Zmotion ECI3828 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.

ECI3828 Network Motion Control Card User Manual V1.5
Content
Chapter I Production Information........................................................................................3
1.1. Product Information ..........................................................................................3
1.2. Function Features..............................................................................................3
1.3. System Frame ...................................................................................................4
1.4. Hardware Installment........................................................................................5
Chapter II Product Specification .........................................................................................7
2.1. Basic Specification............................................................................................7
2.2. Order Information..............................................................................................8
2.3. Interface Definition............................................................................................8
2.4. Work Environment .............................................................................................9
Chapter III Wiring, Communication Configuration ............................................................11
3.1. Power Input Interface......................................................................................11
3.1.1. Power Supply Specification .................................................................11
3.2. RS485 / CAN Interface ....................................................................................12
3.2.1. RS485/CAN Communication Specification & Wiring ...........................12
3.2.2. Basic Usage Method ............................................................................14
3.3. RS232/RS422 Serial Port ................................................................................16
3.3.1. RS232/RS422 Interface Specification & Wiring...................................16
3.3.2. Basic Usage Method ............................................................................18
3.4. IN Digital Input & High-Speed Latch Port .......................................................18
3.4.1. Digital Input Specification & Wiring .....................................................20
3.4.2. Basic Usage Method ............................................................................21
3.5. OUT: Digital Output & PWM Terminal..............................................................21
3.5.1. Digital Output Specification & Wiring...................................................22
3.5.2. Basic Usage Method ............................................................................24
3.6. AD/DA: Analog Input / Output.........................................................................25

ECI3828 Network Motion Control Card User Manual V1.5
3.6.1. Analog Input / Output Specification & Wiring ......................................25
3.6.2. Basic Usage Method ............................................................................26
3.7. ETHERNET .......................................................................................................26
3.8. EtherCAT Bus Interface ...................................................................................28
3.9. Axis Interface...................................................................................................30
3.9.1. AXIS Interface Signal Specification & Wiring.......................................31
3.9.2. Basic Usage Method ............................................................................35
Chapter IV Expansion Module ...........................................................................................38
4.1. CAN Bus Expansion.........................................................................................38
4.1.1. CAN Bus Wiring ....................................................................................38
4.1.2. CAN Bus Expansion Resource Mapping ..............................................40
4.2. EtherCAT Bus Expansion.................................................................................44
4.1.1. EtherCAT Bus Expansion Wiring...........................................................44
4.1.2. EtherCAT Bus Expansion Resource Mapping ......................................45
Chapter V Expansion Module ............................................................................................48
5.1. ZDevelop Software Usage...............................................................................48
5.2. PC Upper-Computer Program Application .....................................................53
Chapter VI Run and Maintain ............................................................................................56
6.1. Regular Inspection and Maintenance .............................................................56
6.2. Common Problems..........................................................................................57

ECI3828 Network Motion Control Card User Manual V1.5
Chapter I Production Information
1.1. Product Information
ECI is the abbreviation of the network motion control card model launched by
Zmotion Technology.
ECI3828 supports up to 12 axes of linear interpolation, any circular interpolation,
space arc, helical interpolation, electronic cam, electronic gear, synchronization follow,
virtual axes setting, etc.
ECI3000 series economical multi-axis motion control card can be used in those pulse
applications within 12 axes, such as, electronic semiconductor equipment (testing
equipment, assembly equipment, locking equipment, soldering machine), dispensing
equipment, assembly line, etc.
1.2. Function Features
◆Up to 8 axes motion control.
◆Pulse output mode: pulse / direction or dual pulses.
◆The refresh cycle of EtherCAT bus is 1ms.
◆AXIS interface supports encoder position measurement, which can be configured as
handwheel input mode.
◆Specialized handwheel input interface.
◆Maximum pulse frequency output of each axis: 10MHZ.
◆256 isolation inputs and 256 isolation outputs can be extended at most through
EtherCAT bus.
◆Axis position limit signal / origin signal port can be configured as any input at will.

ECI3828 Network Motion Control Card User Manual V1.5
◆The maximum output current of general digital outputs can reach 300mA, which can
directly drive some kinds of solenoid valves.
◆Interfaces: RS232, RS422, RS485, Ethernet, EtherCAT
◆Support linear interpolation, any circular interpolation, helical interpolation of 12 axes
at most.
◆Support electronic cam, electronic gear, position latch, synchronization follow, virtual
axis setting, etc.
◆Support hardware comparison output (HW_PSWITCH2), hardware timer and
precision output when in motion.
◆A variety of program encryption methods to protect the intellectual property rights of
customers.
1.3. System Frame

ECI3828 Network Motion Control Card User Manual V1.5
1.4. Hardware Installment
ECI3828 motion control card adopts the horizontal installation method of screw
fixing, and each controller should be installed with 4 screws for fastening.
→Unit: mm →Installment Hole Diameter: 4.5mm
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.

ECI3828 Network Motion Control Card User Manual V1.5
⚫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

ECI3828 Network Motion Control Card User Manual V1.5
Chapter II Product Specification
2.1. Basic Specification
Item
Description
Model
ECI3828
Basic Axes
8 (axis 6 / 7 can be configured as encoder, then is
mapped into the encoder of axis 0-1)
Max Extended Axes
16
Basic Axes Type
EtherCAT, 2 pulse outputs, 2 encoder inputs
Digital IO
There are 26 inputs and 18 outputs (the first 16
channels are with overcurrent protection)
Max Extended IO
256 inputs and 256 outputs
AD/DA
2 general ADs and 2 general DAs (0-10V)
Max Extended AD/DA
256 ADs and 128 DAs
Pulse Bit
32
Encoder Bit
32
Speed Acceleration Bit
32
Pulse Max Frequency
10MHz
Motion Axis Buffer
512
Array Space
15000
Program Space
128KByte
Flash Space
8MByte
Power Supply Input
24V DC input
Communication Interfaces
RS232, RS422, RS485, EtherNet, CAN, EtherCAT
Dimensions
205mm*135.25mm

ECI3828 Network Motion Control Card User Manual V1.5
2.2. Order Information
Model
Description
ECI3628
6 axes, point to point, electronic cam, linear interpolation, circular
interpolation, continuous interpolation, robotic arm.
ECI3828
8 axes, point to point, electronic cam, linear interpolation, circular
interpolation, continuous interpolation, robotic arm.
2.3. Interface Definition
→Interface Description
Mark
Interface
Number
Description

ECI3828 Network Motion Control Card User Manual V1.5
POW
Status Indication
Led
1
Power indicator: it lights when power is conducted.
RUN
1
Run indicator: it lights when runs normally
ALM
1
Error indicator: it lights when runs abnormally
RS232
RS232 serial port
1
Use MODBUS_RTU protocol
RS422
RS422 serial port
1
Use MODBUS_RTU protocol
RS485
RS485 serial port
1
Use MODBUS_RTU protocol
EtherCAT
EtherCAT Bus
interface
1
EtherCAT bus interface, connect to EtherCAT bus
drive and EtherCAT bus expansion module.
ETHERNET
Net port
1
Use MODBUS_TCP protocol, expand Ethernet
through interchanger, the number of net port
channels can be checked through “?*port”, default IP
address id 192.168.0.11
E+24V
Main power
1
24V DC power supplies for controller
CAN
CAN bus interface
1
Connect CAN expansion module and CAN equipment
of other standards
IN
Digital IO input
24
NPN leakage type, power supplied by 24V, IN0-3
support latch function, IN-2, 21, 32 support encoder
function.
OUT
Digital IO output
16
NPN leakage type, power supplied by 24V, OUT0-1
support PWM function, OUT0-3 support hardware
comparison output function.
AD
Analog input
2
Resolution: 12 bits, 0-10V
DA
Analog output
2
Resolution: 12 bits, 0-10V
AXIS
Pulse axis
2
It includes differential pulse output and differential
encoder input
2.4. Work Environment
Item
Parameters
Work Temperature
-10℃-55℃
Work relative Humidity
10%-95% non-condensing
Storage Temperature
-40℃～80℃(not frozen)
Storage Humidity
Below 90%RH (no frost)

ECI3828 Network Motion Control Card User Manual V1.5
vibration
Frequency
5-150Hz
Displacement
3.5mm(directly install)(<9Hz)
Acceleration
1g(directly install)(>9Hz)
Direction
3 axial direction
Shock (collide)
15g, 11ms, half sinusoid, 3 axial direction
Degree of Protection
IP20

ECI3828 Network Motion Control Card User Manual V1.5
Chapter III Wiring, Communication
Configuration
3.1. Power Input Interface
→Terminal Definition:
Terminal
Name
Type
Function
E+24V
Input
Input for power supply 24V
EGND
Input
Power ground
FG
Grounding
Shield/Protection
Note:
1. ECI3828 controller is supplied by single-power, please make sure the quality of
power supply.
2. Controller 5V pulse axis and encoder interface use internal power supply, and IO
uses external power. Axes and encoder expanded by ZIO expansion module use
external power supply.
3.1.1. Power Supply Specification
→Specification
Item
Description
Voltage
DC24V (-10%~10%)
Current to open
≤0.5A
Current to work
≤0.4A
Anti-reverse connection
Valid
Overcurrent Protection
Valid

ECI3828 Network Motion Control Card User Manual V1.5
3.2. RS485 / CAN Interface
This interface adopts 5Pin screw-type pluggable terminal with a spacing of 5.08mm.
This terminal is shared by RS485 serial communication and CAN communication.
→Terminal Definition
Terminal
Name
Function
485B
485-
485A
485+
EGND
External power ground
CANL
CAN differential data -
CANH
CAN differential data +
3.2.1. RS485/CAN Communication Specification & Wiring
The CAN interface of the controller adopts the standard CAN communication
protocol, which mainly includes three ports, CANL, CANH and the public end. And it
supports connecting CAN expansion modules and other standard CAN devices.
→Specification
Item
CAN
RS485 (port1)
Max Communication Rate (bps)
1M
115200
Terminal Resistor
120Ω
No
Topology
Daisy chain connection structure
The number of nodes can be
extended
Up to 16
Up to 127
Communication Distance
Longer communication distance, lower
communication rate, max 100m is recommended.
→Wiring Reference

ECI3828 Network Motion Control Card User Manual V1.5
Connect the CANL and CANH of the standard CAN module to the CANL and CANH of
the other side correspondingly. And public ends of the CAN bus communication both
parties are connected together. In CAN bus left and right sides, connect a 120Ωresistor
respectively (please see below graphic).
Connect 485A and 485B of RS485 to corresponding 485A and 485B of controller, and
connect public end EGND of RS485 communication both sides together.
→Wiring Notes:
⚫As above, the daisy chain topology is used for wiring (the star topology structure
cannot be used). When the use environment is ideal and there are no many nodes,
the branch structure also can be used.
⚫The communication interface of ECI3828 adopts external 24V power supply, please
pay attention to connect other controllers or HMI.

ECI3828 Network Motion Control Card User Manual V1.5
⚫Please connect a 120Ω terminal resistor in parallel to each end of the CAN bus for
matching the circuit impedance and ensuring communication stability.
⚫Please be sure to connect the public ends of each node on the CAN bus to prevent
the CAN chip from burning out.
⚫Please use STP (Shielded Twisted Pair), especially in bad environments, and make
sure the shielding layer is fully grounded.
⚫When on-site wiring, pay attention to make the distance between strong current and
weak current, it is recommended for the distance to be more than 20cm.
⚫It should be noted that the equipment grounding (chassis) on the entire line must be
good, and the grounding of the chassis should be connected to the standard factory
ground pile.
→Cable Requirements:
Shielded Twisted Pair, and the shielded cable is grounded.
3.2.2. Basic Usage Method
(1) Please follow the above wiring instructions to wiring correctly.
(2) After powered on, please use ETHERNET, RS232 (default parameter, which can be
connected directly) or RS485 (default parameter, which can be connected directly, for
hardware, an adapter is needed) to connect to ZDevelop.
(3) Please use “ADDRESS” and “SETCOM” command to set and view protocol station No.

ECI3828 Network Motion Control Card User Manual V1.5
and configuration parameters. Please refer to the “ZBasic Programming Manual” for
details.
(4) Please use the "CANIO_ADDRESS" command to set the master's "address" and
"speed" according to the needs, and use the "CANIO_ENABLE" command to enable or
disable the internal CAN master function, or through "ZDevelop/Controller/State the
Controller/Communication Info” to view the CAN status intuitively, and refer to the
“ZBasic Programming Manual” for details.
(5) According to description, set parameters related to the third party equipment correctly
to match each nodes.
(6) Correctly set the "address" and "speed" of the slave station expansion module
according to the manual of the slave station.
(7) After all the settings are completed, restart the power supply of all stations to
establish communication.
(8) Note that the "speed" settings of each node on the CAN bus must be consistent, and
the "address" settings cannot cause conflicts, otherwise the "ALM" alarm light will be
on, and the communication establishment will fail or the communication will be

ECI3828 Network Motion Control Card User Manual V1.5
disordered.
3.3. RS232/RS422 Serial Port
RS232/RS422 is in one standard DB9 male socket and supports MODBUS_RTU
protocol and custom communication.
→Interface Definition
Terminal
PIN
Name
Function
1
422TX+
RS422 Send +
2
232RXD
RS232 signal, receive data
3
232TXD
RS232 signal, send data
4
422RX+
RS422 Receive +
5
GND
Internal power ground
6
422TX-
RS422 Send -
7
422RX-
RS422 Receive-
8
NC
Reserved
9
E5V
5V power supply output (+), max is 300mA
Note:
1. 1. RS232 is Port 0, RS485 is Port 1 and RS422 is Port 2.
2. 2. The latest version supports RS422 interface.
3.3.1. RS232/RS422 Interface Specification & Wiring
→Specification:
Item
RS232
RS422
Max Communication Rate
(bps)
115200
115200
Terminal Resistor
No
No