Zmotion ZMC006CE 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.

ZMC006CE Motion Controller 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. Interface Definition............................................................................................8
2.3. Work Environment .............................................................................................9
Chapter III Wiring & Communication.................................................................................11
3.1. Power Input .....................................................................................................11
3.1.1. Power Specification..............................................................................11
3.1.2. CAN Communication Specification & Wiring .......................................12
3.1.3. Basic Usage Method ............................................................................14
3.2. RS232A/RS485 Serial Port..............................................................................14
3.2.1. RS232A/RS485 Specification & Wiring ................................................15
3.2.2. Basic Usage..........................................................................................17
3.3. RS232B Serial Port ..........................................................................................18
3.3.1. RS232B Specification & Wiring ............................................................18
3.3.2. Basic Usage..........................................................................................20
3.4. IN Digital Input & Latch Port ...........................................................................21
3.4.1. Digital Input Specification & Wiring .....................................................22
3.4.2. Basic Usage Method ............................................................................23
3.5. OUT Digital Output & PWM Terminal ..............................................................24
3.5.1. Digital Output Specification & Wiring...................................................25
3.5.2. Basic Usage Method ............................................................................26

ZMC006CE Motion Controller User Manual V1.5
3.6. Analog Output..................................................................................................27
3.6.1. AD/DA Analog Input/Output Specification & Wiring............................27
3.6.2. Basic Usage Method ............................................................................28
3.7. U Disk ..............................................................................................................29
3.8. EtherCAT Bus / ETHERNET..............................................................................29
3.9. ENCODER.........................................................................................................32
3.9.1. ENCODER Interface Specification & Wiring..........................................33
3.10. AXIS Differential Pulse Axis Interface .........................................................34
3.10.1. AXIS Interface Signal Specification & Wiring.......................................35
3.10.2. Basic Usage..........................................................................................36
Chapter IV Expansion Module ...........................................................................................39
4.1. CAN Bus Expansion.........................................................................................39
4.1.1. CAN Bus Expansion Wiring...................................................................39
4.1.2. CAN Bus Expansion Resource Mapping ..............................................41
4.2. EtherCAT Bus Expansion.................................................................................45
4.2.1. EtherCAT Bus Expansion Wiring...........................................................45
4.2.2. EtherCAT Bus Expansion Resource Mapping ......................................46
Chapter V Program & Applications....................................................................................49
5.1. ZDevelop Software Usage...............................................................................49
5.2. PC Upper-Computer Program Application .....................................................54
Chapter VI Run and Maintain ............................................................................................57
6.1. Regular Inspection and Maintenance .............................................................57
6.2. Common Problems..........................................................................................58

ZMC006CE Motion Controller User Manual V1.5
Chapter I Production Information
1.1. Product Information
ZMC is the abbreviation of the network motion controller model launched by Zmotion
Technology.
ZMC006CE economical multi-axis motion controller is a stand-alone motion
controller that is compatible with EtherCAT bus and pulse type. The controller itself
supports 6 axes, but 12 axes can be expanded at most to achieve some simple continuous
trajectory control requirements, such as, linear interpolation, circular interpolation, helical
interpolation, etc.
ZMC006CE economical multi-axis motion controller can be applied in electronic
semiconductor equipment (testing equipment, assembly equipment, locking equipment,
soldering machine), dispensing equipment assembly line and others pulse applications
that are within in 12 axes.
1.2. Function Features
◆Support 12 axes motion control.
◆Pulse output mode: pulse / direction or dual pulses.
◆Support encoder position measurement, which can be configured as handwheel
input mode.
◆Maximum pulse output frequency of each axis is 10MHZ.
◆IO can be expanded through CAN and EtherCAT bus, 4096 isolated inputs and 4096
isolated outputs can be extended at most.
◆Axis position limit signal / origin signal port can be configured as any input at will.

ZMC006CE Motion Controller 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: EtherCAT, RS232, RS485, U Disk
◆Support up to 12 axes linear interpolation, arbitrary circular interpolation, helical
interpolation, spline interpolation.
◆Support electronic cam, electronic gear, position latch, synchronous follow, virtual
axis and other functions.
◆Support ZBasic multi-file and multi-task programming.
◆A variety of program encryption methods to protect the intellectual property rights of
customers.
◆Support power failure detection and power failure storage.
1.3. System Frame

ZMC006CE Motion Controller User Manual V1.5
1.4. Hardware Installment
The ZMC006CE motion controller is installed horizontally with screws, and each controller
should be fastened with 4 screws.
→Unit: mm →Mounting 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.
⚫Considering the convenient operation and maintenance of the
controller, please do not install the controller in the following
places:

ZMC006CE Motion Controller User Manual V1.5
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

ZMC006CE Motion Controller User Manual V1.5
Chapter II Product Specification
2.1. Basic Specification
Item
Description
Model
ZMC006CE
Basic Axes
6
Max Extended Axes
12
Basic Axis Type
EtherCAT/local pulse axis/encoder axis
Internal IOs
General IO: 24 inputs and 8 outputs.
Axis interface IO: there are 6 inputs and 6 outputs in total
in 6 AXIS axis interfaces.
Max Extended IOs
4096 inputs and 4096 outputs.
PWM
2
AD/DA
2 general DA outputs, 0-10V.
Max Extended AD/DA
520 ADs and 520 DAs.
Pulse Bit
32
Encoder Bit
32
Speed Acceleration Bit
32
Max Pulse Ratio
5MHz
Axis Motion Buffer
128
Array Space
160000
Program Space
300KByte
Flash Space
8MBye
Power Input
24V DC input
Communication Interface
RS232, RS485, U disk, CAN, EtherCAT
Dimension
226mm*127mm

ZMC006CE Motion Controller User Manual V1.5
2.2. Interface Definition
→Interface Description
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
RS232A
RS232A serial (port 0)
1
Use MODBUS_RTU protocol
RS232B
RS232B serial (port 1)
1
Use MODBUS_RTU protocol
RS485
RS485 serial (port 2)
1
Use MODBUS_RTU protocol

ZMC006CE Motion Controller User Manual V1.5
EtherCAT
EtherCAT bus interface
/EtherNET
1
EtherCAT bus interface, connect to EtherCAT
bus drive and EtherCAT bus expansion
module.
EtherNET: use MODBUS_TCP protocol,
expand the number of network ports through
the interchanger, and the number of net port
channels can be checked through “?*port”
command, default IP address is 192.168.0.11
UDISK
U disk interface
1
Insert U disk equipment
E+24V
Main power supply
1
24V DC power, it supplies the power for
controller.
CAN
CAN bus interface
1
Connect CAN expansion modules and CAN
equipment of other standards.
IN
Digital IO input port
24
Leakage type, the power is supplied by
internal 24V power supply. IN0-1 have the
latch function.
OUT
Digital IO output port
8
Leakage type, the power is supplied by
internal 24V power supply. OUT0-1 have the
PWM function.
DA
Analog output port
2
12-bit resolution, 0-10V.
ENCODER
Encoder
1
Include differential encoder input.
AXIS
Pulse axis
6
Include differential pulse output.
2.3. 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)
vibration
Frequency
5-150Hz
Displacement
3.5mm(directly install)(<9Hz)
Acceleration
1g(directly install)(>9Hz)

ZMC006CE Motion Controller User Manual V1.5
Direction
3 axial direction
Shock (collide)
15g, 11ms, half sinusoid, 3 axial direction
Degree of Protection
IP20

ZMC006CE Motion Controller User Manual V1.5
Chapter III Wiring & Communication
3.1. Power Input
The power supply input adopts a 5Pin screw-type pluggable wiring terminal, and the
interval (means the gap distance between two ports) should be 5.08mm. This 5Pin
terminal is the power supply of the controller.
→Terminal Definition:
Terminal
Name
Type
Function
E+24V
Input
Positive (+) of DC power input
CANH
Input/output
CAN differential data +
EARTH
Earthing
Protect
CANL
Input/output
CAN differential data -
EGND
Input
Negative (-) of DC power input
3.1.1. Power Specification
→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

ZMC006CE Motion Controller User Manual V1.5
3.1.2. 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 can
connect expansion modules and other standard CAN devices.
→Specification
Item
CAN
Maximum Communication Rate (bps)
1M
Terminal Resistor
120Ω
Topological Structure
Daisy Chain Topology
The number of nodes can be extended
Up to 16
Communication Distance
The longer communication distance is, the
lower communication rate is, and maximum
of 100m is recommended.
→Wiring Reference
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).

ZMC006CE Motion Controller User Manual V1.5
→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.
⚫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.

ZMC006CE Motion Controller User Manual V1.5
3.1.3. Basic Usage Method
(1) Please follow the above wiring instructions to wiring correctly.
(2) After powered on, please use EtherNET or RS232 to connect to ZDevelop.
(3) 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.
3.2. RS232A/RS485 Serial Port
RS232A and RS485 are integrated in one standard DB9 male socket and supports
MODBUS_RTU protocol and custom communication.

ZMC006CE Motion Controller User Manual V1.5
→Interface Definition:
Terminal
PIN
Name
Type
Function
1, 6, 8
NC
Spare
Reserved
2
232A-
RXD
Input
RS232A (port 0) signal,
receive data
3
232A-
TXD
Output
RS232A (port 0) signal,
send data
4
485A/+
Input/Output
RS485 (port2) signal A/+
5
EGND
Output
Negative pole output of 5V
power, and output for the
public end
7
485B/-
Input/Output
RS485 (port2) signal B/-
9
E5V
Output
Positive pole output of 5V
power, maximum is 300mA
3.2.1. RS232A/RS485 Specification & Wiring
→Specification:
Item
RS232A (port0)
RS485 (port2)
Maximum
Communication Rate
115200bps
115200bps
Terminal Resistor
No
No
Topology Structure
Connect correspondingly
(1 to 1)
Daisy chain structure
The number of nodes
can be extended
1
127
Communication
Distance
The Longer communication
distance is, the lower
communication rate is,
maximum 10m is suggested.
The Longer communication
distance is, the lower
communication rate is,
maximum 100m is suggested.

ZMC006CE Motion Controller User Manual V1.5
→Wiring Reference:
→Wiring Notes:
⚫The wiring of RS232A (port0) is as above, it needs to cross-wiring for sending and
receiving signals, and it is recommended to use a double-female head cross line
when connecting to a computer.
⚫The wiring of RS485 (port2) is above, it is 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.
⚫Please be sure to connect the public ends of each communication node to prevent
the communication chip from burning out.
⚫Please use STP, especially in bad environments, and make sure the shielding layer is
fully grounded.