Zmotion ZMC420SCAN User manual

ZMC420SCAN bus motion controller
hardware manual
Version 1.0

ZMC420SCAN Motion Controller
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Copyright statement
The copyright of this manual belongs to Shenzhen
Zhengshen Technology Co., Ltd. Without the written
permission of Zhengshen, no one can reprint, translate
and copy any content in this manual.
Refer to the ZBASIC software manual for detailed
information about the ZMC controller software and the
introduction and routines of each instruction.
The information in this manual is for reference only. Due
to improvements in design and functionality, Zhengsport
reserves the right to make the final interpretation of this
document! The content is subject to change without notice!
Pay attention to safety when debugging the

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machine! Please be sure to design an effective
safety protection device in the machine, and add an
error handling program to the software, otherwise
the loss caused by the company is not obliged or
liable.

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table of Contents
ZMC420SCAN Bus Motion Controller Hardware Manual............................. 1
Chapter One Controller Introduction.......................................... 3
1.1 Connection configuration............................................. 3
1.2 Installation and programming......................................... 4
1.3 Features............................................................. 4
Chapter two Hardware description............................................. 5
2.1 ZMC420SCAN Series model specifications............................... 5
2.2 ZMC420SCAN wiring.................................................... 6
2.2.1 Power interface:............................................... 7
2.2.2 Communication Interface........................................ 7
2.2.3 RS232 interface................................................ 8
2.2.4 General input signal:.......................................... 8
2.2.4.1 Input 0-7:............................................... 9
2.2.4.2 Input 8-15:.............................................. 9
2.2.4.3 Input 16-23:............................................. 9
2.2.5 General output................................................ 10
2.2.5.1 Output 0-2:............................................. 10
2.2.5.2 Output 3-11:............................................ 11
2.2.6 AD, DA signal................................................. 11
2.2.7 U Disk interface signal:...................................... 11
2.2.8 Axis interface signal:........................................ 12
2.2.8.1 Low speed differential pulse port and encoder wiring reference:
........................................................ 13
2.2.8.2 High-speed differential pulse port and encoder wiring reference:
........................................................ 15
2.2.9 Galvanometer interface signal:................................ 16
2.3 RTEX Drive settings................................................. 17
third chapter Expansion module.............................................. 17
3.1 Expansion module CAN Bus, input and output, power wiring reference: . 18
Chapter Four common problem................................................. 18
chapter Five Hardware installation.......................................... 20
5.1 ZMC420SCAN Installation dimensions.................................. 20
5.2 Comprehensive wiring reference...................................... 20

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Chapter One Controller Introduction
ZMC is the abbreviation of the network motion controller model introduced
by the positive motion technology.
ZMC420SCAN bus controller supports ECAT / RTEX bus connection,
supports up to 20 axis motion control, supports linear interpolation,
arbitrary arc interpolation, space arc, spiral interpolation,
electronic cam, electronic gear, synchronous follow, virtual axis
settings Etc .; using optimized network communication protocol can
realize real-time motion control.
ZMC420SCAN bus controller supports mixed interpolation
of pulse axis / bus axis / galvanometer axis. A single
computer supports up to 256 ZMC controllers
simultaneously linked.
1.1 Connection configuration
Typical connection configuration diagram

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The ZMC motion controller supports Ethernet, USB, CAN, 485 and
other communication interfaces. It can connect various expansion
modules through the CAN bus to expand the number of input and output
points or motion axes (120 ohm resistors need to be connected in
parallel at both ends of the CAN bus).

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1.2 Installation and programming
ZDevelop development environment
The ZMC controller is debugged through the ZDevelop development
environment. ZDevelop is a very convenient programming, compilation
and debugging environment. ZDevelop can establish a connection with
the controller via serial port, 485, USB or Ethernet.
The program can be developed using VC, VB, VS, C ++ Builder, C #,
etc. software. When debuggingZDevelop software is connected to the
controller at the same time, and the dynamic library zmotion.dll is
needed when the program runs.
1.3 Features
●Up to 20-axis motion control (4 pulse axis + EtherCAT axis /
RTEX axis / encoder axis / galvanometer axis / virtual axis).
●Pulse axis output mode: direction / pulse or double pulse.
●Galvanometer axis output mode: XY2-100 protocol.
●Support encoder position measurement, can be configured as handwheel
input mode.
●Maximum output pulse frequency of each axis 10MHz
●by EtherCAT bus,Can be expanded up to 4096 isolated input or output
ports.
●Axis positive / negative limit signal port / origin signal port can
be configured as any input port at will.
●The maximum output current of the output port can reach 300mA,
with two 500mA high current output ports, can directly drive

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some solenoid valves.
●U disk interface, RS485 interface, Ethernet interface.
●Support up to 16-axis linear interpolation, arbitrary space circular
interpolation, helical interpolation, spline interpolation.
●Support pulse axis / bus axis / galvanometer axis mixed interpolation.
●Support electronic cam, electronic gear, position latch, synchronous
follow, virtual axis and other functions.
●Support hardware comparison output (HW_PSWITCH2), hardware timer,
accurate output in motion.

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●Support pulse closed loop, pitch compensation and other functions.
●stand by ZBasic multi-file multi-task programming.
●A variety of program encryption means to protect customers'
intellectual property rights.
●Power failure detection, power failure storage.
Chapter two Hardware description
2.1 Model specification of ZMC420SCAN series
ZMC420SCAN
Number of basic
axes
20
Maximum number
of axes
20
Basic axis type EtherCAT /RTEX / 4 differential pulse axis (another output
port can be configured with 6 single-ended pulse axes) / 4
galvanometer axis.
Number of
internal IO
24 in 12 out (with overcurrent protection), in addition there
is 1 in 1 out per differential pulse axis.
Maximum number
of expansion IO
4096 in 4096 out
PWM number 12 (output frequency 1M)
Internal ADDA
number
2 channels AD, 2 channels DA. (0-10V)
Up to AD / DA 256 channels AD, 128 channels DA
Number of pulses 64
Encoder bits 64
Number of speed
acceleration
64
Pulse rate 10Mhz
Number of motion
buffers per axis
4096
Array space 640000
Program space 8000Kbyte
Flash space 256MByte
power input
24V DC input (power consumption within 10W, no fan cooling), IO
port load is not included.
Communication
Interface
RS232, RS485, Ethernet, U disk, CAN, RTEX, EtherCAT
Dimensions 216 * 144mm

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axis 6/7/8/9 / can be configured as an encoder with ATYPE = 3,
thus mapping to the encoder of axis 0-3. Axis 4/5/6/7 can be
configured as galvanometer axis with ATYPE = 21.
Single-ended pulse axis needs to pass AXIS_ADDRESS is used to
force the configuration of the local axis. Any axis number
can be mapped to the body axis, which needs to be forcedly
configured through AXIS_ADDRESS.

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Universal output band Twelve PWM functions and single-ended pulse axis
functions can be switched by ATYPE and PWM. ZMC4 series supports the
function of positive motion XPLC, which can be configured and displayed
through the network.
2.2 ZMC420SCAN wiring
ZMC420SCAN has 20 axes, up to 32 virtual axes. ZMC420SCAN can be expanded by
expansion module
axis.
The ZMC420SCAN board comes with 24 general-purpose input ports and 12 general-

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purpose output ports (one additional input port and one for each axis)
Output port), 2 0-10V AD, 2 0-10V DA.
ZMC420SCAN has one RS232 serial port, one RS485, and one
Ethernet interface. ZMC420SCAN has a CAN bus interface that
supports connection of expansion modules through the ZCAN
protocol. ZMC420SCAN has a U disk interface.

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2.2.1 Power interface:
Pin
number
name Explanation
1 E + 24V External power
supply 24V input
2 EGND External power
ground
3 FG /
EARTH
Safety ground /
shield
ZMC420SCAN series controllers are powered by a single power supply, and ZMC0-2
series and ZIO expansion cards are powered by dual power supplies.
5V shaft and encoder interface use internal power supply, IO uses external
power supply; ZIO expansion module extended shaft and encoder use external
power supply.
2.2.2 Communication Interface:
Pin
number
name Explanation
1 485B 485-
2 485A 485+

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3 EGND External power
ground
4 CANL CAN differential
data
5 CANH CAN differential
data +
When multiple controllers are connected on the CAN bus, it is necessary to connect
120 ohms in parallel to the CANL and CANH terminals of the two sides of the
controller

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resistance.
The communication interface of ZMC4 series adopts external 24V power supply, please
pay attention when connecting with other controllers or touch screens.
2.2.3 RS232 interface:
RS232 interface. Its 9pin pin is defined as follows:
Pin
number
name Explanation
2 RXD Receive data pin
3 TXD Send data pin
5 EGND External power ground
9 E5V
External power supply 5V output, can
be used to power the text screen
To connect with the computer, you need to use a 2.3-crossover cable with double
female connectors.
2.2.4 General input signal:
There is another universal input port in each axis signal, see axis interface

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description.

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2.2.4.1 Enter 0-7:
Pin
number
name Explanatio
n
Default
function
1 EGND External
power
ground
2 EGND External
power
ground
3 IN0 Enter 0 Latch A, EA6
4 IN1 Enter 1 Latch B, EB6
5 IN2 Enter 2 Latch C, EZ6
6 IN3 Enter 3 Latch D, EA7
7 IN4 Enter 4 EB7
8 IN5 Enter 5 EZ7
9 IN6 Enter 6 EA8
10 IN7 Enter 7 EB8
Input 0 and input 1 have the function of latching
input A and latching input B at the same time. Input
2 and input 3 have the function of latching input C
and latching input D at the same time.
2.2.4.2 Enter 8-15:
Pin
number
name Explanatio
n
Default or
suggested
function
1 EGND External
power
ground
2 EGND External
power
ground
3 IN8 Enter 8 EZ8
4 IN9 Enter 9 EA9
5 IN10 Enter 10 EB9
6 IN11 Enter 11 EZ9

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7 IN12 Enter 12
8 IN13 Enter 13
9 IN14 Enter 14
10 IN15 Enter 15
Single-end encoder shafts 6-9 need to be forcedly configured with a
local shaft through AXIS_ADDRESS before they can be used.
2.2.4.3 Enter 16-23:
Pin
number
name Explanatio
n
Default or
suggested
function
1 EGND External
power
ground
2 EGND External
power
ground

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3 IN16 Enter 16
4 IN17 Enter 17
5 IN18 Enter 18
6 IN19 Enter 19
7 IN20 Enter 20
8 IN21 Enter 21
9 IN22 Enter 22
10 IN23 Enter 23
2.2.5 General output:
Output circuit
There is another universal output port without current amplification in each axis
signal, see the description of the axis interface.
2.2.5.1 Output 0-2:
Pin
number
name Explanation
6 EGND External power
ground
7 E5V External 5V power
output.
8 OUT0 Output 0, PWM0,
PUL6
9 OUT1 Output 1, PWM1,
DIR6
10 OUT2 Output 2, PWM2,
PUL7
OUT0 --- 11 has the function of PWM, when PWM is off, it is a general

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output.
Single-ended pulse axes 6-11 need to be forced to configure a local axis
through AXIS_ADDRESS before they can be used.