There are two series ZCAN bus expansion modules, ZCAN expansion modules and ZMIO310-CAN expansion modules. Today, let's see ZCAN expansion modules at first (ZMIO310-CAN expansion modules related knowledge will be introduced in next article).

It can be seen there are many models from below form.

(1) While connecting multiple CAN expansion modules on the CAN bus, please connect all CANL and CANH ports together, specifically, CANL connects to CANL, CANH connects to CANH.

(2) Connect one 120ohm terminal resistor at the two ends separately in parallel for matching the circuit impedance and ensuring the communication be stable (the controller/control card side needs to connect a 120 ohm resistor between CANL and CANH, and the last DIP switch of the CAN expansion module to connect to a 120 ohm resistor in parallel).

(3) Make sure public end of controller main power is connected to public end of CAN expansion module main power together, in this way, to prevent the CAN chip from burning out.

(4) In severe interference occasions (the wiring is correct, but the ALM led is ON all the time after restarting), please replace the communication cable as STP (shielded twist pair), and this STP can be grounded.

(5) For ZIO series expansion modules, they all use double-power, main power supply of the expansion board and IO single power supply are supplied independently (by two), then this can prevent IO interference from being transmitted to the main power supply of the ZCAN expansion module and affecting communication. For ZAIO analog expansion module , it uses single-power supply, that is, it only needs main power supply, no need to supply for IO independently.

(6) Attention the distance should be made between strong current and weak current when wiring, it is recommended to be above 20cm.

single-power controller & expansion module

dual-power controller & expansion module

Before that, let's see what is DIP switch, and each ZCAN expansion module has one red dial code switch, followings show details.

A. What is DIP Switch

(1) DIP 1-4

Dail code 1-4 is CAN ID ( CAN dial code address), which is used for ZCAN expansion module IO address mapping, and 4-digital binary combination value correspond to values of 0-15. And the controller sets corresponding expansion module's IO starting address, AD and DA starting addresses according to CAN DIP address.

Please note IO No. can't repeat in the whole control system, that is, avoid existed No. while mapping resources.

Next, form 1, it shows digital IO starting No. and end No. that correspond to different binary combination value.

Form 2, it shows AD & DA starting and end addresses that correspond to different binary combination value. For states and relative address ID of code 1-4, please refer to form 1.

(2) DIP 5-6

Dial code 5-6 is to set CAN communication speed, and the combination values relate to 0-3. Therefore, there are four options for the speed. Generally, default speed is OK. But if there is severe interference, CAN communication speed can be reduced in a way, at the same time, master station and slave station must keep the pace, that is, please make the controller CAN communication speed be consistent with ZCAN expansion module speed through CANIO_ADDRESS command.

(3) DIP 7

Code 7 is reserved for special function (for example, code 7 of ZIO3232MT is to enable former 6 codes, that is, when code 7 is ON, code 1 - code 6 are ON, when code 7 is OFF, code 1 - code 6 are OFF).

(4) DIP 8

Code 8 means one 120ohm resistor.

ON indicates one 120 ohm resistor is connected between CANL and CANH in parallel. When there are several CAN communication modules connected, it only needs to dial the last CAN expansion module code 8 as ON.

B. How to Set DIP

(1) CAN DIP Address Setting

As it was mentioned above, IO No. in the whole control system can't repeat. Controller local IO addresses can be checked through "controller--controller state--Zcan Nodes" in RTSys (ZDevelop).

Above is ZMC432 controller local digital IO and analog IO distribution. For ZCAN expansion module that extends digital IO, IO starting address of ZCAN expansion board must be larger than the max value 29 of IN No., at the same time, it also must be bigger than the max value 17 of OUT No., and CAN address dial code combination value must be equal to or more than 1 (check the corresponding value of the digital IO combination value).

(2) CAN Communication Speed Setting

Generally, default value is enough. When all are dialed as OFF, now the default baud rate is 500kbps.

(3) Special Function Reserved Setting

Generally, dial it as OFF, but for ZIO3232MT, it should be ON.

(4) 120 ohm Resistor Setting

The last one CAN expansion module's code 8 should be ON, then the end 120 ohm matching resistor is added into CAN internet.

After wiring CAN expansion module and setting DIP switch, it needs to power down and restart the controller and expansion module.

(1) Check the LED on Module

After restarting, please observe whether the ALM LED of ZCAN expansion module is OFF. If the master station motion controller and slave expansion module communicate normally, LEDs of module should be Power [ON], Run [ON], Alarm/ALM [OFF].

It can be seen below is one abnormal situation because the ALM is ON.

Check IO power.

In below image, IO POW led is ON, which means IO power supply is OK.

(2) Check ZCAN Nodes

Each ZCAN expansion module's IO starting No. and other information can be viewed clearly through "controller -- controller state -- Zcan Nodes" in RTSys (ZDevelop)

(3) Check IO Information

IO information of corresponding IO ports of ZCAN expansion module can be checked through "tool -- IN / OP -- IO select" in RTSys (ZDevelop)

(4) Check AD / DA

In RTSys (ZDevelop) "tool -- AD/DA", corresponding analog inputs and outputs information can be watched. For ZAIO0802 expansion module, both analog inputs and outputs are 12-bit, therefore, max scale value needs selecting 4096 by manual.

(5) Test ZCAN Expansion Axis

When pulse-axis is extended through CAN, ZIO16082 can be used. It can expand two pulse axes. And axis mapping is needed, using AXIS_ADDRESS command. Please refer to below mapping rule.

AXIS_ADDRESS (No.) = (32*0) + ID     'local axis 0 of expansion board

AXIS_ADDRESS (No.) = (32*1) + ID     'local axis 1 of expansion board

ID means the combination value of expansion board's address codes (code 1-4). After mapping, set ATYPE and other parameters, then expansion axis can be used.

Example:

When mapped ZCAN expansion axis No. like above routine, now it can test corresponding axis manually by "tool -- manual". If the motor running is too slow to see clearly, please increase the UNITS value in multiples of 10.

(1) Problem 1 & Solutions

--Problem 1--

LED of Power, Run, and Alarm all are ON, and the controller can't communicate. In addition, in "controller -- controller state -- Zcan Nodes" in RTSys (ZDevelop), expansion module information can't be viewed.

--Solutions--

A. check the wiring

Refer to Chapter II wiring, especially check whether power supply wiring is normal or not (ZIO module main power and IO power both should be 24V). And see whether the cable is in good contact, whether the STP is used for CAN communication cable, the shielded layer can be grounded, and whether dual-power is used for expansion module.

B. check the code 8

See whether the 120ohn resistor is connected, and whether the last expansion module's code 8 is ON.

Grounds of two ends CAN should be the same one, that is, make sure controller main power public end and ZCAN ZIO module main power GND connect together (avoid CAN chip burning out).

C. check the code 7

Code 7 is mainly for special function, for come modules (like, ZIO3232MT), it needs to be ON to enable. It can be checked after ON and restart.

D. check DIP setting

See whether the dial code switch is set correctly, that is, no IO address conflict between local and other expansion modules (each ZCAN expansion module's IO starting No. are obtained by "controller -- controller state -- Zcan Nodes" in RTSys (ZDevelop).

E. check the environment

See whether there is interference. Unplug all IO terminals, axis interfaces, and other wiring terminals of controller and expansion module, and power down all irrelevant devices, then power on again to see if it can communicate.

F. check the communication configuration

See whether controller is set as main station (CANIO_ADDRESS bit5 is set as 1, CANIO_ADDRESS=32), and see whether CAN communication baud rate and expansion module's baud rate are consistent. All details can be checked through "controller -- controller state -- communicationinfo in RTSys (ZDevelop).

G. check the hardware

See whether the hardware is burned out, change one controller one expansion module.

(2) Problem 2 & Solution

--Problem 2--

Some IO respond normally, but some are abnormal.

--Solution--

Please check whether IO No. range of each ZCAN expansion module conflict, also, through "controller -- controller state -- Zcan Nodes" in RTSys (ZDevelop).

(1) CANIO_ADDERSS -- CAN Communication Setting

(2) CANIO_ENABLE -- CAN Enable

(3) CANIO_STATUS -- CAN Expansion Board Communication State Checking

That's all, thank you for your reading -- How to Use ZIO Expansion Module with Motion Controller / Card by CAN Protocol. 

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