Zmotion ZMC306N 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.

ZMC306N 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 ...................................................................................................5
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 ...........................................................................................10
Chapter III Wiring, Communication Configuration ............................................................11
3.1. Power Input .....................................................................................................11
3.1.1. Power Specification..............................................................................11
3.2. RS485, CAN Communication Interface ...........................................................12
3.2.1. RS485, CAN Communication Specification & Wiring...........................12
3.2.2. Basic Usage Method ............................................................................15
3.3. RS232, RS422 Serial Port ................................................................................16
3.3.1. RS232 Communication Interface Specification & Wiring ....................17
3.3.2. Basic Usage Method ............................................................................18
3.4. IN Digital Input & High-Speed Latch & Single-ended Encoder.......................19
3.4.1. Digital Input Specification & Wiring .....................................................21
3.4.2. Basic Usage Method ............................................................................22
3.5. OUT: Digital Output, PWM Terminal, Hardware Comparison Output, Single-
ended Pulse................................................................................................................23
3.5.1. Digital Output Specification & Wiring...................................................24
3.5.2. Basic Usage Method ............................................................................26

ZMC306N Motion Controller User Manual V1.5
3.6. AD / DA: Analog Input / Output .......................................................................26
3.6.1. Analog Output Specification & Wiring..................................................27
3.6.2. Basic Usage Method ............................................................................28
3.7. U Disk ..............................................................................................................29
3.8. ETHERNET .......................................................................................................29
3.9. RTEX Bus Interface..........................................................................................30
3.9.1. RTEX Bus Interface Rule & Wiring ........................................................31
3.9.2. RTEX Bus Interface Wiring Reference ..................................................31
3.10. EtherCAT Bus Interface................................................................................32
3.11. AXIS Differential Pulse Axis Interface .........................................................34
3.11.1. AXIS Interface Signal Specification & Wiring.......................................35
3.11.2. Basic Usage Method ............................................................................38
Chapter IV Expansion Module ...........................................................................................41
4.1. CAN Bus Expansion.........................................................................................41
4.1.1. CAN Bus Expansion Wiring...................................................................41
4.1.2. CAN Bus Expansion Resource Mapping ..............................................43
4.2. EtherCAT Bus Expansion.................................................................................47
4.2.1. EtherCAT Bus Expansion Wiring...........................................................47
4.2.2. EtherCAT Bus Expansion Resource Mapping ......................................48
Chapter V Program & Applications....................................................................................51
5.1. ZDevelop Software Usage...............................................................................51
5.2. PC Upper-Computer Program Application .....................................................56
Chapter VI Run and Maintain ............................................................................................59
6.1. Regular Inspection and Maintenance .............................................................59
6.2. Common Problems..........................................................................................60

ZMC306N 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.
ZMC306N high-performance multi-axis motion controller is a stand-alone motion
controller compatible with EtherCAT bus (N means dual-bus: EtherCAT & Panasonic RTEX)
and pulse type. The controller itself supports complex continuous trajectory control
requirements of up to 60 axes.
ZMC3 series high-performance multi-axis motion controllers can be applied in
robots (SCARA, Delta, 6 joints), 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
◆Support EtherCAT bus communication and Panasonic RTEX bus communication.
◆Motion control of up to 12 axes.
◆Pulse output mode: pulse / direction or dual pulses.
◆The fastest refresh cycle of EtherCAT is 500us.
◆Support encoder position measurement, which can be configured as handwheel
input mode.
◆Maximum pulse frequency output of each axis: 10MHZ.
◆IO can be expanded through ZCAN and EtherCAT, and 4096 isolation inputs and 4096

ZMC306N Motion Controller User Manual V1.5
isolation outputs can be extended at most.
◆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 500mA, which can
directly drive some kinds of solenoid valves.
◆Interfaces: EtherCAT, RTEX, RS232, RS422, RS485, U Disk, Ethernet.
◆Support linear interpolation, any circular interpolation, helical interpolation and spline
interpolation of 12 axes at most.
◆Support electronic cam, electronic gear, position latch, synchronous follow, virtual
axis, etc.
◆Support hardware comparison output (HW_PSWITCH2), hardware timer, precision
output in motion.
◆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.

ZMC306N Motion Controller User Manual V1.5
1.3. System Frame
1.4. Hardware Installment
The ZMC306N 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

ZMC306N Motion Controller User Manual V1.5
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 -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

ZMC306N Motion Controller User Manual V1.5
Chapter II Product Specification
2.1. Basic Specification
Item
Description
Model
ZMC306N
ZMC304N
Basic Axes
6
4
Max Extended Axes
12
12
Basic Axes Type
EtherCAT/RTEX/pulse/encoder axes
Digital IO
General IOs: 24 inputs, 16 outputs
Axis Interface IOs: each pulse axis has 1 input and 1
output
Max Extended IO
4096 inputs, 4096 outputs
PWM
4
AD/DA
2 general ADs and 2 general DAs, 0-10V
Max Extended AD/DA
512 ADs, 512 DAs.
Pulse Bit
32
Encoder Bit
32
Speed Acceleration Bit
32
Pulse Max Frequency
10MHz
Motion Axis Buffer
512
Array Space
320000
Program Space
6144KByte
Flash Space
128MByte
Power Supply Input
24V DC input
Communication
Interfaces
RS232, RS422, RS485, Ethernet, U disk, CAN, EtherCAT,
RTEX
Dimensions
205mm*135mm

ZMC306N Motion Controller User Manual V1.5
2.2. Order Information
Model
Description
ZMC306N
6 axes, point to point, linear, circular, electronic cam, continuous
trajectory motion, robotic car instructions.
ZMC304N
4 axes, point to point, linear, circular, electronic cam, continuous
trajectory motion, robotic car instructions.
2.3. Interface Definition

ZMC306N Motion Controller User Manual V1.5
→Interface Description
Mark
Interface
Number
Description
POW
Status Indication
Light
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
(port0)
1
Use MODBUS_RTU protocol
RS485
RS485 serial port
(port1)
1
Use MODBUS_RTU protocol
RS422
RS422 serial port
(port2)
1
Use MODBUS_RTU protocol
EtherCAT
EtherCAT bus
interface
1
EtherCAT bus interface, 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
RTEX TX
RTEX bus sending
side
1
RTEX bus is used to connect
Panasonic RX port of servo drive.
RTEX RX
RTEX bus receive
side
1
RTEX bus is used to connect
Panasonic TX port of servo drive.
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 CAN expansion module and
CAN equipment of other standards
IN
Digital IO input
24
NPN type, internal 24V supply power,
4 high-speed inputs, IN0-3 have latch
function.
OUT
Digital IO output
12
NPN type, internal 24V supply power,
4 high-speed outputs, OUT0-3 have

ZMC306N Motion Controller User Manual V1.5
PWM and 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)
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

ZMC306N Motion Controller User Manual V1.5
Chapter III Wiring, Communication
Configuration
3.1. Power Input
The power supply input adopts a 3Pin (there are all 3 terminals) screw-type pluggable
wiring terminal, and the interval (means the gap distance between two ports) should be
3.81mm. This 3Pin terminal is the power supply of the controller.
→Terminal Definition:
Terminal
Name
Type
Function
E+24V
Input
Positive (+) of DC input
EGND
Input
Negative (-) of DC input
FG
Grounding
Case protection
3.1.1. Power Specification
→Specification
Item
Description
Voltage
DC24V(-5%~5%)
The current to open
≤0.6A
The current to work
≤0.5A
Anti-reverse connection
Valid
Overcurrent Protection
Valid

ZMC306N Motion Controller User Manual V1.5
3.2. RS485, CAN Communication Interface
The communication interface adopts a screw-type pluggable wiring terminal with a 5Pin
spacing of 3.81mm. Both RS485 communication and CAN communication can be
connected and used through the corresponding interface of this terminal.
→Terminal Definition:
Terminal
Name
Function
485B
485-
485A
485+
EGND
External power supply ground
CANL
CAN differential data -
CANH
CAN differential data +
3.2.1. RS485, CAN Communication Specification & Wiring
The RS485 serial port supports the MODBUS_RTU protocol and custom
communication, mainly including 485A, 485B and common ports.
The CAN interface of the controller adopts the standard CAN communication
protocol, which mainly includes three ports, CANL, CANH and the common port. And it
supports connecting CAN expansion modules and other standard CAN devices.
→Specification
Item
RS485 (port 1)
CAN
Max Communication Rate (bps)
115200
1M
Terminal Resistor
No
120Ω
Topology
Daisy chain connection structure
Nodes can be extended
Up to 127
Up to 16
Communication Distance
Longer communication distance, lower

ZMC306N Motion Controller User Manual V1.5
communication rate, max 100m is recommended.
→Wiring Reference
Connect 485A and 485B of RS485 to 485A and 485B of the controller correspondingly,
and connect the common terminal EGND of both parties of RS485 communication
together.
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, and the star topology cannot
be used. When the use environment is ideal and there are few nodes, the branch
structure can also be considered.

ZMC306N Motion Controller User Manual V1.5
⚫Please connect a 120Ω terminal resistor in parallel at the two ends of the CAN bus to
match the circuit impedance and ensure communication stability (when point to
point connection is used or the number of slave stations is not many and the wiring
is short, the terminal resistor can not be used).
⚫When the number of slave stations is large, please connect a 120Ω terminal resistor
at the two ends of the RS485 cable in parallel to match the circuit impedance and
prevent signal reflection.
⚫Please be sure to connect the common terminal of each node on the CAN bus to
prevent the CAN chip from burning out.
⚫The distance between each node branch line on the RS485/CAN bus wiring circuit
should be less than 3m.
⚫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.

ZMC306N Motion Controller User Manual V1.5
3.2.2. Basic Usage Method
(1) Please follow the above wiring instructions for correct wiring.
(2) After power on, please use any of the three interfaces ETHERNET, RS232, and RS485
to connect to ZDevelop;
(3) Please use the "ADDRESS" and "SETCOM" commands to set and view the protocol
station number and configuration parameters, see "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) Correctly set the relevant parameters of the third-party equipment according to their
respective instructions to match the parameters of each node.
(6) Correctly set the "address" and "speed" of the slave expansion module according to
the manual of the slave.

ZMC306N Motion Controller User Manual V1.5
(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
disordered.
3.3. RS232, RS422 Serial Port
RS232 and RS422 serial ports are in a standard DB9 male socket and support
MODBUS_RTU protocol and custom communication.
→Interface Definition:
Terminal
PIN
Name
Type
Function
1
422TX+
Output
RS422 signal, send data +
2
232RXD
Input
RS422 signal, receive data
3
232TXD
Output
RS232 signal, send data
4
422RX+
Input
RS232 signal, receive data+
5
GND
Output
Negative pole output of 5V power,
and output for the public end
6
422TX-
Output
RS422 signal, send data-
7
422RX-
Input
RS422 signal, receive data-
9
+5v
Output
Positive pole output of 5V power,
maximum is 300mA