Zmotion ZMC408SCAN User manual

ZMC408SCAN Hardware Manual
Version 1.2

ZMC408SCAN Hardware Manual Version1.2
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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, also to add some error
handling procedures in software. Zmotion has no obligation or
responsibility for the loss.

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Contents
ZMC408SCAN Hardware Manual ...................................................................................................1
Chapter I Controllers Introduction....................................................................................................1
1.1 Connection Configuration.........................................................................................1
1.2 Installation And Programming..................................................................................2
1.3 Features.....................................................................................................................2
Chapter II Hardware Description......................................................................................................4
2.1 ZMC408SCAN Specification ...................................................................................4
2.2 ZMC408SCAN Wiring Reference............................................................................6
2.2.1 Power, CAN Interface.......................................................................................7
2.2.2 RS232, RS485 Communication Interface.........................................................7
2.2.3 Digital input ......................................................................................................8
2.2.3.1 Terminal definition....................................................................................8
2.2.3.2 Digital input specification.........................................................................9
2.2.3.3 Digital input wiring example...................................................................10
2.2.4 OUT Digital output .........................................................................................10
2.2.4.1 Terminal definition..................................................................................10
2.2.4.2 Digital output specification.....................................................................12
2.2.4.3 Digital Output Wiring Example ..............................................................13
2.2.5 AD/DA analog terminal ..................................................................................13
2.2.6 Axis Interface..................................................................................................14
2.2.6.1 Terminal Definition.................................................................................14
2.2.6.2 Axis wiring example ...............................................................................16
2.2.7 Galvanometer Axis Interface...........................................................................20
2.2.8 LASER power control terminal.......................................................................21
2.2.9 MPG Handwheel Terminal..............................................................................23
2.2.9.1 Terminal Definition.................................................................................23
2.2.9.2 Wiring example.......................................................................................24
2.2.10 EXIO Expand IO Interface..............................................................................25
Chapter III Expansion Modules......................................................................................................27
3.1 Wiring Reference For CAN, Input, Output and Power .....................................................27
Chapter IV Commons Problems .....................................................................................................28
Chapter V Hardware Installation.....................................................................................................30
5.1 ZMC408SCAN Installation Size.............................................................................30
5.2 Comprehensive Wiring Reference ..........................................................................30
Chapter VI Appendix......................................................................................................................31
6.1 Electrical technical parameters................................................................................31
6.1.1 Power demand.................................................................................................31
6.1.2 Work Environment..........................................................................................31

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Chapter I Controllers Introduction
ZMC408SCAN is high performance fieldbus double galvanometer motion controller
developed by Zmotion Technology, which integrates 2 100M Ethernet, and supports EtherCAT
and EtherNET connection, CAN, 232, 485, 24 general digital inputs, 20 general digital outputs, 3
analog outputs and 3 analog inputs. Also, 4 local axes, 1 MPG handwheel pulse interface, 2
galvanometer interfaces with feedback, 1 specialized interface for laser power and one IO
expansion interface are supported.
ZMC408SCAN series controller supports EtherCAT bus connection, the fastest refresh cycle
is 500μs, and supports linear interpolation of up to 16 axes, interpolation of circular, spherical,
electronic cam, electronic gear, synchronous following, virtual axis setting etc. Real-time motion
control can be realized by using optimized network communication protocol.
One Computer can link with up to 256 ZMC controllers.
1.1 Connection Configuration
Typical Connection Configuration
ZMC408SCAN supports Ethernet, USB, CAN, 485, 232 and other communication interface.
Each expansion module can be connected through CAN, EtherCAT bus to expand input, output,
analog point or motion axis (Resistance of 120Ω is required between CANH and CANL).

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1.2Installation And Programming
ZDEVELOP Development Environment
ZMC controller is programmed and debugged by ZDevelop software. ZDevelop, the software
is easy to program, compile and debug. Link ZDevelop and controller through serial, 485, USB or
Ethernet.
Application procedures can be programmed by VC, VB, VS, C ++ Builder, C # and other
software development. When debugs, Zevelop software can be connected with controller
simultaneously, but needs a dynamic library when the procedure is running: zmotion.dll.
1.3Features
⚫Motion control of up to 16 axes. (EtherCAT/encoder axis/virtual axis)
⚫Encoder position measurement is supported and can be configured as hand wheel input mode.
The specialized MPG interface supports 5-24V handwheel input.
⚫20 PNP general outputs, and 8 channels are high-speed outputs, which can be configured as
high-speed comparison, PWM, etc. 12 general outputs, the max output current can reach
300mA, which can drive some solenoid valves directly.
⚫24 NPN general inputs, and 10 channels are high-speed input, 14 channels are low-speed
inputs. Also, high-speed input can be configured to latch signal.

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⚫1 100M EtherCAT interface, isolation inputs and outputs can reach 4096 through EtherCAT
bus.
⚫1 USB drive interface is used to expand storage.
⚫1 RS485, 1 232, 1 CAN and 1 100M Ethernet interface support multi-expansion applications.
⚫2 general voltage analog outputs, 0-10V, 12 bits. 2 general voltage analog inputs, 0-10V, 12
bits. 1 analog output for laser, 0-10V, 16 bits. 1 analog input for laser, 0-10V, 16 bits.
⚫2 galvanometer interfaces, and support XY2-100 protocol and galvanometer feedback.
⚫1 laser power control interface, which supports IPG, YLR, YLS and other laser power
supplies. 1 interface is configured to expand IO, which can expand externally SPI, FIBER
and other laser power control interfaces.
⚫Linear interpolation of up to 16 axes, interpolation of random spherical interpolation, helical
and spline.
⚫Support electric cam, electric gear, position latch, synchronous follow, virtual axis etc.
⚫Support hardware comparison output (HW_PSWITCH2), hardware timer and precious output
in motion.
⚫Support pulse closed loop, pitch compensation and other functions.
⚫Multi-file and multi-task programming in ZBasic.
⚫A variety of procedure 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 ZMC408SCAN Specification
ZMC408SCAN
Axes
8 (4 pulse axes + 4 galvanometer axes)
Max Extended Axes
16 (the number of axes relates to system period and galvanometer
period)
Type of basic axes
EtherCAT/4 local pulse axes, 2 galvanometer axes
Internal IO
24 inputs 20 outputs (with overcurrent protection), there are another 2
general inputs and 2 general outputs on each axis terminal, which can
do alarm, enable, on-position, clear error, etc.
Max extended IO
Up to 4096 inputs and 4096 outputs
PWM
8 (general digital outputs OUT0~OUT7) + 2 (specialized laser
interface, OUT8 and OUT9)
Internal AD/DA
2 generalADs and DAs, 1 specialized AD and 1 specialized DA.
Max extendedAD/DA
1024
Pulse Bits
64
Encoder Bits
64
Speed/Acceleration bits
64
Max pulse frequency
10M
Axis motion buffer
4096 (the number of buffers is relative to system cycle)
Array Size
2560000
Procedure space
128M
Flash Space
256M
Power Input
24V DC input (No fan heat dissipation is required if the controller
consumes less than 15W), I/O load is not counted
Communication
RS232, RS485, Ethernet, USB drive, CAN, EtherCAT

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Size
235mm*149mm*50mm
Single-ended pulse axes need to be configured as the local axis method compulsively
through AXIS_ADDRESS.
Any axis can be mapped to the pulse axis, which needs to be configured compulsively
through AXIS_ADDRESS.

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2.2 ZMC408SCAN Wiring Reference

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2.2.1 Power, CAN Interface
PIN
Name
Description
1
E+24V
DC24V power inputs positive pole
2
CANH
CAN data differential cable +
3
FG
Shield layer/safety ground
4
CANL
CAN data differential cable -
5
EGND
DC24V power inputs negative pole
When multi controllers are linked on CAN bus, it is necessary to connect 120 Ω resistor
between CANL and CANH of the last IO expansion module to promote communication
signal quality and increase stability.
2.2.2 RS232, RS485 Communication Interface
PIN
Name
Description
1, 6, 8
NC
Reserved
2
RXD
232 receive signal
3
TXD
232 send signal
4
485A
485 signalA
5
EGND
Communication signal reference ground
7
485B
485 signal B
9
E5V
Power 5V outputs, which can supply power for
text screen, and the max current is 300mA
Crossover cable with two female head is needed when links to computer.
No need to connect terminal resistance with bus when 485 expands.

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2.2.3 Digital input
2.2.3.1 Terminal definition
PIN
Name
Description
8
IN0
High-speed input 0
7
IN1
High-speed input 1
6
IN2
High-speed input 2
5
IN3
High-speed input 3
4
IN4
High-speed input 4
3
IN5
High-speed input 5
2
IN6
High-speed input 6
1
IN7
High-speed input 7
PIN
Name
Description
8
IN8
High-speed input 8
7
IN9
High-speed input 9
6
IN10
Input 10
5
IN11
Input 11
4
IN12
Input 12
3
IN13
Input 13
2
IN14
Input 14
1
IN15
Input 15
PIN
Name
Description
8
IN16
Input 16
7
IN17
Input 17
6
IN18
Input 18
5
IN19
Input 19

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4
IN20
Input 20
3
IN21
Input 21
2
IN22
Input 22
1
IN23
Input 23
Input 0-9 are high-speed input.
IN (0-3) has latch and input function.
2.2.3.2 Digital input specification
→High-speed digital input specification
Item
Specification
Channel number
10 (IN0-IN9)
Input method
NPN type
Input voltage level
DC24V
Input current (typical value)
6.8mA
Input turn-on current
<15V
Input the minimal current
2.3mA
Input impedance
3.3KΩ
Isolation
Optoelectronic isolation
Input frequency
<100KhZ
→General digital input specification
Item
Specification
Channel number
14 (IN0-IN23)
Input method
NPN type
Input voltage level
DC24V
Input current (typical value)
4.8mA
Input turn-on current
<14.5V

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Input the minimal current
1.8mA
Input impedance
4.7KΩ
Isolation
Optoelectronic isolation
Input frequency
<5KhZ
2.2.3.3 Digital input wiring example
2.2.4 OUT Digital output
2.2.4.1 Terminal definition
PIN
Signal
Description
1
E24V
Output freewheeling protection port, it is
connected to load power
2
E5V
5V outputs
3
OUT1
High-speed output 0
4
OUT2
High-speed output 1
5
OUT3
High-speed output 2
6
OUT4
High-speed output 3
7
OUT5
High-speed output 4

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8
OUT6
High-speed output 5
9
OUT7
High-speed output 6
10
OUT8
High-speed output 7
PIN
Signal
Description
1
OUT34
Output 34
2
OUT35
Output 35
3
OUT10
Output 10
4
OUT11
Output 11
5
OUT12
Output 12
6
OUT13
Output 13
7
OUT14
Output 14
8
OUT15
Output 15
PIN
Signal
Description
1
OUT16
Output 16
2
OUT17
Output 17
3
OUT18
Output 18
4
OUT19
Output 19
OUT0-7 are high-speed output, they support high-speed comparison and PWM function;
E5V power output is used for PWM or common anode usage when single ended axis expands,
small power is not recommended to use for others.
E24V is the freewheeling clamp terminal, when there is inductive load on output port,
connect E24V to load power for protecting output circuit.
OUT8-9 support high-speed precision output, and are distributed into laser power interfaces.

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2.2.4.2 Digital output specification
→High-speed digital output specification
Item
Specification
Channel number
8 (OUT0-OUT7)
Output method
Transistor NPN type, OD output
Output voltage level
Load power ≤36V
Max output current
300mA
Maximum leakage current when off
25μA
Conduct respond time
1μs (Resistive Load Typical Value)
Close respond time
3μs
Isolation
Photocoupler isolation
Overcurrent protection
Support, motion current is 600mA
Output frequency
<400KhZ
→General digital output specification
Item
Specification
Channel number
12 (OUT10-OUT19,34,35)
Output method
Transistor NPN type, OD output
Output voltage level
Load power ≤36V
Max output current
300mA
Maximum leakage current when off
25μA
Conduct respond time
12μs
Close respond time
80μs
Isolation
Photocoupler isolation
Overcurrent protection
Support, motion current is 600mA
Output frequency
<8KhZ
Time in table is the standard value of resistive load, and time will change if load circuit
changes.

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The closure of output will be affected obviously by external load circuit because of OD
output, and the output frequency in application should not be set too high. It is recommended
to set below 400kHz for high-speed output and below 8kHz for general output. If higher
speed is required, please contact us to adjust parameters or to customize the hardware.
2.2.4.3 Digital Output Wiring Example
2.2.5 AD/DA analog terminal
PIN
Signal
Description
2
DA0
Channel 0 outputs, 0-10V, resolution 12-bit
1
DA1
Channel 1 outputs, 0-10V, resolution 12-bit
3
AGND
Analog reference ground
5
AD0
Channel 0 inputs, 0-10V, resolution 12-bit
4
AD1
Channel 1 inputs, 0-10V, resolution 12-bit
DA output outside connects load resistor ≥1KΩ.

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2.2.6 Axis Interface
2.2.6.1 Terminal Definition
◼Each terminal provides 0V and + 5V output, which can provide 5V power for the
encoder.
◼Do set its parameter ATYPE before use axis.
PIN
Signals
Description
1
EGND
External power ground, for servo IO
2
IN24-29/ALM
General input (recommended as drive alarm.)
3
OUT12-17/ENABLE
General output (recommended as drive enable.)
4
EA-
Encoder Input
5
EB-
Encoder Input
6
EZ-
Encoder Input
7
+5V
Power output
8
Reserved
Reserved
9
DIR+
Servo/Step direction output
10
GND
Digital ground
11
PUL-
Servo/Step pulse output
12
Reserved
Reserved
13
GND
Digital ground
14
OVCC
+24V Output (It is recommended for driver IO.)

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15
OUT24-27/CLR
General output, recommended for drive alarm
clear
16
IN28-31/INP
General input, recommended to do position-on
signal
17
EA+
Encoder Input
18
EB+
Encoder Input
19
EZ+
Encoder Input
20
GND
Digital ground
21
GND
Digital ground
22
DIR-
Servo/Step direction output
23
PUL+
Servo/Step pulse output
24
GND
Digital ground
25
Reserved
Reserved
26
Reserved
Reserved
Alarm input, position-on signal, axis enable and error clear can be as general input and
output, it is not recommended to do axis function IO because the drive ability is not so high.
EGND, OVCC powers are used for servo IO when controller inside outputs, please not to
connect switch power, and hang it in the air when no use.

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2.2.6.2 Axis wiring example
2.2.6.2.1 Wiring Reference for Low-speed Differential
Pulse
Differential Connection
Single-ended Connection

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Low-speed differential pulse wiring reference between ZMC408SCAN and Panasonic servoA5
If connects to high-speed differential pulse or encoder, axis interface GND must be
connected to drive 25th GND together.