Zmotion ZMC212BE 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.

ZMC212BE 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 Configuration ............................................................11
3.1. Power Input .....................................................................................................11
3.1.1. Power Specification..............................................................................11
3.1.2. CAN Communication Specification & Wiring .......................................11
3.1.3. Basic Usage Method ............................................................................13
3.2. RS232 Serial Port ............................................................................................14
3.2.1. RS232 Communication Specification & Wiring....................................15
3.2.2. Basic Usage Method ............................................................................16
3.3. RS485 Serial Port ............................................................................................17
3.3.1. RS485 Communication Specification & Wiring....................................17
3.3.2. Basic Usage Method ............................................................................19
3.4. IN Digital Input & High-Speed Latch Port .......................................................20
3.4.1. Digital Input Specification & Wiring .....................................................21
3.4.2. Basic Usage Method ............................................................................22
3.5. OUT Digital Output ..........................................................................................23
3.5.1. Digital Output Specification & Wiring...................................................23
3.5.2. Basic Usage Method ............................................................................25

ZMC212BE Motion Controller User Manual V1.5
3.6. AD/DA Analog Input & Output .........................................................................25
3.6.1. Analog Input / Output Specification & Wiring ......................................26
3.6.2. Basic Usage Method ............................................................................27
3.7. U Disk ..............................................................................................................28
3.8. ETHERNET .......................................................................................................28
3.9. EtherCAT Bus Interface ...................................................................................29
3.10. ENCODER Interface......................................................................................31
3.10.1. ENCODER Interface Specification & Wiring..........................................32
3.11. AXIS Differential Pulse Axis Interface .........................................................33
3.11.1. AXIS Interface Signal Specification & Wiring.......................................34
3.11.2. Basic Usage..........................................................................................36
Chapter IV Expansion Module ...........................................................................................38
4.1. CAN Bus Expansion.........................................................................................38
4.1.1. CAN Bus Expansion Wiring...................................................................38
4.1.2. CAN Bus Expansion Resource Mapping ..............................................40
4.2. EtherCAT Bus Expansion.................................................................................44
4.2.1. EtherCAT Bus Expansion Wiring...........................................................44
4.2.2. EtherCAT Bus Expansion Resource Mapping ......................................45
Chapter V Program and Applications................................................................................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

ZMC212BE Motion Controller User Manual V1.5
Chapter I Production Information
1.1. Product Information
ZMC212BE economical multi-axis motion controller is a stand-alone motion
controller that is compatible with bus and pulse type. The controller itself supports 12
axes at most, but it can be extended to 16 axes for complex continuous trajectory control
requirements.
ZMC212BE economical multi-axis motion controller can be applied in electronic
semiconductor equipment (testing equipment, assembly equipment, locking equipment,
soldering machine), dispensing equipment, non-standard equipment, printing and
packaging equipment, textile and garment equipment, stage entertainment equipment,
medical equipment, assembly line, etc.
1.2. Function Features
◆Motion control of up to 16 axes.
◆Pulse output mode: pulse / direction or dual pulses.
◆Support encoder position measurement, which can be configured as handwheel
input mode.
◆Maximum pulse frequency output of each axis: 10MHZ.
◆4096 isolated inputs and 4096 isolated outputs can be extended at most through
CAN bus and EtherCAT bus.
◆Axis position limit signal / origin signal port can be configured as any input at will.
◆The maximum output current of general digital outputs can reach 300mA, which can
directly drive some kinds of solenoid valves.

ZMC212BE Motion Controller User Manual V1.5
◆Interfaces: EtherCAT, RS232, RS485, U Disk, Ethernet.
◆Support linear interpolation, any circular interpolation, helical interpolation and spline
interpolation of 16 axes at most.
◆Support electronic cam, electronic gear, position latch, synchronous follow, virtual
axis, etc.
◆Support 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.
1.3. System Frame

ZMC212BE Motion Controller User Manual V1.5
1.4. Hardware Installment
The ZMC212BE motion controller 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.
⚫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 -10°C-55°C

ZMC212BE Motion Controller User Manual V1.5
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

ZMC212BE Motion Controller User Manual V1.5
Chapter II Product Specification
2.1. Basic Specification
Item
Description
Model
ZMC212BE
Basic Axes
12
Max Extended Axes
16
Basic Axes Type
EtherCAT/local pulse axis/encoder axis
Digital IO
24 inputs, 8 outputs
Max Extended IO
4096 inputs, 4096 outputs
AD/DA
2 general ADs, 0-10V. 2 general DAs, 0-10V.
Max Extended AD/DA
512ADs, 512 DAs
Pulse Bit
32
Encoder Bit
32
Speed Acceleration Bit
32
Pulse Max Frequency
10MHz
Motion Axis Buffer
512
Array Space
40000
Program Space
460KByte
Flash Space
128MByte
Power Supply Input
24V DC input
Communication Interfaces
RS232, RS485, Ethernet, U disk, CAN, EtherCAT
Dimensions
280mm*127mm

ZMC212BE Motion Controller User Manual V1.5
2.2. Interface Definition
→Interface Description
Mark
Interface
Number
Description
IO POW
Status
Indication
Light
1
IO power indicator: it lights when IO power is
conducted.
POW
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

ZMC212BE Motion Controller User Manual V1.5
RS232
RS232 serial
port (port0)
1
Use MODBUS_RTU protocol
RS485
RS485 serial
port (port1)
1
Use MODBUS_RTU protocol
EtherCAT
EtherCAT bus
interface
1
Connect to EtherCAT bus drive and EtherCAT
bus expansion module
ETHERNET
Ethernet
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
UDISK
U disk
interface
1
Insert U disk equipment
E+24V
Main power
1
24V DC power supplies for controller
CAN
CAN bus
interface
1
Connect to CAN expansion module or
controller.
IN
Digital IO
input
24
NPN type, internal 24V supply power, IN0-1
have the latch function.
OUT
Digital IO
output
8
NPN type, internal 24V supply power.
AD
Analog input
2
Resolution: 12 bits, 0-10V
DA
Analog output
2
Resolution: 12 bits, 0-10V
ENCODER
Encoder
2
Include differential encoder input
AXIS
Pulse axis
12
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)

ZMC212BE Motion Controller User Manual V1.5
Acceleration
1g(directly install)(>9Hz)
Direction
3 axial direction
Shock (collide)
15g, 11ms, half sinusoid, 3 axial direction
Degree of Protection
IP20

ZMC212BE Motion Controller User Manual V1.5
Chapter III Wiring, Communication
Configuration
3.1. Power Input
The power input adopts a screw-type pluggable terminal with a 5Pin pitch of 5.08mm,
which is shared by controller main power supply and CAN communication.
→Terminal Definition:
Terminal
Name
Type
Function
EGND
Input
Main power / CAN public end
CANL
Input / output
CAN differential data -
EARTH
Connect to ground
Case Protection Ground
CANH
Input / output
CAN differential data +
E+24V
Input
Main power 24V input
3.1.1. Power Specification
→Specification
Item
Description
Input Voltage
DC24V(-5%~5%)
Current to open
≤0.5A
Current to work
≤0.4A
Anti-reverse connection
Valid
Overcurrent Protection
Valid
3.1.2. CAN Communication Specification & Wiring
CAN interface of the controller uses standard CAN communication protocol, there are

ZMC212BE Motion Controller User Manual V1.5
mainly 3 terminals, CANL, CANH and public end. And it supports connecting ZIO/ZMIO
expansion module and other standard CAN devices.
→Specification
Item
CAN
Max Communication Rate
1M(bps)
Terminal Resistor
120Ω
Topology
Daisy chain connection structure
Nodes can be extended
Up to 16
Communication Distance
Longer communication distance, lower
communication rate, max 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).
→Wiring Notes:
⚫As above, the daisy chain topology is used for wiring, so the star topology cannot be
used. When the use environment is ideal and there are few nodes, the branch
structure can also be considered.

ZMC212BE Motion Controller User Manual V1.5
⚫Please connect a 120Ω terminal resistor (when there is one to one connection or the
number of slave stations is few and the wiring is relatively short, the terminal resistor
can not be added) in parallel at the two ends of the CAN bus to match the circuit
impedance and ensure communication stability.
⚫Please be sure to connect the common terminal of each node on the CAN bus to
prevent the CAN chip from burning out.
⚫Please use twisted-pair shielded wires, especially in harsh environments, make sure
the shielding layer is fully grounded.
⚫On-site wiring should also pay attention to the distance between strong current and
weak current wiring, it is recommended 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:
Twisted pair shielded wire, and shielded cable grounded.
3.1.3. Basic Usage Method
(1) Please follow the above wiring instructions for correct wiring.
(2) After power on, please use ETHERNET, RS232 or RS485 to connect to ZDevelop.
(3) Please use the "CANIO_ADDRESS" command to set the master's "address" and

ZMC212BE Motion Controller User Manual V1.5
"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.
(4) Correctly set the "address" and "speed" of the slave expansion module according to
the manual of the slave station.
(5) After all the settings are completed, restart the power supply of all stations to
establish communication.
(6) 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
disordered.
3.2. RS232 Serial Port
RS232 is in a standard DB9 male socket and supports MODBUS_RTU protocol and custom
communication.
→Interface Definition:

ZMC212BE Motion Controller User Manual V1.5
Terminal
PIN
Name
Type
Function
1、4、
6、7、8
NC
Spare
Reserved
2
RXD
Input
RS232, receive signal
3
TXD
Output
RS232, send signal
5
GND
Output
+5V power supply output (-) and
communication public end
9
+5V
Output
+5V power supply output (+), max
is 300mA
3.2.1. RS232 Communication Specification & Wiring
→Specification
Item
RS232 (port 0)
Max Communication Rate
115200 (bps)
Terminal Resistor
/
Topology
Point to point (one to one)
Nodes can be extended
1
Communication Distance
Longer communication distance, lower
communication rate, max 10m is recommended.
→Wiring Reference
→Wiring Notes:
⚫The wiring of RS232 is as above, the sending and receiving signals need to be cross-
connected, and it is recommended to use a double-female cross line when
connecting to a computer.

ZMC212BE Motion Controller User Manual V1.5
⚫Please be sure to connect the public end of each communication node to prevent the
communication chip from burning out.
⚫Please use twisted-pair shielded cables, especially in harsh environments, and make
sure the shielding layer is fully grounded.
→Cable Requirements:
Twisted pair shielded wire, and shielded cable grounded.
3.2.2. Basic Usage Method
(1) Please follow the above wiring instructions for correct wiring.
(2) After power on, please use ETHERNET, RS232 (default parameter, it can be connected
directly) and RS485 (default parameter can be directly connected, one adapter is
needed for hardware) to connect to ZDevelop.
(3) Please use the "ADDRESS" and "SETCOM" commands to set and view the protocol
station No. and configuration parameters, see "ZBasic Programming Manual" for
details.
(4) Correctly set the relevant parameters of the third-party equipment according to their
respective instructions to match the parameters of each node.
(5) When all are configured, it’s time to do communicating.
(6) Communication data of RS232 can be directly viewed through “ZDevelop / Controller
/ State the Controller / CommunicationInfo”.