Zmotion ECI2410 Series User manual

ECI2410 Network Motion Control Card Hardware Manual Version1.4
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ECI2410 Network Motion Control
Card Hardware Manual
Version 1.4

ECI2410 Network Motion Control Card Hardware Manual Version1.4
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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, and add the
error handling procedures in software. Zmotion has no obligation
or responsibility for the loss.

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Content
ECI2410 Network Motion Control Card Hardware Manual ......................................................1
Chapter I Control Card Introduction ............................................................................................5
1.1 Connection Configuration.....................................................................................5
1.2 Installation and Programming .............................................................................6
1.3 Features...................................................................................................................7
Chapter II Hardware Description..................................................................................................8
2.1 ECI2410 Series Controller .....................................................................................8
2.1.1 Order Information...........................................................................................9
2.2 Wiring Reference ..................................................................................................10
2.2.1 Power / CAN Interface .................................................................................11
2.2.2 RS232 Interface ............................................................................................11
2.2.3 Ethernet Interface Signal.............................................................................12
2.2.4 Analog input and output signal..................................................................12
2.2.5 General Input signal.....................................................................................13
2.2.5.1 Digital Input Wiring Reference............................................................13
2.2.5.2 Digital Input Specification ..................................................................13
2.2.5.3 Digital Input Terminal ..........................................................................14
2.2.6 Digital Output Signal....................................................................................15
2.2.6.1 Digital Output Wiring Reference.........................................................15
2.2.6.2 Digital Output Specification................................................................16
2.2.6.3 Digital Output Terminal .......................................................................17
2.2.7 Handwheel Interface Signal........................................................................18
2.2.8 Axis Interface Signal....................................................................................20
2.2.8.1 Wiring Reference for Low-speed Differential Pulse and Encoder
Axis 22
2.2.8.2 Wiring reference for High-speed Differential Pulse or Encoder Axis
24
2.2.8.3 Wiring Reference for Encoder Axis ....................................................26
Chapter III Expansion Module ....................................................................................................27
3.1 Wiring Reference For CAN, Input, Output and Power......................................27
Chapter IV Common Problems...................................................................................................28
Chapter V Hardware Installation................................................................................................31
5.1 ECI2410 Installation.............................................................................................31

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5.2 Comprehensive Wiring Reference......................................................................31
Chapter VI Appendix ....................................................................................................................32
6.1 Electronic Technology Parameter......................................................................32
6.1.1 Power Requirements....................................................................................32
6.1.2 Work Environment ........................................................................................32

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Chapter I Control Card Introduction
⚫ECI is the abbreviation of network motion control card published by
ZMOTION Technology.
⚫ECI2410 series control card supports linear interpolation up to 12 axes,
and interpolation of random circular, spherical, helical, electronic cam,
electronic gear, synchronous follow, virtual axis, robotic arm instruction,
etc. Real-time motion control can be achieved through optimized network
communication protocol.
1.1 Connection Configuration
ECI network motion control card supports the connection between
Ethernet, 232 communication interfaces and computer, receiving instructions
from computer. Also, it links with each expansion module through ZCAN bus
to extend inputs, outputs and axes of motion (a 120Ω resistance is needed
between CANL and CANH).

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1.2 Installation and Programming
ZDevelop Development Environment
ECI motion control card is programmed and debugged by ZDevelop
software. ZDevelop, the software is easy to program, compile and debug. Link
ZDevelop and controller through serial port or Ethernet.
Application procedures can be programmed by VC, VB, VS, C ++ Builder, C
# and other software development. When debugs, ZDevelop 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 12 axes.
⚫Pulse output mode: Directional / pulse or double mode.
⚫Encoder position measurement is supported and can be configured as
hand wheel input mode.
⚫Specialized handwheel input interface.
⚫Maximum frequency output of each axis: 10MHz.
⚫Maximum isolation inputs or outputs can reach 512 through CAN.
⚫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.
⚫Interface: RS232, Ethernet.
⚫Linear interpolation of up to 12 axes, interpolation of random, spherical
and helical.
⚫Electronic cam, electronic gear, position latch, synchronous follow and
virtual axis etc.
⚫Multi-file and multi-task programming in ZBasic.
⚫A variety of program encryption methods to protect the intellectual
property rights of customers.

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Chapter II Hardware Description
2.1 ECI2410 Series Controller
ECI2418
Axes
4
Max extended axes
12
Basic axis type
Pulse / encoder
Internal IO
24 inputs and 16 outputs (with overcurrent
protection), each axis has another 2 inputs and 1
output (output in the axis only can do enable)
Max extended IO
Up to 256 inputs and 256 outputs
AD/DA
2 general ADs and 2 general DAs
Max extended
AD/DA
128 ADs, 64DAs
Pulse bit
32
Encoder bit
32
Speed/acceleration
bit
32
Max pulse
frequency
10Mhz
Axis motion buffer
128
Array space
1600
Procedure space
4Kbyte
Flash space
128KByte
Power input
24V DC input (since consumption is within 10W,
fan cooling is not needed)
Communication
RS232, Ethernet, CAN

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Size
220*139mm
2.1.1 Order Information
Model
Specification
ECI2410
4 axes, point to point, electronic cam, doesn’t support interpolation
ECI2412
4 axes, point to point, electronic cam, linear interpolation
ECI2416
4 axes, point to point, electronic cam, linear interpolation, circular
interpolation
ECI2418
4 axes, point to point, electronic cam, linear interpolation, circular
interpolation, continuous interpolation, robotic arm instruction
ECI2418-
HW
4 axes, point to point, electronic cam, linear interpolation, circular
interpolation, continuous interpolation, robotic arm instruction,
precision output
Model name with suffix HW, which means it supports precision output
function, please see HW_PSWITCH2 instruction.

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2.2 Wiring Reference
➢ECI2410 has 4 axes at most, each axis has independent encoder, virtual
axis can be extended to 12 axes through expansion module.
➢ECI2410 has 24 general inputs and 16 general outputs, 2 ADs and 2 DAs.
➢ECI2410 has one RS232 serial port and one Ethernet interface.
➢ECI2410 has one CAN bus interface, which supports connect to expansion
module through ZCAN protocol.
➢ECI2410 has one handwheel interface.

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2.2.1 Power / CAN Interface
PIN No.
Name
Description
1
EGND
power ground
2
CANL
CAN differential data -
3
EARTH/SHIELD
Safety ground / Shield Layer
4
CANH
CAN differential data +
5
E+24V
Internal power 24V inputs
For communication quality, please use shielded twisted pair, and shield
connects with the ground, the internal powers of controller and expansion
module use the same one.
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.
2.2.2 RS232 Interface
PIN No.
Name
Description
2
RXD
Receive data PIN
3
TXD
Send data PIN
5
GND
Power ground
9
DC5V
Power 5V output, it supplies for text screen.
Crossover cable with two female head is needed when try to link to
computer.

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2.2.3 Ethernet Interface Signal
It supports one group 100M Ethernet communication. When the green
lights constantly, which means there connects and works under full duplex
modes. When the yellow light blinks, which means it is communicating
now.
2.2.4 Analog input and output signal
PIN
Name
Description
1
DA0
0-10V analog output 0, resolution is 12-bit
2
DA1
0-10V analog output 1, resolution is 12-bit
3
ADGND
Analog GND
4
AD0
0-10V analog input 0, resolution is 12-bit
5
AD1
0-10V analog input 1, resolution is 12-bit
The load impedance externally connected to DA output is ≥3.3KΩ. The
load impedance externally connected to AD output is ≤0.3KΩ.

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2.2.5 General Input signal
2.2.5.1 Digital Input Wiring Reference
2.2.5.2 Digital Input Specification
→high speed input channel:
Item
Specification
The number of channels
2 (IN0-IN1)
Input method
NPN type
Input voltage level
DC24V
Input current (typical value)
6.8mA
Input open voltage
<15V
Input the minimal current
2.3mA
Input impedance
3.3KΩ
Isolation
Optoelectronic isolation
Input frequency
<100kHz
→general input channel:
Item
Specification
The number of channels
22 (IN2-IN23)
Input method
NPN type

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Input voltage level
DC24V
Input current (typical value)
4.8mA
Input open voltage
<14.5V
Input the minimal current
1.8mA
Input impedance
4.7KΩ
Isolation
Optoelectronic isolation
Input frequency
<5kHz
2.2.5.3 Digital Input Terminal
PIN
Name
Description
1
EGND
External power ground (not connect to switch power)
2
EGND
External power ground (not connect to switch power)
3
IN0
Input 0, high-speed input (latch A)
4
IN1
Input 1, high-speed input (latch B)
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 have latch input A and latch input B function
synchronously.
PIN
Name
Description
1
EGND
External power ground (not connect to switch power)
2
EGND
External power ground (not connect to switch power)
3
IN8
Input 8
4
IN9
Input 9

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5
IN10
Input 10
6
IN11
Input 11
7
IN12
Input 12
8
IN13
Input 13
9
IN14
Input 14
10
IN15
Input 15
PIN
Name
Description
1
EGND
External power ground (not connect to switch power)
2
EGND
External power ground (not connect to switch power)
3
IN16
Input 16
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
2.2.6 Digital Output Signal
2.2.6.1 Digital Output Wiring Reference

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2.2.6.2 Digital Output Specification
→high speed output channel:
Item
Specification
The number of channels
2 (OUT0-OUT1)
Output method
Transistor NPN type, OD output
Output voltage level
Load power ≤36V
Max output current
300mA
Max leakage current when OFF
25μA
Respond time when ON
1μs (resistant load typical value)
Respond time when OFF
3μs
Isolation
Optoelectronic isolation
Overcurrent protection
Support, motion current is 600mA
Output frequency
<100kHz
→general output channel:
Item
Specification
The number of channels
14 (OUT0-OUT15)
Output method
Transistor NPN type, OD output
Output voltage level
Load power ≤36V
Max output current
300mA
Max leakage current when OFF
25μA
Respond time when ON
12μs
Respond time when OFF
80μs
Isolation
Optoelectronic isolation
Overcurrent protection
Support, motion current is 600mA
Output frequency
<8kHz
Time in table is based on standard value of resistance load, and it will
change when the load circuit changed.

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Due to OD output, OFF of output will be affected obviously by external
load circuit. Therefore, it is not recommended to set too high output frequency,
it should be set below 400KHZ for high-speed output, and below 8Khz for
general output. If even higher speed is required, please contact with us to
adjust parameters or customize hardware.
2.2.6.3 Digital Output Terminal
PIN
Name
Description
1
OUT7
Output 7
2
OUT6
Output 6
3
OUT5
Output 5
4
OUT4
Output 4
5
OUT3
Output 3
6
OUT2
Output 2
7
OUT1
Output 1, high-speed output, PWM1
8
OUT0
Output 0, high-speed output, PWM0
9
EGND
External power ground (not connect to switch power)
10
EGND
External power ground (not connect to switch power)
PIN
Name
Description
1
OUT15
Output 15
2
OUT14
Output 14
3
OUT13
Output 13
4
OUT12
Output 12
5
OUT11
Output 11
6
OUT10
Output 10
7
OUT9
Output 9
8
OUT8
Output 8

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E5V
5V power generated from 24V, output
10
EGND
External power ground (not connect to switch power)
OUT0 and OUT1 are high-speed output, and they both have PWN function.
E5V power output is used to offer PWM, or it is used for common anode when
single-ended axis when expands. The power is not big, so it is not
recommended for other uses.
2.2.7 Handwheel Interface Signal
PIN
Name
Description
1
H-5V
Supply power only for handwheel (max 200mA)
2
HA-
Encoder A phase signal (IN36)
3
HB-
Encoder B phase signal (IN37)
4
HEMGN
Emergency stop signal (IN47)
5
NC
6
HX1
Select X1 ration (IN38)
7
HX10
Select X10 ration (IN39)
8
HX100
Select X100 ration (IN40)
9
HSU
Select axis 3 (IN44)
10
NC
11
EGND
External power ground
12
NC

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13
HSZ
Select axis 2 (IN43)
14
HSY
Select axis 1 (IN42)
15
HSX
Select axis 0 (IN41)
Handwheel wiring circuit
IN36-IN47 on the handwheel terminal only support 5V electric level input,
which can not be used as 24V general input. The products with hardware ID
number above 1909***** support 5-24V electric level input, which means they
can be used as 24V standard general input.

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How to use:
1. Connect handwheel and controller correctly according to above.
2. Configure axis. For this controller, the default axis number AXIS of
handwheel encoder is 4.
➢According to requirements, configure atype.
➢Assign axis selection (HSX, HSY, HSZ, HSU) and speed ratio (HX1,
HX10, HX100) and emergency stop (HEMGN) functions.
➢These signals are digital input signals actually, they have fixed
numbers, but no fixed functions, which needs to be developed
through ZDevelop.
➢The name is “recommended functions to be configured”, axis
selection means the connected axis of “connect” synchronous
motion, ratio means ratio of “connect”.
3. Above steps are finished, it’s time to use handwheel.
2.2.8 Axis Interface Signal
◆Each terminal provides 0V and + 5V output, which also can provide 5V
power for the encoder.
◆Do set its parameter ATYPE before use axis.
Alarm input, on-position signal and axis enable output can be used as
general input and output simultaneously.