Zmotion ECI0032 User manual

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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.

ECI0032 Network IO Control Card User Manual V1.5
Content
Chapter I Production Information........................................................................................3
1.1. Product Information ..........................................................................................3
1.2. Function Features..............................................................................................3
1.3. System Frame ...................................................................................................4
1.4. Hardware Installment........................................................................................4
Chapter II Product Specification .........................................................................................6
2.1. Basic Specification............................................................................................6
2.2. Order Information..............................................................................................6
2.3. Interface Definition............................................................................................7
2.4. Work Environment .............................................................................................8
Chapter III Wiring, Communication Configuration ..............................................................9
3.1. Power Input, CAN Communication Interface ....................................................9
3.1.1. Power Supply Specification .................................................................10
3.1.2. CAN Communication Specification & Wiring .......................................10
3.1.2. Basic Usage Method ............................................................................12
3.2. IN: Digital Input................................................................................................14
3.2.1. Digital Input Specification & Wiring .....................................................14
3.2.2. Basic Usage Method ............................................................................15
3.3. OUT: Digital Output..........................................................................................17
3.3.1. Digital Output Specification & Wiring...................................................17
3.3.2. Basic Usage Method ............................................................................19
3.4. RS232 Serial Port ............................................................................................19
3.4.1. RS232 Interface Specification & Wiring ...............................................20
3.4.2. Basic Usage Method ............................................................................21
3.5. ETHERNET .......................................................................................................22
Chapter IV Expansion Module ...........................................................................................25

ECI0032 Network IO Control Card User Manual V1.5
4.1. Configure as CAN Expansion Module .............................................................25
4.1.1. ZCAN Slave Protocol Configuration .....................................................25
4.1.2. CAN Expansion, Wiring of Master Station............................................26
4.2. CAN Bus Expansion.........................................................................................27
4.2.1. CAN Expansion Wiring..........................................................................27
4.2.2. CAN Bus Expansion Resources Mapping ............................................29
Chapter V Expansion Module ............................................................................................32
5.1. ZDevelop Software Usage...............................................................................32
5.2. PC Upper-Computer Program Application .....................................................37
Chapter VI Run and Maintain ............................................................................................40
6.1. Regular Inspection and Maintenance .............................................................40
6.2. Common Problems..........................................................................................41

ECI0032 Network IO Control Card User Manual V1.5
Chapter I Production Information
1.1. Product Information
ECI is the abbreviation of the network motion control card model launched by
Zmotion Technology.
ECI0032 is a kind of network IO control card developed by Zmotion Technology. Real-
time IO control can be achieved through optimized network communication protocol.
ECI0032 network IO control card supports Ethernet and RS232 communication
interface to connect to computer. Every expansion module can be connected through CAN
bus to expand inputs and outputs.
1.2. Function Features
◆272 inputs and 272 outputs can be extended through CAN bus.
◆The maximum output current of general digital outputs can reach 300mA, which can
directly drive some kinds of solenoid valves.
◆Interfaces: RS232, CAN, Ethernet.
◆Support Multi-file and multi-task programming in ZBasic.
◆A variety of program encryption methods to protect the intellectual property rights of
customers.

ECI0032 Network IO Control Card User Manual V1.5
1.3. System Frame
1.4. Hardware Installment
ECI0032 network IO control card 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

ECI0032 Network IO Control Card 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

ECI0032 Network IO Control Card User Manual V1.5
Chapter II Product Specification
2.1. Basic Specification
Item
Description
Model
ECI0032
Basic Axes
0
Digital IO
16 inputs, 16 outputs.
Max Extended IO
272 inputs, 272 outputs
AD/DA
/
Max Extended AD/DA
128 ADs, 64 DAs
Array Space
800
Program Space
3KByte
Flash Space
128KByte
Power Supply
24V DC input, IO power.
Communication Interfaces
RS232, Ethernet, CAN.
Dimensions
150*144mm
2.2. Order Information
Model
Description
ECI0032
16 inputs and 16 outputs (with overcurrent protection)
ECI0032B
16 inputs and 16 outputs (with overcurrent protection), it can run offline.

ECI0032 Network IO Control Card User Manual V1.5
2.3. Interface Definition
→Interface Description
Mark
Interface
Number
Description
IO POWER
Status Indication Led
1
IO Power indicator: it lights when IO power is
conducted.
POWER
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
1
Use MODBUS_RTU protocol
ETHERNET
Net port
1
Use MODBUS_TCP protocol, expand Ethernet

ECI0032 Network IO Control Card User Manual V1.5
through interchanger, the number of net port
channels can be checked through “?*port”,
default IP address id 192.168.0.11
E+24V
Main power
1
24V DC power supplies for control card.
+24V
IO Power Supply
1
24V DC power supplies for IO power.
CAN
CAN bus interface
1
Connect CAN expansion module and CAN
equipment of other standards
IN
Digital IO input
16
Leakage type, IO 24V supplies the power.
OUT
Digital IO output
16
Leakage type, IO 24V supplies the power.
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

ECI0032 Network IO Control Card User Manual V1.5
Chapter III Wiring, Communication
Configuration
3.1. Power Input, CAN Communication Interface
The power supply input adopts a 5Pin (there are all 5 terminals, +24V, CANH, EARTH, CANL
and EGND) screw-type pluggable wiring terminal, and the interval (means the gap
distance between two ports) should be 3.81mm. This 5Pin terminal is the power supply
shared by control card and CAN communication.
→Terminal Definition:
Terminal
Name
Type
Function
+24V
Input
Input for power 24V
CANH
Input/Output
CAN differential data +
EARTH
Grounding
Shield
CANL
Input/Output
CAN differential data -
EGND
Input
Power ground
Note:
Please separate internal power supply 24V from external IO power 24V, they cannot
use the same power supply. Or use one power supply that can output two isolated 24V
powers.
Terminal
Name
Type
Function
EGND
Input
IO Power Ground
E24V
Input
Input for power 24V
Note:
Please separate internal power supply 24V from external IO power 24V, they cannot
use the same power supply. Or use one power supply that can output two isolated 24V

ECI0032 Network IO Control Card User Manual V1.5
powers.
3.1.1. Power Supply Specification
→Specification for Main Power Supply
Item
Description
Voltage
DC24V (-10%~10%)
Current to open
≤0.5A
Current to work
≤0.4A
Anti-reverse connection
Valid
Overcurrent Protection
Valid
→Specification for IO Power Supply
Item
Description
Voltage
DC24V (-5%~5%)
Current to open
≤0.15A
Current to work
≤0.1A
Anti-reverse connection
Valid
Overcurrent Protection
Valid
3.1.2. CAN Communication Specification & Wiring
The CAN interface of the control card adopts the standard CAN communication
protocol, which mainly includes three ports, CANL, CANH and the public end. And it
supports connecting CAN expansion modules and other standard CAN devices.
→Specification

ECI0032 Network IO Control Card User Manual V1.5
Item
Description
Max Communication Rate (bps)
1Mbps
Terminal Resistor
120Ω
Topology
Daisy chain connection structure
The number of nodes can be
extended
Up to 16
Communication Distance
The longer communication distance is, the lower
communication rate is, max 100m is
recommended.
→Wiring Reference
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 (the star topology structure
cannot be used). When the use environment is ideal and there are no many nodes,
the branch structure also can be used.
⚫Please connect a 120Ω terminal resistor in parallel to each end of the CAN bus for

ECI0032 Network IO Control Card User Manual V1.5
matching the circuit impedance and ensuring communication stability.
⚫Please be sure to connect the public ends of each node on the CAN bus to prevent
the CAN chip from burning out.
⚫Please use STP (Shielded Twisted Pair), especially in bad environments, and make
sure the shielding layer is fully grounded.
⚫When on-site wiring, pay attention to make the distance between strong current and
weak current, it is recommended for the distance 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:
Shielded Twisted Pair, and the shielded cable is grounded.
3.1.2. Basic Usage Method
(1) Please follow the above wiring instructions to wiring correctly.
(2) After powered on, please use ETHERNET or RS232 to connect to ZDevelop.
(3) 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

ECI0032 Network IO Control Card User Manual V1.5
“ZBasic Programming Manual” for details.
(4) Correctly set the "address" and "speed" of the slave station expansion module
according to the manual of the slave station.
(5) After all the settings are completed, restart the power supply of all stations to
establish communication.
(6) 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.

ECI0032 Network IO Control Card User Manual V1.5
3.2. IN: Digital Input
The digital input adopts 2 groups of 10Pin (there are 3 groups of 10 terminals) screw-type
pluggable terminals, and the gap distance between terminals should be 3.81mm.
→Wiring Definition
Terminal
Name
Type
Function 1
EGND
/
IO Power Ground
EGND
/
IN0
NPN leakage type,
low-speed input
Input 0
IN1
Input 1
IN2
Input 2
IN3
Input 3
IN4
Input 4
IN5
Input 5
IN6
Input 6
IN7
Input 7
EGND
/
IO Power Ground
EGND
/
IN8
NPN leakage type,
low-speed input
Input 8
IN9
Input 9
IN10
Input 10
IN11
Input 11
IN12
Input 12
IN13
Input 13
IN14
Input 14
IN15
Input 15
3.2.1. Digital Input Specification & Wiring
→Specification
Item
Low-Speed Input (IN0-15)
Input mode
NPN leakage type, the input is triggered when
there is low-electric level
Frequency
＜5kHz

ECI0032 Network IO Control Card User Manual V1.5
Impedance
4.7KΩ
Voltage level
DC24V
The voltage to open
<14.5V
The voltage to close
>14.7V
Minimal current
-1.8mA (negative)
Maximum current
-6mA (negative)
Isolation mode
optoelectronic isolation
Note: the above parameters are standard values when the voltage of control card
power supply (E+24V port) is 24V.
→Wiring Reference
→Wiring Note:
⚫The wiring principle of low-speed digital input IN (0-15) is shown in the figure above.
The external signal source can be an optocoupler, a key switch or a sensor, etc., all
can be connected as long as the requirements on output of electric level can be
achieved.
⚫For the public end, please connect the "EGND" port on the power supply to the "COM"
terminal of the external input device. If the signal area power supply of the external
device and the power supply of the controller are in the same power supply system,
this connection also can be omitted.
3.2.2. Basic Usage Method
(1) Please follow the above wiring instructions to wiring correctly.

ECI0032 Network IO Control Card User Manual V1.5
(2) After powered on, please select ETHERNET or RS232 to connect to ZDevelop.
(3) State values of relative input ports can be read directly through “IN” command, also,
it can be read through “ZDevelop/View/In”. Please refer to “ZBasic” for details.