14
Output 14
3
OUT13
Output 13
4
OUT12
Output 12
5
OUT11
Output 11
6
OUT10
Output 10
7
OUT9
Output 9
8
OUT8
Output 8
9
EGND
External power ground (not connect with switch power)
10
EGND
External power ground (not connect with switch power)

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EGND in input and output terminals are external power ground, they can not be
connected to switch power.
2.2.11 Handwheel Interface Signal
PIN
Name
Description
1
H-5V
Supply power for handwheel
2
HA-
Encoder A phase signal (IN40)
3
HB-
Encoder B phase signal (IN41)
4
HEMGN
Emergency stop signal (IN51)
5
NC
6
HX1
Select X1 ration (IN42)
7
HX10
Select X10 ration (IN43)
8
HX100
Select X100 ration (IN44)
9
HSU
Select axis 3 (IN48)
10
HSV
Select axis 4 (IN49)
11
EGND
External power ground
12
HSW
Select axis 5 (IN50)
13
HSZ
Select axis 2 (IN47)
14
HSY
Select axis 1 (IN46)
15
HSX
Select axis 0 (IN45)

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Handwheel wiring circuit
Handwheel input supports 5V and 24V electricity level handwheel signal input,
and low electricity level is valid.

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2.2.12 Axis Interface Signal
◆Each terminal provides 0V and + 5V output, 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.
PIN
Signal
Description
1
EGND
External power ground
2
IN24-31/ALM
General input, recommended to do drive
alarm
3
OUT16 18 20 22 24 26 28 30
/ENABLE
General output, recommended to do
drive enable
4
EA+
Encoder input
5
EB+
Encoder input
6
EZ+
Encoder input
7
+5V
Power output
8
Reserved
Reserved
9
DIR+
Servo/stepper directional output
10
GND
Digital ground
11
PUL-
Servo/stepper pulse output
12
Reserved
Reserved
13
GND
Digital ground

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14
OVCC
+24V output (recommended for servo IO
only)
15
OUT17 19 21 23 25 27
29/CLR
General output, recommended to do
drive alarm clear out
16
IN32-39/INP
General input, recommended to do on-
position signal
17
EA+
Encoder input
18
EB+
Encoder input
19
EZ+
Encoder input
20
GND
Digital ground
21
GND
Digital ground
22
DIR-
Servo/stepper directional output
23
PUL+
Servo/stepper pulse output
24
GND
Digital ground
25
Reserved
Reserved
26
Reserved
Reserved

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2.2.13 Axis Wiring Reference
2.2.13.1 Wiring Reference for Low-speed Differential Pulse
and Encoder Axis
Differential Connection
Single-ended Connection