ZLAC8015

Servo Driver Manual (Special for

Hub Servo Motor)

【 P le a s e r e ad t he m a nua l i n d et a i l bef or e us e, t o a vo i d da m a ge t o t he d r i ver 】

Shenzhen ZhongLing Technology Co.,Ltd.

Ad d : 8 th Fl oor, Buildi ng 3 , Qi yu Indu s tri al Ci ty, Gongl e
Ti ezai Rd ., Xi xi ang St., Bao' an Di s t, Sh en zh en, C hin a
Postc od e: 5181 02
Tel : +86- 0755 -2979 9 302
Fax: +8 6-07 55-2 912 428 3
E m ai l: s al es @zl ingk j.c om
Web: www.zling kj .c om
 ZLAC8015 Servo Driver Manual (Special for Hub Servo Motor) V1.0 ZLAC8015 Servo Driver Manual (Special for Hub Servo Motor) V1.0

CONTENTS RELEASE NOTES

RELEASE NOTES .......................................................................................................2 Version Update Time Update Content Updater

PREFACE..................................................................................................................3
V1.0 2019-12-28 First Edition LHY
SAFETY PRECAUTIONS..............................................................................................3
1. PRODUCT INTRODUCTION ....................................................................................6
1.1. OUTLINE .......................................................................................................6
1.2. FEATURES ...................................................................................................................... 6
1.3. APPLICATION ................................................................................................................ 6
2. ELECTRICAL, ENVIRONMENTAL INDEX....................................................................7
2.1. ELECTRICAL INDEX........................................................................................................ 7
2.2. ENVIROMENTAL INDEX................................................................................................ 7
2.3. INSTALLATION DIMENSION ......................................................................................... 7
2.4. INSTALLATION............................................................................................................... 8
3. DRIVER INTERFACE AND WIRING ...........................................................................9
3.1. INTERFACE DEFINITION ............................................................................................... 9
3.2 CONTROL SIGNAL WIRING ......................................................................................... 11
3.3. CANOPEN COMMUNICATION PORT DESCRIPTION ................................................. 13
3.4. RS485 COMMUNICATION PORT DESCRIPTION........................................................ 13
3.5. STATUS INDICATOR LED.............................................................................................. 13
4. DIP SWITCH SETTINGS ........................................................................................ 14
4.1. STEP RESOLUTION SETTINGS .................................................................................... 14
4.2 TERMINAL RESISTANCE SETTINGS ............................................................................. 15

1 Shenzhen ZhongLing Technology Co.,Ltd. TEL: +86-0755-29799302 FAX：+86-0755-2912 4283 WEB: www.zlingkj.com Shenzhen ZhongLing Technology Co.,Ltd. TEL: +86-0755-29799302 FAX：+86-0755-2912 4283 WEB: www.zlingkj.com 2
 ZLAC8015 Serco Driver Manual (Special for Hub Servo Motor) V1.0 ZLAC8015 Serco Driver Manual (Special for Hub Servo Motor) V1.0

dust, corrosive gases, conductive objects, liquids and flammable materials, and
PREFACE
maintain good heat dissipation conditions.
Thanks for choosing ZLAC8015, the servo driver for hub servo motor. During installation, be sure to tighten the mounting screws of the
This manual describes the installation, debugging, maintenance, operation and
integrated step-servo motor. It should be protected from vibration and shock.
other aspects of the servo driver ZLAC8015. Please read this manual in detail before
use, and be familiar with the safety precautions. Wiring
This manual may be revised timely when product is improved, specification and
Please perform the wiring work by professional electrical engineer;
version are changed or for some other reasons, which will not be notified
particularly. Before wiring, please confirm that the input power is off. Wiring and
Any questions when using our products, please read the relevant manual or call our inspection must be performed after the power is turned off and the integrated
technical service department, we will meet your requirements in the shortest
step-servo motor indicator is off to prevent electric shock;
possible time.
When plugging and unplugging the integrated step-servo motor
Marks and warning signal: terminals, make sure that its indicator is off before proceeding;
Please set the emergent stop circuit outside the controller;
Danger: Indicates that this operation error may endanger
Please tighten the output terminal with a suitable torque.
personal safety!
Electrify
Attention: Indicates that this operation error may result in
equipment damage! Please confirm whether the main circuit input power is consistent with
the rated working voltage of the integrated step-servo motor;
SAFETY PRECAUTIONS Do not test the integrated step-servo motor for high voltage and
insulation resistance at will;
Open Box and Check Do not connect the electromagnetic contactor or electromagnetic
switch to the output circuit.
Do not install integrated step-servo motor which is damaged or with
Operation
missing parts.

Installation Do not directly touch the output terminals after the integrated
step-servo motor is powered on;
Installed on a non-flammable metal frame, prevent the intrusion of
When the system is running, the integrated step-servo motor may
3 Shenzhen ZhongLing Technology Co.,Ltd. TEL: +86-0755-29799302 FAX：+86-0755-2912 4283 WEB: www.zlingkj.com Shenzhen ZhongLing Technology Co.,Ltd. TEL: +86-0755-29799302 FAX：+86-0755-2912 4283 WEB: www.zlingkj.com 4
 ZLAC8015 Serco Driver Manual (Special for Hub Servo Motor) V1.0 ZLAC8015 Serco Driver Manual (Special for Hub Servo Motor) V1.0

have a high temperature rise, do not touch it; 1. PRODUCT INTRODUCTION

Please confirm the input and output signals to ensure safe operation;
1.1. OUTLINE
The alarm can be reset only after the operation signal is cut off. Alarm
resetting in the running signal state will cause the integrated step-servo motor ZLAC8015 is a high-performance digital servo driver for hub servo motor. It has a simple
to restart suddenly; structure and high integration, and adds bus communication and single-axis controller
Do not change the parameter settings of the integrated step-servo function.

motor at will. The parameter modification needs to be performed under standby 1.2. FEATURES
condition.
■ Adopt CAN bus communication, support CiA301 and CiA402 sub-protocol of
Maintenance and Inspection CANopen protocol, could mount up to 127 devices. CAN bus communication baud rate
defaults to 500Kbps.
Do not touch the integrated step-servo motor terminals directly, and
■ Adopt RS485 bus communication, support modbus-RTU protocol, could mount up
some have high voltage, very dangerous;
to 127 devices. RS485 bus communication baud rate defaults to 115200bps.
Before powering up, be sure to install the cover; when removing the
■ Support operation modes such as position control, velocity control and torque
cover, be sure to cut off the power supply first;
control.
Before wiring, please confirm whether the input power is off;
■ User can control the start and stop of the motor through bus communication and
After cutting off the main circuit input power and confirming the query the real-time status of the motor.
integrated step-servo motor indicator light has completely extinguished, it
■ Input voltage: 24V-48VDC.
can be inspected and maintained;
■ 2 isolated signal input ports, programmable, implement the driver's functions such
Do the inspection and maintenance by professional electrical
as enable, start stop, emergency stop and limit.
engineer;
■ 2 isolated output ports, programmable, output driver‘s status and control signal.
Do not do wiring, disassembling or other operation on the terminals
■ With protect function such as over-voltage, over-current.
during power on.
1.3. APPLICATION
There is an integrated circuit on the main control board of the servo
driver. Please pay full attention when checking to avoid damage caused by Suitable for AGV, delivery robot, service robot, automated handling machine, etc.
static induction.

5 Shenzhen ZhongLing Technology Co.,Ltd. TEL: +86-0755-29799302 FAX：+86-0755-2912 4283 WEB: www.zlingkj.com Shenzhen ZhongLing Technology Co.,Ltd. TEL: +86-0755-29799302 FAX：+86-0755-2912 4283 WEB: www.zlingkj.com 6
 ZLAC8015 Serco Driver Manual (Special for Hub Servo Motor) V1.0 ZLAC8015 Serco Driver Manual (Special for Hub Servo Motor) V1.0

2. ELECTRICAL, ENVIRONMENTAL INDEX 2.3. INSTALLATION DIMENSION

2.1. ELECTRICIAL INDEX

Driver Parameter Min value Typical value Max value Unit

Input voltage 20 VDC 36VDC 48VDC V
Output current(peak) 0 15 30 A
Control signal input 7 10 16 mA
current
Over-voltage - 60 - VDC
protection
Under-voltage - 16 - VDC
protection
Input signal voltage - 5 - VDC
Insulation resistance 100 MΩ Fig.1 Installation dimension diagram (unit: mm)

2.2. ENVIROMENTAL INDEX 2.4. INSTALLATION

Cooling Type Natural cooling or forced cooling User can use the wide or narrow side of the driver cooled radiator for installation. If
Application occasion Avoid dust, oil mist and corrosive gases
installing with wide side, use M3 screws to install through the holes on four corners. If
Working temperature 0~50℃
Working installing with narrow side, use M3 screws to install through the holes on both sides. In
Max. ambient humidity 90% RH(no condensation)
environment
Storage temperature -10~70℃ order to achieve good heat dissipation, it is recommended to use narrow-side
Vibration 10~55Hz/0.15mm installation.

The power device of the driver will generate heat. If it works continuously under the

condition of high input voltage and high power, the effective heat dissipation area

should be enlarged or forced cooling. Do not use it in a place where there is no air

circulation or where the ambient temperature exceeds 60 ° C. Do not install the driver
in a humid or metal debris place.

7 Shenzhen ZhongLing Technology Co.,Ltd. TEL: +86-0755-29799302 FAX：+86-0755-2912 4283 WEB: www.zlingkj.com Shenzhen ZhongLing Technology Co.,Ltd. TEL: +86-0755-29799302 FAX：+86-0755-2912 4283 WEB: www.zlingkj.com 8
 ZLAC8015 Serco Driver Manual (Special for Hub Servo Motor) V1.0 ZLAC8015 Serco Driver Manual (Special for Hub Servo Motor) V1.0

3.1.3 Control signal port

3. DRIVER INTERFACE AND WIRING
Port Pin Mark Name Function
3.1. INTERFACE DEFINITION 1 B- Brake-
Brake control (5-24V)
2 BGND External power
3.1.1 Power input port
ground
3 BDC Brake+, External
Port Pin Mark Name Function
4 power positive
1 DC Power supply Power supply 24V-48V
interface 5 IN1+ Input 1
2 GND
6 IN1- Could be edited via
3 U Motor power Wire connected to motor 7 IN2+ Input 2 CANOPEN or 485
4 V interface 8 IN2-
5 W 9 OUT1+ Output Could be edited via
10 OUT1- CANOPEN or 485
3.1.2 Encoder and Hall port 11 oB+
12 oB- Encoder output
Port Pin Mark Name Function
13 oA+
1 iA+
14 oA-
2 iA-
15 5V 5V OUT Could be used to supply
3 iB+ Encoder
16 power for IN or OUT
4 iB-
GND GND port, output current
5 RTC+ temperature sensor cannot exceed 100mA
6 RTC-
7 V Hall sensor
8 W
9 U
10 GND Power ground

11 VCC Power positive Output to encoder and

HALL
12 GND Power ground

9 Shenzhen ZhongLing Technology Co.,Ltd. TEL: +86-0755-29799302 FAX：+86-0755-2912 4283 WEB: www.zlingkj.com Shenzhen ZhongLing Technology Co.,Ltd. TEL: +86-0755-29799302 FAX：+86-0755-2912 4283 WEB: www.zlingkj.com 10
 ZLAC8015 Serco Driver Manual (Special for Hub Servo Motor) V1.0 ZLAC8015 Serco Driver Manual (Special for Hub Servo Motor) V1.0

3.1.4 DIP switch interface by an optocoupler. The driver is compatible with common cathode and

common anode connections, as shown in the following Figure 2. In order to ensure the
Port Pin Mark Name Function
1 SW1 CANOPEN termination reliable conduction of the optocoupler inside the driver, the drive current provided by
resistance selection the controller must be at least 10mA.
2 SW2 DIP switch RS485 termination resistance
selection The level pulse width of IN1-IN2 input needs to be bigger than 10ms, otherwise the
3 SW3 CANOPEN address selection is driver may not respond normally. The IN1-IN2 timing diagram is shown in Figure 3.
4 SW4 1-3. When it is 0, it can be
set to 4-127 by software.
5 SW5 RS485 address selection is 1-3.
6 SW6 When it is 0, it can be set to
4-127 by software.

3.1.5 Communication port

Port Pin Mark Name Function

1 CANH CANOPEN
3 CANL
2 A RS485 Fig.2 Input interface circuit
4 B
5 CANH CANOPEN
7 CANL
6 A RS485
8 B

3.2 CONTROL SIGNAL WIRING Fig.3 Control signal interface wiring diagram

Note: The default input voltage of the control signal is 5V. For other voltages,
ZLAC8015 series driver provides 2 photoelectric isolation programmable input
current limiting resistors must be added, for example: 12V, external 1K 1 / 2W resistor;
interfaces, compatible with NPN wiring and PNP wiring.
24V, external 2K 1 / 2W resistor.
After the driver is powered on, IN1-IN2 defaults to the unspecified state. At this time,
2-channel (IN1-IN2) programmable input signal is isolated from the external control
the input signal is invalid. User could configure IN1-IN2 input functions through bus
11 Shenzhen ZhongLing Technology Co.,Ltd. TEL: +86-0755-29799302 FAX：+86-0755-2912 4283 WEB: www.zlingkj.com Shenzhen ZhongLing Technology Co.,Ltd. TEL: +86-0755-29799302 FAX：+86-0755-2912 4283 WEB: www.zlingkj.com 12
 ZLAC8015 Serco Driver Manual (Special for Hub Servo Motor) V1.0 ZLAC8015 Serco Driver Manual (Special for Hub Servo Motor) V1.0

communication.
ZLAC8015 series driver provides 2 photoelectric isolated output terminals, supports
Status indicator LED
both of NPN and PNP wiring methods, and also supports high-level and low-level active Status Situation
description
controllers.
The power supply voltage exceeds the
Over-Voltage 1 Red
1 ALM+ maximum rated voltage.

2 ALM- The power supply voltage is lower than

Under-Voltage 2 Red
the minimum working voltage.
Phase current through the motor
Over-Current 3 Red
3.3. CANOPEN COMMUNICATION PORT DESCRIPTION exceeds short-circuit between phases
The phase current through the motor
Over-Load 4 Red
ZLAC8015 series driver provides 4PIN communication port. For pin definition, please exceeds the set overload current
refer to 3.1.5 Communication Port, which includes CANH, CANL, CANH and CANL. Current Control current and output current are
5 Red
Note: Please use shielded twisted-pair cables for communication cable and make out-of-tolerance out of tolerance
ground connection to ensure stable communication. Position The given position is out of tolerance
6 Red
out-of-tolerance with the output position
3.4. RS485 COMMUNICATION PORT DESCRIPTION
Speed The given speed and output speed are
7 Red
ZLAC8015 series driver provides 4PIN communication port. For pin definition, please out-of-tolerance out of tolerance

refer to 3.1.5 Communication Port, which includes A, B, and A, B. Internal reference

Internal fault of the driver 8 Red
Note: Please use shielded twisted-pair cables for communication cable and make error
ground connection to ensure stable communication. Parameter reading
EEPROM parameters read error 9 Red
error
3.5. STATUS INDICATOR LED The HALL cable is not plugged in or the
HALL fault 10 Red
signal is incorrect
The green LED is power indicator, which is always on when the driver is powered on;. It High motor
is off when the driver is powered off. The red LED is fault indicator. When the driver fails, Motor temperature is too high 11 Red
temperature
the driver will stop and prompt the corresponding fault code. The fault can be cleared
when the user powers off and restarts the power. The status indicator LED represents
different operation and fault information, as shown in the following table:

13 Shenzhen ZhongLing Technology Co.,Ltd. TEL: +86-0755-29799302 FAX：+86-0755-2912 4283 WEB: www.zlingkj.com Shenzhen ZhongLing Technology Co.,Ltd. TEL: +86-0755-29799302 FAX：+86-0755-2912 4283 WEB: www.zlingkj.com 14
 ZLAC8015 Serco Driver Manual (Special for Hub Servo Motor) V1.0 ZLAC8015 Serco Driver Manual (Special for Hub Servo Motor) V1.0

CAN:
SW1 = OFF, invalid;
4. DIP SWITCH SETTING
SW1 = ON, effective.
ZLAC8015 driver uses a 6-digit DIP switch to set the terminal resistance and driver RS485:
address. The details are as follows: SW2 = OFF, invalid;
CAN Terminal resistance RS485 Terminal resistance SW2 = ON, effective.
CAN Address RS485 Address

SW1 SW2 SW3 SW4 SW5 SW6

4.1. STEP RESOLUTION SETTINGS

A. CAN Address
SW3 SW4 Address
OFF OFF Custom
ON OFF 1
OFF ON 2
ON ON 3

B. RS485 Address
SW5 SW6 Address
OFF OFF Custom
ON OFF 1
OFF ON 2
ON ON 3
User could use CANOPEN/RS485 bus to control up to 127 ZLAC8015 series drivers at the
same time. The driver communication address is set with a 4-digit DIP switch. The
address setting range is 1-3, where address 0 needs to be set and saved by the driver
software. SW3-SW4(SW5-SW6) switches must be all set to ON.

4.2. TERMINAL RESISTANCE SETTING

User can select whether to incorporate a 120Ω-terminal resistor through this bit.
According to the application, it is generally determined that only the master terminal
and the last slave need to connect a 120Ωterminal resistor.

15 Shenzhen ZhongLing Technology Co.,Ltd. TEL: +86-0755-29799302 FAX：+86-0755-2912 4283 WEB: www.zlingkj.com Shenzhen ZhongLing Technology Co.,Ltd. TEL: +86-0755-29799302 FAX：+86-0755-2912 4283 WEB: www.zlingkj.com 16