Zmotion ZMC304X306X User manual

ZMC304X306X Hardware Manual
Version 1.3

ZMC304X/306X 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
ZMC304X306X 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 ZMC304X/306X 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........................................................................................................9
2.2.4 General Input............................................................................................................9
2.2.4.1 Input 0-7......................................................................................................10
2.3.4.2 Input 8-15....................................................................................................10
2.2.4.3 Input 16-23..................................................................................................11
2.2.5 General Output.......................................................................................................11
2.2.5.1 Output 0-7...................................................................................................12
2.2.5.2 Output 8-11 .................................................................................................12
2.2.6 ADDA Signals........................................................................................................13
2.2.7 USB Drive..............................................................................................................13
2.2.8Axis Interface.........................................................................................................13
2.2.8.1 Wiring Reference For Low-speed Differential Pulse Or Encoder Axis ......15
2.2.8.2 Wiring Reference For High-speed Differential Pulse Or Encoder Axis......17
Chapter III Expansion Module........................................................................................................19
3.1 Wiring Reference For CAN, Input, OutputAnd Power....................................................19
Chapter IV Common Problems.......................................................................................................20

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Chapter V Hardware Installation.....................................................................................................22
5.1 ZMC304X/306X Installation Size ....................................................................................22

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Chapter I Introduction of Controllers
ZMC is the abbreviation of network motion controller published by ZMOTION
Technology. Zmotion motion controllers can be applied in any PC or offline areas.
ZMC controller supports linear interpolation of up to 12 axes, interpolation of linear,
random, spherical or helical, electronic cam, electronic gear, synchronous following,
virtual axis etc. Real-time motion control can be realized through 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 120Ω is
required between CANH and CANL).
ZMC controller supports data saving or reading through USB Drive. (Except for
ZMC00X series).

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1.2 Installation 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 languages, 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 12 axes.
⚫Pulse output mode: direction pulse and 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 and 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: USB Drive, RS485, RS422 and ETHERNET etc.
⚫Linear interpolation of up to 12 axes, interpolation of random, spherical and
helical.
⚫Electronic cam, electronic gear, position latch synchronous and virtual axis etc.
⚫Pulse closed loop, pitch compensation etc.
⚫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 ZMC304X/306X Series Controller
ZMC304X
ZMC306X
Axes
4
6
Maximum extended axes
12
12
Type of basic axes
Pulse output, all axes with the encoder
Internal IO
24 inputs 12 outputs (with overcurrent protection), each
axis has another 1 input and 1 output (the output in the
axis can only be enabled)
Maximum extended IO
Up to 512 inputs and 512 outputs
PWM
2(output frequency 1M)
Internal ADDA
2 ADs,2DAs. (0-10V)
Max extended AD/DA
256 ADs,128 DAs
Pulse bits
32
Encoder bits
32
Speed/Acceleration bit
32
Max pulse frequency
10Mhz
Axis motion buffer
128
Array size
160000
Procedure Space
2000KByte
Flash size
128MByte
Power input
24V DC (power consumption is within 10W, fan cooling
is not needed).
Communication
RS232, RS485, RS422, ETHERNET, USB Drive, CAN
Size
205*134mm

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Configure axis 6,7,8,9,10,11 as encoder type, then these axes will be mapped to
axis 0-5 as encoder axes, which will get encoder feedback of axis 0-5.
ZMC304X/306X supports XPLC function, which can be used as configuration
display through network.
2.1.1 Order Information
Model
Specification Description
ZMC304X
4 axes, point to point, interpolation of linear, circular, electronic
cam, continuous interpolation, Robotics instruction.
ZMC304X-1
4 axes, point to point, electronic cam.
ZMC304X-2
4 axes, point to point, interpolation of linear, electronic cam.
ZMC304X-6
4 axes, point to point, interpolation of linear, circular, electronic
cam.
ZMC304X-R
ZMC304X supports delta instruction.
ZMC306X
6 axes, point to point, interpolation of linear, Circular, Electronic
cam, continuous interpolation, Robotics instruction.
ZMC306X-R
ZMC306X supports delta and 6-joint robotic instruction.

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2.2 Wiring Reference
➢There are 6 basic axes in ZMC306X and up to 12 axes (include virtual axis).
Axes can be extended through extension modules.
➢There are 24 general inputs and 12 general outputs in ZMC306X (each axis has
another 1 input and 1 output), 2 ADs(0-10V) and 2 DAs(0-10V) 1 RS232, 1
RS485 1 Ethernet and 1 USB drive embedded.
➢1 CAN bus, which is used to link with expansion modules through ZCAN
communication protocol.

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2.2.1 Power Interface
针脚号
名称
说明
1
+24V
电源 24V 输入
2
EGND
电源地
3
FG/EARTH
安规地/屏蔽层
PIN
Name
Description
1
E+24V
External Power 24V input
2
EGND
External Ground
3
FG/EARTH
Shield
ZMC306X series controller uses single power, ZMC0-2 series and ZIO
expansion modules use double power.
controller 5V pulse 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
Name
Description
1
485B
485-
2
485A
485+
3
EGND
Power source
4
CANL
CAN differential data+
5
CANH
CAN differential data-
6
EGND
Power source
7
422TX-
422 send-
8
422TX+
422 send+
9
422RX-
422 receive-
10
422RX+
422 receive+
When multi controller 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 ZMC306X
controller and expansion module use different power, controller power EGND
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 follow:
PIN
Name
Description
2
RXD
Receive data PIN
3
TXD
Send data PIN
5
EGND
Power source
9
E5V
External 5v output, it supplies text
screen.
Crossover cable with two female head is needed when try to link to computer.
2.2.4 General Input
Additional 1 input in each axis channel. See interface description for details.

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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
4
IN1
Input 1
Latch B
5
IN2
Input 2
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.
2.3.4.2 Input 8-15
PIN
Name
Description
Default
1
EGND
External ground
2
EGND
External ground
3
IN8
Input 8
4
IN9
Input 9
5
IN10
Input 10
6
IN11
Input 11
7
IN12
Input 12
8
IN13
Input 13
9
IN14
Input 14
10
IN15
Input 15

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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
2.2.5 General Output
Output Circuit
There is additional general output without current amplification in each axis. See
interface description for details.

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2.2.5.1 Output 0-7
PIN
Name
Description
1
EGND
External ground
2
E5V
External 5V power output
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 and Out1support PWM, there are general outputs when PWM functions are
shut down.
2.2.5.2 Output 8-11
1
EGND
External ground
2
OUT8
Output 8
3
OUT9
Output 9
4
OUT10
Output 10
5
OUT11
Output 11

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2.2.6 ADDA Signals
PIN
Name
Description
1
AOUT0
0-10VAnalog output 0
2
AOUT1
0-10VAna1og output 1
3
ADGND
Analog GND
4
AIN0
0-10VAnalog input 0
5
AIN1
0-10VAnalog input 1
Inside ZMC306X uses internal power supply.
2.2.7 USB Drive
PIN
Name
Description
1
V
USB +5V power output
2
D-
Differential data D-
3
D+
Differential data D+
4
GND
Internal ground
2.2.8 Axis Interface
It provides 0V and 5V output, which can provide 5V power for the encoder.
Do set its parameterATYPE before use axis.

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PIN
Signals
Description
1
EGND
External ground
2
IN24-29/ALM
General input, recommended
as drive alarm.
3
OUT12-17/ENABLE
General output, recommend
as drive enable.
4
EA-
Encoder input
5
EB-
Encoder input
6
EZ-
Encoder input
7
+5V
Internal 5V Power output
8
Reserved
Reserved
9
DIR+
Direction of servo or stepper
output
10
GND
Digital ground
11
PUL-
Servo or stepper pulse output
12
Reserved
Reserved
13
GND
Digital ground
14
OVCC
+24V Output（Recommended
for servo IO）
15
Reserved
Reserved
16
Reserved
Reserved
17
EA+
Encoder input
18
EB+
Encoder input
19
EZ+
Encoder input
20
GND
Digital ground
21
GND
Digital ground
22
DIR-
Servo or stepping direction
output

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23
PUL+
Servo or stepping pulse
output
24
GND
Digital Ground
25
Reserved
Reserved
26
Reserved
Reserved
2.2.8.1 Wiring Reference for Low-speed Differential Pulse or
EncoderAxis
Differential Connection
Single-ended Connection

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Encoder Connection
Low-speed differential pulse wiring reference between ZMC306X and Panasonic A5 servo drive