Zmotion ZMC464 User manual

ZMC464 Hardware Manual Version1.3
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ZMC464 Controller Hardware Manual
Version 1.3

ZMC464 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, also to add some
error handling procedures in software. Zmotion has no obligation or
responsibility for the loss.

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Content
Chapter I Controllers Introduction....................................................................................................4
1.1 Connection Configuration...................................................................................................4
1.2 Installation and Programming .............................................................................................5
1.3 Features...............................................................................................................................6
Chapter II Hardware Description ......................................................................................................7
2.1 ZMC464 Series Controller..................................................................................................7
2.1.1 Order Information ....................................................................................................8
2.2 Wiring Reference ................................................................................................................9
2.2.1 Power Interface ......................................................................................................10
2.2.2 Communication Interface.......................................................................................11
2.2.3 RS232 Interface......................................................................................................11
2.2.4 General Input..................................................................................................................12
2.2.4.1 Input 0-7..............................................................................................................12
2.2.4.2 Input 8-15............................................................................................................13
2.2.4.3 Input 16-23..........................................................................................................13
2.2.5 General Output...............................................................................................................14
2.2.5.1 Output 0-7 ...........................................................................................................14
2.2.5.2 Output 8-11 .........................................................................................................15
2.2.6 DA Signal.......................................................................................................................15
2.2.7 USB Drive......................................................................................................................16
2.2.8 Axis Interface .................................................................................................................16
2.2.8.1 Axis 0-2...............................................................................................................16
2.2.8.1 Wiring Reference for Low-speed Differential Pulse or Encoder Axis ........18
2.2.8.2 Wiring reference for High-speed Differential Pulse or Encoder Axis.........20
Chapter III Expansion Module........................................................................................................22
3.1 Wiring Reference For CAN, Input, Output and Power .....................................................22
Chapter IV Common Problems.......................................................................................................23
Chapter V Hardware Installation.....................................................................................................25
5.1 ZMC464Installation Size ..................................................................................................25

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Chapter I Controllers Introduction
ZMC is the abbreviation of network motion controller model launched by ZMOTION
technology.
ZMC464 series controller supports EtherCAT bus connection, the fastest refresh cycle
is 100μs (within 16 axes), and supports linear interpolation of up to 64 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
The controller supports ETHERNET, USB, CAN, 485 and other communication
interfaces. Input, output or axis can be extended through CAN bus. (Resistance of 120
Ω is required between CANL and CANH).
ZMC motion controller supports save and read data through U disk (except ZMC0XX
series).

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1.2 Installation 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.

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1.3 Features
⚫Motion control of up to 64 axes (3 pulse axes + ECAT axes).
⚫Pulse output mode: direction / pulse or double axes.
⚫The fastest refresh cycle of ECAT is 100μs (within 16 axes, and needs special
version).
⚫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 4096 through EtherCAT bus.
⚫The positive or 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.
⚫Interfaces: USB drive, RS485 and ETHERNET etc.
⚫Linear interpolation of up to 16 axes, interpolation of random, spherical and helical.
⚫Electronic cam, electronic gear, position latch synchronous follow, virtual axis etc.
⚫Support hardware comparison output (HW_PSWITCH), hardware timer, precision
output in motion.
⚫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.

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Chapter II Hardware Description
2.1 ZMC464 Series Controller
ZMC464
ZMC464-16
ZMC464-32
Axes
64
16
32
Max extended axes
64
32
64
Type of basic axes
ECAT basic axes, plus 3 pulse output/encoder-axis.
Internal IO
24 inputs and 12 outputs (with overcurrent protection), each
axis has another 1 input and 1 output.
Max extended IO
512 inputs and 512 outputs
PWM
4 (output frequency 1M)
Internal ADDA
2 DAs. (0-10V)
Max extend ADDA
256 ADs, 128 DAs
Pulse bits
64
Encoder bits
64
Speed/Acceleration bit
64
Max pulse frequency
10Mhz
Axis motion buffer
512
Array size
320000
Procedure size
2000KByte
Flash size
256MByte
Power input
24V DC (power is within 10W, fan cooling is not needed), IO
consumption is not included.
Communication
RS232, RS485, ETHERNET, USB drive, CAN, EtherCAT.
Size
250*135.25mm
Configure axis 6/7/8 as encoder type, then these axes will be mapped to axis 0-2
as encoder axes, which will get encoder feedback of axis 0-2.

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General input and output with another 2 pulse and 2 encoder functions, which can
be configured through ATYPE.
ZMC4XX Series support ZMOTION XPLC function, which can do configuration
display through net.
2.1.1 Order Information
Model
Specification Description
ZMC464
64 axes, Point to point, Interpolation of linear, interpolation of circular,
electronic cam, continuous motion, Robotic Instruction.
ZMC464-1
64 axes, Point to point, electronic cam.
ZMC464-32
32 axes, Point to point, Interpolation of linear, interpolation of circular,
electronic cam, continuous motion, Robotic Instruction.
ZMC464-16
16 axes, Point to point, Interpolation of linear, interpolation of circular,
electronic cam, continuous motion, Robotic Instruction.
ZMC464R
ZMC464 + Delta + 6-joint robotic arm instructions

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2.2 Wiring Reference
➢ZMC464 has 64 basic axes, which supports up to 64 virtual axes, also can be
extended axes through expansion module.
➢There are 24 general inputs, 12 outputs (additional 1 input and 1 output), 2 0-10V
DAs, 1 RS232, 1 RS485 1 USB drive and one Ethernet.
➢1 CAN bus, which is used to link with expansion modules through ZCAN
communication protocol.

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2.2.1 Power Interface
PIN
Name
Description
1
+24V
24V Power supply
2
EGND
External power ground
3
FG/EARTH
Shield
ZMC464 series controller uses single power, and the ZMC0-2 series and ZIO
extension cards use double power.
Controller 5V 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 NO
Name
Description
4
485B
485-
5
485A
485+
6
EGND
External ground
7
CANL
CAN differential data +
8
CANH
CAN differential data -
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.
Communication interfaces on ZMC4XX 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 usethe same power. When they use different
power, controller power GND links to ZIO expansion module power GND, or
CAN will be burned out.
2.2.3 RS232 Interface
Pins definition of RS232 as follows:

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PIN NO
Name
Description
2
RXD
Receive data PIN
3
TXD
Send data PIN
5
EGND
External ground
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.
Input has 2 24V encoders, axis 3 and axis 4.
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, EA (3)
4
IN1
Input 1
Latch B, EB (3)

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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 0 and input 1 both have latch input A and latch input B functions at the same
time.
2.2.4.2 Input 8-15
PIN
Name
Description
Default
1
EGND
External ground
2
EGND
External ground
3
IN8
Input8
4
IN9
Input9
5
IN10
Input10
6
IN11
Input11
7
IN12
Input12
8
IN13
Input13
9
IN14
Input14
10
IN15
Input15
2.2.4.3 Input 16-23
PIN
Name
Description
Default
1
EGND
External ground
2
EGND
External ground
3
IN16
Input 16

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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
Additional 1 output in each axis without current amplification. See interface
description for details.
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, PUL 4
4
OUT1
Output 1, PWM1, DIR 4
5
OUT2
Output 2, PWM 2, PUL 3

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OUT3
Output 3, PWM 4, DIR 3
7
OUT4
Output 4
8
OUT5
Output 5
9
OUT6
Output 6
10
OUT7
Output 7
OUT 0/1/2/3 support PWM function, they are general outputs when PWM
functions are shut down.
OUT 0/1/2/3 has axis 3/4 function, which can be configured through ATYPE.
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
2.2.6 DA Signal
PIN
Name
Description
1
NC
Reserved
2
NC
Reserved
3
DA0
0-10V analog output 0
4
DA1
0-10V analog output 1
5
DAGND
External power analog ground
Inside DA of ZMC464 uses internal power.

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2.2.7 USB Drive
PIN
Name
Description
1
V
USB drive+5V power output
2
D-
Differential data D-
3
D+
Differential data D+
4
GND
Internal ground
2.2.8 Axis Interface
2.2.8.1 Axis 0-2
◼It provides 0V and +5V, which can provide 5V power for the encoder.
◼Do set its parameter ATYPE before use axis.
PIN
Signal
Description
1
EGND
External power
2
IN24-26/ALM
General input, recommended as drive alarm
3
OUT12-14/ENABLE
General output, recommended as drive enable
4
EA+
Encoder input
5
EB+
Encoder input
6
EZ+
Encoder input
7
+5V
Power input
8
Reserved
Reserved
9
DIR+
Servo/stepper directional output

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10
GND
Digital output
11
PUL -
Servo/stepper pulse output
12
Reserved
Reserved
13
GND
Digital ground
14
OVCC
+ 24V output (recommended as
15
Reserved
Reserved
16
Reserved
Reserved
17
EA+
Encoder input
18
EB+
Encoder input
19
EZ+
Encoder input
20
GND
Digital output
21
GND
Digital output
22
DIR-
Servo/stepper directional output
23
PUL+
Servo/stepper pulse output
24
GND
Digital output
25
Reserved
Reserved
26
Reserved
Reserved

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2.2.8.1 Wiring Reference for Low-speed Differential Pulse or Encoder
Axis
Differential Connection
Single-ended Connection
Encoder connection

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2.2.8.2 Wiring reference for High-speed Differential Pulse or Encoder
Axis
If the low-speed differential pulse meets speed requirement, use low-speed
differential pulse preferentially. Or if need to use high-speed differential pulse, do
connect internal digital GND of controller with GND of high-speed pulse interface
of drive.
High-speed Differential Pulse Connection