THK TJU Instruction Manual Download

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EtherCAT communication specifications

4. TNU functions

TNU

3-3

ESI files

ESI files contain information on TNU specifications and device allocation, etc.
You can download this free program from the THK technical support website: https://tech.thk.com/.
Download the file matching the TNU version for use.

www.thk.ru

тел. +7(499) 703-39-86

[email protected]

Summary of Contents for TJU

Page 1: ...Network unit Branch unit INSTRUCTION MANUAL TNU TJU THK Electrical Actuator Controller Series No 6090 6 0 E www thk ru тел 7 499 703 39 86 sales thk ru ...

Page 2: ...5 3 System configuration 1 6 3 1 System configuration diagram Example 1 6 4 Flow until using the product 1 7 5 Network type 1 8 5 1 CC Link 1 8 5 2 EtherCAT 1 8 5 3 EtherNet IP 1 8 5 4 DeviceNet 1 9 1 Check products 2 2 1 1 Check the package contents of TNU 2 2 1 2 Check the package contents of TJU 2 3 1 3 Option 2 4 1 4 Names of individual parts and functions 2 5 1 5 Store and dispose of products...

Page 3: ...write status display function 4 15 1 8 DVC function 4 15 2 CC Link communication specifications 4 16 2 1 CC Link communication overview 4 16 2 2 CC Link data mapping 4 16 2 3 Buffer memory allocation correspondence table 4 26 2 4 Number of occupied stations multiple settings CC Link Ver 2 00 only 4 27 2 5 CSP CSP files TNU Firmware Ver 1 2 or later 4 27 3 EtherCAT communication specification 4 28 ...

Page 4: ...Communication parameters 5 5 3 1 Communication parameters 5 5 3 2 Net device list 5 8 1 Introduction 6 2 1 1 Standard precautions 6 2 1 2 Saving programs and parameters Important 6 2 2 Product overview 6 3 2 1 Product configuration 6 3 2 2 Application of this manual 6 3 2 3 Configuration of required devices 6 3 2 4 User support 6 4 4 TNU functions 4 1 5 Operation and Adjustment 5 1 6 Setup tool D ...

Page 5: ...ith the lower level communication authorization switch ON 8 6 3 3 During DVC pressing operation position data abnormality occurs 8 6 3 4 Driver controller input signal is slow 8 6 3 5 Even with driver controller input signal MANU set to ON operation from D STEP TDO is not possible 8 6 7 Digital operator TDO 7 1 8 Troubleshooting 8 1 6 Setup tool D STEP 6 1 3 Operation method 6 5 3 1 Connect start ...

Page 6: ...5 4 2 CC Link sample program 10 7 5 Memory map 10 8 5 1 Memory map 10 8 Revision history 10 Technical Materials 10 1 Appendix 1 Maintenance and inspection 9 2 1 1 Periodical inspection 9 2 1 2 Standard of durability of consumables for TNU and TJU 9 2 2 Product warranty 9 3 2 1 Free warranty period 9 3 2 2 Usage conditions Range 9 3 2 3 Warranty scope 9 3 2 4 Exclusion of warranty liability 9 4 2 5...

Page 7: ... includes information that we want you to check and understand before working with the product 1 Introduction 1 Introduction 1 2 1 1 Acknowledgment 1 2 1 2 About this manual 1 2 1 3 How to use this product 1 3 1 4 About product support 1 3 1 5 About related instruction manuals 1 3 1 6 Product and company information 1 3 2 Safety precautions 1 4 2 1 About ranks of precautions 1 4 2 2 About descript...

Page 8: ... manual without permission z z Please note that description in this manual is subject to change without prior notice in the future due to improvements of the product or other reasons z z We have made all possible efforts to make the content of this manual accurate However if you find any mistake or uncertainty in this manual please contact our Customer Support refer to back cover z z Drawings show...

Page 9: ...duct install safety devices or backup devices that prevent such serious accidents or loss 1 4 About product support For the following information please contact our Customer Support refer to back cover z z Technical support for this product 1 5 About related instruction manuals z z When you use the network unit TNU read the following instruction manuals as necessary Controller series Setup tool D ...

Page 10: ...rk indicates Instruction of the action This mark indicates Caution of the action Prohibited Do not disassemble Obligatory Provide grounding connection Caution Caution Electrical shock Caution Flammable Caution High temperature Caution Getting caught DANGER Erroneous handling may urgently cause death or serious injury to a person WARNING Erroneous handling may cause death or serious injury to a per...

Page 11: ...ion Electrical shock Do not disassemble z z Do not impact the product and do avoid rough handling such as throwing it Doing so may cause the fault or dam age that leads to injury z z Do not frequently switch the power between on and off Doing so may generate heat from the internal parts of the network unit TNU which results in fault or burns z z Do not set the speed or accelera tion setting that e...

Page 12: ... TDO P 7 1 Higher device The power supply should be prepared by yourself The power connector for CN4 is provided with TNU P 3 4 PC communication cables are provided as an option P 2 4 CN3 Emergency stop switch This should be prepared by yourself 24 V DC power Branch unit TJU P 3 9 1 to 3 units CN1 CN2 CN4 LINE IN LINE IN LINE IN Termination resistance OFF TERM OFF P 2 8 Termination resistance OFF ...

Page 13: ...environment check P 2 10 2 Installation P 2 11 to 2 13 3 Wiring 1 Connection between each device and cable P 3 1 to 3 11 4 TNU functions allocation 1 CC Link communication overview P 4 16 2 EtherCAT communication overview P 4 28 3 EtherNet IP communication overview P 4 35 4 EtherNet IP DeviceNet communication overview P 4 38 6 Setup tool setting 1 Setup tool setting P 6 5 www thk ru тел 7 499 703 ...

Page 14: ...tralizing I O devices including the safety The single network design will also save the wiring within the devices Not only speeding up increasing the accuracy of the device control or improving the device production cycle time EtherCAT also helps you to lower the cost associated with device installation or maintenance such as standardizing cable wiring or simplifying the assembly For detailed info...

Page 15: ...y using serial communication instead of I O connection to connect with field devices it enables efficient transmission of large volumes of data The standardized connection method enables intel ligent devices and increased system productivity For detailed information on DeviceNet refer to the documents issued by the ODVA Open DeviceNet Vendor Association and instruction manual for the master device...

Page 16: ...acilities This section is primarily intended for those in charge of installation of this product to a machine and facilities 2 Installation 1 Check products 2 2 1 1 Check the package contents of TNU 2 2 1 2 Check the package contents of TJU 2 3 1 3 Option 2 4 1 4 Names of individual parts and functions 2 5 1 5 Store and dispose of products 2 9 2 How to install 2 10 2 1 Installation environment 2 1...

Page 17: ...nk EC EtherCAT EP EtherNet IP DV DeviceNet 2 1 1 1 2 Checking the type and number of TNU accessories No cable is provided so please separately prepare a cable Type of parts Model Qty Network unit See the product label 1 Power connector CN4 MPC300 38104 1 TNU CC Type of parts Model Qty Upper level network communication connector CN1 MSTB2 5 5 ST 5 08 ABFY AU 1 1 1 3 Check the product for any damage...

Page 18: ...owing Serial number Model configuration TJU 1 Model TJU Branch unit TJU 1 2 2 Checking the type and number of TJU accessories No cable is provided so please separately prepare a cable Prepare the cables between TNU and TJU TJU and TJU by yourself 1 2 3 Check the product for any damage or abnormality After the checking keep the product packed in the packaging box until the start of installation wor...

Page 19: ...truction manual 1 3 2 TDO The digital operator for driver controller TSC TLC and THC Model number TDO N For details see the separate TDO instruction manual 1 3 3 PC communication cable A PC communication cable for D STEP Model number CBL COM 03 For details see the separate D STEP instruction manual The cable is used to connect the branch unit TJU and driver controller Model CBL NW 01 1 m 03 3 m Fo...

Page 20: ...ication When the number of retries has been surpassed and a communication error occurs the light goes off and remains off until alarm reset processing is done 4 Error display red When normally connected with the upper level master device the light goes off When this display is flashing it is in startup or a TNU system error has occurred 1 2 3 4 Upper level network ID setting switch Sets the device...

Page 21: ...ED LINK Indicates communication status with EtherNet IP network Mode change switch Switch to select the upper level device that transmits command to the lower level device On CN1 side the communication command by the upper level network master I O mode On CN2 side the communication command by the upper level device supporting TACnet PC TDO mode CN2 Communication connector Connector to connect the ...

Page 22: ... Connect to the upper level device network Mode change switch Switch to select the upper level device that transmits command to the lower level device On CN1 side the communication command by the upper level network master I O mode On CN2 side the communication command by the upper level device supporting TACnet PC TDO mode CN2 Communication connector Connector to connect the PC or TDO CN3 Communi...

Page 23: ...ranch unit TJU LINE IN Input port upper level connection Connect to the TNU or other TJU output port TERM ON OFF Termination resistance change switch Sets the termination resistance to ON or OFF The last TJU only is set to TERM ON PORT Output port Connect the driver controller or other TJU FG Ground wire is connected Connection status display LED This light is on when the unit is connected to the ...

Page 24: ... Place where no strong electric field nor strong magnetic field develops Place where a vibration or shock does not transmit to the product Place where liquid containing impurities such as conductive iron dust powder such as solid abrasive dust oil mist cutting oil water content salt content organic solvent or corrosive flam mable gas is not generated or does not float 1 5 2 For disposal The produc...

Page 25: ...vibration or shock does not transmit to the product Place where liquid containing impurities such as conductive iron dust powder such as solid abrasive dust oil mist cutting oil water content salt content organic solvent or corrosive flam mable gas is not generated or does not float 2 1 2 Water drop oil drop and dust proof This product does not have a water drop oil drop and dust proof structure I...

Page 26: ...shock or malfunction that could lead to injury Place the emergency stop cir cuit that stops the operations of the product and disconnects the main circuit power supply of the driver controller in the event of emergency Failure to do so may cause the dam age of the product that leads to injury Obligatory Install a safety device such as a breaker for wiring to prepare against short circuit of the wi...

Page 27: ...and TJU must be 10 mm or more To allow for cooling by fan or natural convection the space between TNU TJU and right left wall must be 30 mm or more To allow for cooling by fan or natural convection the space above below TNU or TJU must be 50 mm or more If the temperature in the control panel exceeds 40 C install cooling fan s 50 mm or more Control panel 10 mm or more 30 mm or more 50 mm or more 30...

Page 28: ...tallation which disturbs heat discharge To prevent effects of external noise be sure to perform single point ground for TNU and TJU frame ground FG Prepare bolts and tools to be used separately Fixing bolt Cross recessed pan head screws or hexagonal socket head type bolts M4 x 8 2 pcs Tools to use According to bolt types Installation to the front Control panel Cross recessed pan head screw M4 x 8 ...

Page 29: ...nnection and wiring and handling of the cable 3 Wiring 1 How to wire 3 2 1 1 Entire wiring 3 3 1 2 Connect peripheral devices to TNU power supply 3 4 1 3 Connect to master devices 3 7 1 4 Connect TJU 3 9 1 5 Connect to PC 3 11 1 6 Connect to TDO 3 11 1 7 Peripheral devices 3 11 www thk ru тел 7 499 703 39 86 sales thk ru ...

Page 30: ...ectric shock Do not disassemble Provide grounding connection Do not damage tuck place a heavy object on or apply excessive stress on the cable Doing so may cause an electric shock Do not touch the energized parts within the product Doing so may cause an electric shock The wiring works must be per formed by electric work experts Failure to do so may cause an electric shock Be careful to wire the po...

Page 31: ...th TNU TNU CC TNU DV TDO P 7 1 Higher device The power supply should be prepared by yourself The power connector for CN4 is provided with TNU P 3 4 PC communication cables are provided as an option P 2 4 CN3 Emergency stop switch This should be prepared by yourself 24 V DC power Branch unit TJU P 3 9 CN1 CN2 CN4 LINE IN LINE IN LINE IN Termination resistance OFF TERM OFF P 2 8 Termination resistan...

Page 32: ... causes poor contact Do not twist more than one wire together doing so may cause a fall Wiring and routing Twist the electric wires of 24 V and 0 V to exclude noise Separate the electric wires from strong electric lines Do not bind them together or place them in the same duct Connect to the connector Insert the electric wires pressing the release button of the connector by a tapering screw driver ...

Page 33: ... recessed pan head screws TDO is not connected TDO is connected 1 Be sure to set the DC of TNU TSC TLC and THC to 0 V respectively Otherwise the communication may not be established Important 1 1 2 3 4 1 2 3 4 5 6 7 24V CN4 CN1 CN3 CN3 CN5 TNU TJU TSC TLC TDO Upper TJU 0V CN2 24V 1 2 3 4 2 1 AC 100V 9 AC 200V TH 0V CN3 CN5 CN6 Industrial Ethernet cable Control power supply 24 V DC 24 V DC TACnet C...

Page 34: ...iver controller TSC and TLC to the CN5 1 pin S1 Doing so may disable the emergency stop and cause damage or fault Be sure to set the DC of TNU TSC TLC and THC to 0 V respectively Otherwise the communication may not be established To enter the emergency stop to THC install an external relay and disconnect the CN5 3 and 4 pins of the THC Important 24V Control power supply Control power supply CN4 CN...

Page 35: ...ration EtherNet IP XS5 Series OMRON Corporation TNU CC wiring diagram DA DB DG SLD DA DB DG SLD DA DB DG SLD Termination resistance Termination resistance Master station Slave station Slave station CC Link dedicated cable Blue White Yellow Blue White Yellow Blue White Yellow Blue White TNU DV connection example Trunk branch cables DeviceNet dedicated cables Termination resistance Communication pow...

Page 36: ...ceNet 0 to 63 64 or greater retain the value during last correct operation Ethernet IP Rotary switch not included Rotary switch A to F are not used Master station Station number 0 Slave station T N U Station number 1 Station number 2 Station number 3 Number of occupied stations 3 Number of occupied stations 4 Station number 4 Station number 5 Station number 6 Station number 7 Number of stations to...

Page 37: ...ration 151733 02 2m 151733 05 5m 151733 10 10m Please prepare the cable whose length according to the system maximum length of trunk cable 20 m See the following figure Connection between TNU and TJU Connect the TNU s CN3 to the TJU s LINE IN TJU TJU connection Connect the TJU s LINE OUT and TJU s LINE IN CN3 LINE IN LINE IN LINE IN LINE OUT LINE OUT Length of trunk cable a b c Use an Ethernet str...

Page 38: ...able as an option P 2 4 Set the ID of each driver controller by the rotary switch so that one ID does not overlap with the others IDs need not be set continuously and vacant numbers pose no problem Rotary switch CN3 LINE IN PORT 6 LINE OUT LINE IN PORT 1 PORT 2 PORT 3 PORT 4 PORT 5 PORT 6 LINE OUT CN3 CN3 CN3 CN3 CN3 Match the ID of the rotary switch of each driver controller to that in the net de...

Page 39: ...th the one of TNU If you insert the plug while rotating it the connection pins may be damaged 1 5 1 How to connect 1 Insert the cable to the CN2 of TNU aligning the arrow of the plug with the one of TNU If you insert the plug while rotating it the connection pins may be damaged 1 5 Connect to PC Connect with the separately sold communication cable CBL COM 03 P 2 4 If the PC has only the USB port i...

Page 40: ...tion 4 15 2 CC Link communication specifications 4 16 2 1 CC Link communication overview 4 16 2 2 CC Link data mapping 4 16 2 3 Buffer memory allocation correspondence table 4 26 2 4 Number of occupied stations multiple settings CC Link Ver 2 00 only 4 27 2 5 CSP and CSP files TNU Firmware Ver 1 2 or later 4 27 3 EtherCAT communication specifications 4 28 3 1 EtherCAT communication overview 4 28 3...

Page 41: ... MANUAL Broadcast Data read 1 00 to 1 11 1 20 1 30 versions can be confirmed by the product label on the side surface of the TNU As well driver controller versions supporting TNU Ver 1 20 are as follows TSC Ver 1 22 or later TLC Ver 1 07 or later THC Ver 1 07 or later www thk ru тел 7 499 703 39 86 sales thk ru ...

Page 42: ...O communication Simple DVC Half DVC Full DVC I O communication Numerical designation Target position 1 Speed ACC DCC Same value as ACC Positioning completion width Current limit on pressing 2 Load current threshold value P area A P area B Reading items Current position Present current Present speed Status signals Maximum number of connectable axes 3 CC Link 16 axes 16 axes 8 axes 4 axes EtherCAT 1...

Page 43: ...fixed ACC DCC mode Trapezoidal Stop mode initial value Parameter no 25 Repetition 1 fixed JUMP E fixed What is Half DVC It is a mode in which values for target position positioning completion width speed acceleration and deceleration rate and current limit of pressing are designated with the upper level master device to operate the accelerator By designating the STEP No of the operation pattern it...

Page 44: ...ot exceed the link points allocated by number of stations multiple settings For link point count refer to the various communication standards TNU CC setting example Number of occupied stations multiple settings 4 stations 2 times Net device list ID 0 Simple DVC ID 1 Half DVC ID 2 Full DVC ID 3 IO 1 Link point count for number of occupied stations multiple settings 32 words 2 Total link point count...

Page 45: ... B INPS W101 to W10x DVC data 3 1 2 4 5 6 7 8 9 W100 D PAUSE A ON OFF W1 to Wx Current value monitoring W0 0 to 5 PO0 to PO5 Y100F Lower level communication authorization switch Output Input Time chart When driver controller function mode is type 0 CC Link device allocation information Remote input RX X1000 Remote output RY Y1000 Remote register RWr W0 Remote register RWw W100 www thk ru тел 7 499...

Page 46: ...RDY Servo on in progress Returning to origin 4 Origin return command HOME Moving MOVE 5 STEP No designation Program No DVC data input A During origin return 6 Origin return completed HEND 7 DVC switch or DVC switch Moving MOVE During positioning operation A Turn DVC switch ON 8 A Positioning completed INPS End position display PO0 to PO5 9 DVC data change B Moving MOVE During positioning operation...

Page 47: ...lating to each axis will turn ON upon successful write operation RX1040 to 104F relating to each axis will turn ON upon successful write operation Time chart 1 RX1040 will turn ON if the DVC data write operation fails W0 6 MOVE W0 A HEND W0 B INPS W0 D SVRDY W0 0 to 5 PO0 to PO5 W1 to Wx Current value monitoring RX1050 to RX105F Write success flag 1 ON OFF Y100B DVC switch or Y1060 to Y106F DVC sw...

Page 48: ...acant STEP No of the driver controller initial values will be written to areas without value input from the DVC When using DVC functions with driver controller function mode 1 external unit input instruction type turn OFF the input signals No 7 JOG INCHING and No 8 JOG P in the buffer memory allocation correspondence table It is possible to change positioning position by changing RWw positioning d...

Page 49: ...ion width data are overwritten but for speed acceleration and deceleration rate and pressing current limit values the pre update data is transmitted and leads to unforeseen operation For this reason it is necessary to select a device with a function such that communication will not take place as in the timing 1 in the graph or to turn the DVC switch OFF while setting data As well the same applies ...

Page 50: ...ive a servo off command and go to servo off When the driver controller is in servo on off operation or carrying out higher priority work such as EEPROM writing than command reception the broadcast response may be delayed When turning the broadcast bit ON maintain it for at least 40 ms For TNU DV when turning the broadcast bit ON maintain ON for the time shown below 125 kbps 100 msec or more 250 kb...

Page 51: ...ion pressing current limit load current threshold value 1 When command transmission switch is ON turn on for 20ms or more 2 Refer to the RWr section of the CC Link Communication Specifications for details about program data readout locations Time chart X102E CMD_READY X102D CMD_SEND_END Y100E CMD_SEND X102C CMD_ERROR Program No A X1020 1027 CMD_No X1030 103F Program_No X1040 105F Position Y1020 10...

Page 52: ...Com TNU ON OFF ON OFF ON OFF ON OFF ON OFF Command No A Parameter No A Axis No A Command No A 1 2 3 4 Parameter Output Input No Input Output Status Remarks 1 TNU parameter SW ON Command No 0x24 Axis No Parameter No Parameter readout is only enabled when TNU is in PC mode 2 Command transmission switch ON Command ready OFF Parameter No 3 Command reply complete ON Parameter 4 Command transmission swi...

Page 53: ...Speed override 21 I O jog speed mm s 22 I O inching distance μm 23 Judgment time ms 24 Judgment range 0 Invalid 1 Valid 25 Initial value in standstill mode 0 Invalid 1 Automatic turn off 1 2 Automatic turn off 2 3 Automatic turn off 3 4 Full servo 26 Ball screw lead μm 28 Cur select at miss 0 Current limit on stop status 1 Limit for pressing 29 Max speed mm s 30 Position deviation μm 31 Inching di...

Page 54: ...ps 3 115200bps 5 Broadcast delay time ms 6 Number of retries 19 Lower level communication prohibition function 0 Invalid 1 Valid 1 7 DVC write status display function 1 8 DVC function About the DVC write status display function The DVC write status display function is a function for displaying the success or failure of a write operation on the PLC when writing program data to the driver controller...

Page 55: ...ransmission format HDLC compliant Error control method CRC CCITT X16 X12 X5 1 Number of occupied stations Remote device stations 4 stations Remote device stations 1 2 3 4 stations Expanded cyclic setting 1 time 2 times 4 times 8 times Communication cable length Communication speed bps 10M 5M 2 5M 62K 156K Total cable length m 100 160 400 900 1200 Communication cable CC Link dedicated cable 2 2 CC ...

Page 56: ...es 4 stations 1 time B 2 stations 4 times 17 2 stations 8 times 9 3 stations 2 times 13 3 stations 4 times D 4 stations 2 times 1B 4 stations 4 times CC Link system area RY section master slave in IO mode Offset address Name Reference 0x00 to 0F TNU control area Table 1 0x10 to 1F DVC write switch Table 2 0x20 to 5F Reserved 0x60 to 6F DVC switch Table 5 0xm0 to mF m Value determined by number of ...

Page 57: ...ame Set value Signal b0 ID0 DVC write 0 Invalid 1 Valid Edge b1 ID1 DVC write 0 Invalid 1 Valid Edge b14 IDE DVC write 0 Invalid 1 Valid Edge b15 IDF DVC write 0 Invalid 1 Valid Edge Table 3 Bit Name Set value Signal b0 to b7 Command No Enter 0x1F program readout 0x24 parameter readout Level b8 to b11 Driver controller ID Enter the driver controller ID from which data should be read Level b12 to b...

Page 58: ...ion speed etc are allocated Under DVC command STRT PWRT signals are invalid For value data maximum and minimum values confirm with the instruction manual of the driver controller Simple DVC Offset address Name Unit Data type 0x n Driver controller input 0x n 1 Position data L 0 1 μm Signed 32 bit integer 0x n 2 Position data H L indicates the lower 16 bits of the 32 bit integer and H the upper 16 ...

Page 59: ...dress Name Unit Data type 0x n Driver controller input 0x n 1 Position data L 0 1 μm Signed 32 bit integer 0x n 2 Position data H 0x n 3 Positioning completion width L 0 1 μm Signed 32 bit integer 0x n 4 Positioning completion width H 0x n 5 Speed mm s Unsigned 16 bit integer 0x n 6 P area A L 0 1 μm Signed 32 bit integer 0x n 7 P area A H 0x n 8 P area B L 0 1 μm Signed 32 bit integer 0x n 9 P ar...

Page 60: ...17 2 stations 8 times 9 3 stations 2 times 13 3 stations 4 times D 4 stations 2 times 1B 4 stations 4 times CC Link system area RX section master slave in IO mode Offset address Name Reference 0x00 to 0F TNU signal area 1 Table 7 0x10 to 1F TNU signal area 2 Table 8 0x20 to 3F Reserved 0x40 to 4F DVC write failure status display Table 14 0x50 to 5F DVC write success status display Table 15 0x60 to...

Page 61: ...sistent to the net device list 1 Inconsistent to the net device list b2 to b14 Reserved Access invalid b15 TNU status 0 Normal 1 Error Table 9 Bit Name Set value b0 to b7 Command No 8bit b8 to b11 Access invalid b12 Command send receive error 0 Normal 1 Error b13 Command send receive completed 0 Not complete 1 Complete b14 Command reception error 0 Not possible 1 Possible b15 Access invalid Table ...

Page 62: ...us display 0 Not processed 1 failure b1 ID 1 DVC write failure status display 0 Not processed 1 failure b14 ID E DVC write failure status display 0 Not processed 1 failure b15 ID F DVC write failure status display 0 Not processed 1 failure Table 15 Bit Name Set value b0 ID 0 DVC write success status display 0 Not processed 1 Success b1 ID 1 DVC write success status display 0 Not processed 1 Succes...

Page 63: ...imple DVC half DVC and full DVC The data to be input depends on the TNU mode I O mode Stores the DVC data PC TDO mode Stores the program readout data Simple DVC in IO mode Offset address Name Unit Data type 0x n Driver controller input 0x n 1 Position data L 0 1 μm Signed 32 bit integer 0x n 2 Position data H Simple DVC in PC TDO mode Offset address Name Unit Data type 0x n Reserved 0x n 1 Positio...

Page 64: ... 0x n 2 0x n 3 Present current Unsigned 32 bit integer 0x n 4 0x n 5 Present speed mm s Unsigned 16 bit integer 0x n 6 to n D Reserved Full DVC in PC TDO mode Offset address Name Unit Data type 0x n Reserved 0x n 1 Position data L 0 1 μm Signed 32 bit integer 0x n 2 Position data H 0x n 3 Positioning completion width L 0 1 μm Signed 32 bit integer 0x n 4 Positioning completion width H 0x n 5 Speed...

Page 65: ...KRL BKRL 13 A RWw id b10 STRT STRT PWRT STRT STRT 14 B RWw id b11 MANU MANU MANU MANU MANU MANU 15 C RWw id b12 HOME HOME HOME HOME HOME HOME 16 D RWw id b13 PAUSE PAUSE PAUSE PAUSE PAUSE PAUSE 17 E RWw id b14 REST REST REST REST REST REST 18 F RWw id b15 SV ON SV ON SV ON SV ON SV ON SV ON 19 Output 0 RWr id b0 PO 0 PO 0 PO 0 PO 0 PE 0 LS 0 20 1 RWr id b1 PO 1 PO 1 PO 1 PO 1 PE 1 LS 1 21 2 RWr id...

Page 66: ...h number of occupied stations multiple settings and that required for each mode are as follows List of RWw RWr link point counts for each number of occupied stations multiple settings Multiple settings Number of occupied stations 1 time 2 time 4 time 8 time 1 stations 32 2 stations 32 64 3 stations 24 48 4 stations 16 32 64 List of RWw RWr link point counts for each input mode IO Simple DVC Half D...

Page 67: ...ith EtherCAT is a maximum of 120 Plan your design so that the total link point count of devices connected to TACnet is no more than 120 List of input mode link point counts IO Simple DVC Half DVC Full DVC Required link point count 1 3 8 14 3 2 EtherCAT PDO mapping I O allocation correspondence table Refer to the CC Link Communication Specifications and buffer memory allocation chart for infor mati...

Page 68: ...7 Reserved About the TNU control input in the ESI file that can be downloaded from the THK website section The TNU control input is registered to Index 2001 Table 1 Bit Name Set value Remarks b0 Alarm reset 1 Alarm reset Edge b1 Alarm history reset 1 Alarm history reset Edge b2 Remote MANUAL 0 AUTO 1 MANU Level b3 to b9 Reserved Access invalid b10 Broadcast 1 Broadcast Edge b11 DVC switch 0 IO mod...

Page 69: ...parameter readout Level b8 to b11 Driver controller ID Enter the driver controller ID from which data should be read Level b12 to b15 Reserved Access invalid Table 4 Bit Name Set value Remarks b0 to b15 Program No Parameter No Enter the Program No parameter from which data should be read Level Table 5 Bit Name Set value Remarks b0 ID0 DVC switch 0 IO mode 1 DVC mode Level b1 ID1 DVC switch 0 IO mo...

Page 70: ...ve master from PC TDO mode to IO mode Offset address Name Reference 0x0 TNU signal area 1 Table 6 0x1 TNU signal area 2 Table 7 0x2 Reserved 0x4 DVC write failure status display Table 13 0x5 DVC write success status display Table 14 0x6 Driver controller status Table 12 0x7 Reserved About the TNU control input in the ESI file that can be downloaded from the THK website section The TNU control inpu...

Page 71: ...Consistent to the net device list 1 Inconsistent to the net device list b2 to b14 Reserved Access invalid b15 TNU status 0 Normal 1 Error Table 9 Bit Name Set value b0 to b15 Program No Parameter No Enter Program No or Parameter No Table 10 Bit Name Set value b0 to b15 Data L Display parameter readout result lower 16bits Table 11 Bit Name Set value b0 to b15 Data H Display parameter readout result...

Page 72: ...rite failure status display 0 Not processed 1 failure Table 14 Bit Name Set value b0 ID 0 DVC write success status display 0 Not processed 1 Success b1 ID 1 DVC write success status display 0 Not processed 1 Success b14 ID E DVC write success status display 0 Not processed 1 Success b15 ID F DVC write success status display 0 Not processed 1 Success Driver controller output section slave master Re...

Page 73: ...I files ESI files contain information on TNU specifications and device allocation etc You can download this free program from the THK technical support website https tech thk com Download the file matching the TNU version for use www thk ru тел 7 499 703 39 86 sales thk ru ...

Page 74: ...nt counts IO Simple DVC Half DVC Full DVC Required link point count 1 3 8 14 Communication standard DeviceNet compliant Communication speed 125kbps 250kbps 500kbps Communication method DeviceNet communication Transmission channel type Multi drop method T branch Communication cable length Thick cable 500 m at 125 kbps 250 m at 250 kbps 100 m at 500 kbps Thin cable 100 m at all communication speeds ...

Page 75: ...a is the area in which commands for the driver controllers for each axis should be input This area differs depending on the input mode configured in the net device for the driver controller for each axis For details about input mode please refer to the RWw section of the CC Link Communication Specifications Table 1 Bit Name Set value Remarks b0 Alarm reset 1 Alarm reset Edge b1 Alarm history reset...

Page 76: ...x24 parameter readout Level b8 to b11 Driver controller ID Enter the driver controller ID from which data should be read Level b12 to b15 Reserved Access invalid Table 4 Bit Name Set value Remarks b0 to b15 Program No Parameter No Enter the Program No parameter from which data should be read Level Table 5 Bit Name Set value Remarks b0 ID0 DVC switch 0 IO mode 1 DVC mode Level b1 ID1 DVC switch 0 I...

Page 77: ...1 Table 6 0x1 TNU signal area 2 Table 7 0x2 Reserved 0x4 DVC write failure status display Table 13 0x5 DVC write success status display Table 14 0x6 Driver controller status Table 12 0x7 Reserved 0x8 to 0x80 Driver controller output area 6 5 Program readout display area The area in which the program readout data is displayed See the supplementary information for details about program readout data ...

Page 78: ...sistent to the net device list b2 to b14 Reserved Access invalid b15 TNU status 0 Normal 1 Error Table 8 Bit Name Set value b0 to b7 Command No 8bit b8 to b11 Access invalid b12 Command send receive error 0 Normal 1 Error b13 Command send receive completed 0 Not complete 1 Complete b14 Command reception error 0 Not possible 1 Possible b15 Access invalid Table 9 Bit Name Set value b0 to b15 Program...

Page 79: ...ID 1 DVC write failure status display 0 Not processed 1 failure b14 ID E DVC write failure status display 0 Not processed 1 failure b15 ID F DVC write failure status display 0 Not processed 1 failure Table 14 Bit Name Set value b0 ID 0 DVC write success status display 0 Not processed 1 Success b1 ID 1 DVC write success status display 0 Not processed 1 Success b14 ID E DVC write success status disp...

Page 80: ...ns TNU 4 4 EDS files EDS Electronic Data Sheet files contain information on TNU specifications and input output point count setting etc You can download this free program from the THK technical support website https tech thk com www thk ru тел 7 499 703 39 86 sales thk ru ...

Page 81: ...s regular transmission reception of the I O information from each slave and an interrupting communication is conducted P 4 44 at the regular transmission reception of the interval of interrupting communications Interrupting communication decreases the time required for regular transmission reception TNU Firmware previous to Ver 1 2 PC mode SW 1 SW 0 SW 1 SW 0 Initialization TNU Power ON status IO ...

Page 82: ...mode PC mode Remote MANU 0 SW 1 SW 0 Remote MANU 1 PC TDO communication PC mode SW 0 Remote PC mode The I O command information from the master device is transmitted received IO mode communication Interrupting communication Remote PC mode TNU Firmware Ver 1 2 or later www thk ru тел 7 499 703 39 86 sales thk ru ...

Page 83: ...ion monitor is delayed P 5 5 Important 5 3 TACnet communication diagram 5 3 1 I O mode The case of CC Link is provided for reference This also applies to the cases of EtherCAT EtherNet IP and DeviceNet Transmit the input information set to the CC Link remote register RWw area to each slave and store the returned output information in the RWr area 0x00 0x01 0x0F 0x00 0x01 0x0F 20m s THK network com...

Page 84: ... slave that received the command returns a response to TACnet and the TNU forwards the response to the PC D STEP or TDO Communicati on line with PC TDO and TNU_CN2 THK network communication TNU response TNU transfer PC TDO transmis Slave response PC TDO ID X Command A PC TDO ID X Re Command PC TDO ID X Re Command PC TDO ID X Command A TACnet www thk ru тел 7 499 703 39 86 sales thk ru ...

Page 85: ...peration mode details This section describes the communication parameter details 5 Operation and Adjustment 1 Operation mode 5 2 1 1 I O mode 5 3 1 2 PC TDO mode 5 3 2 General precautions 5 4 2 1 Upper level communication 5 4 3 Communication parameters 5 5 3 1 Communication parameters 5 5 3 2 Net device list 5 8 www thk ru тел 7 499 703 39 86 sales thk ru ...

Page 86: ... into the moving range of the unit Doing so may cause damages or inju ries CAUTION WARNING To prevent unexpected accidents make sure to install the emergency stop switch and have the machine ready to be shut down at any time before performing operation Failure to do may cause damages or injuries If any abnormal heating odor smoke or fire is observed in TNU TJU the driver controller and the actuato...

Page 87: ...NU AUTO change switch to AUTO for each driver controller 1 2 PC TDO mode Pull the mode change switch toward the PC TDO connector CN2 to establish communication with the PC TDO communication as a master Set the MANU AUTO change switch to MANU for each driver controller TNU setting Setting of each driver controller TNU setting Setting of each driver controller www thk ru тел 7 499 703 39 86 sales th...

Page 88: ... check that the transmitted com mand is securely executed and create a control program that transmits the command as follow ing Example When the SV ON bit is risen the next processing will not be executed until the SVRDY bit is effectuated When operating the driver controller from D STEP via TNU Select Invalid for driver controller parameter No 48 TDO Enable Function When it is set to Valid origin...

Page 89: ...tion speed with PC TDO 6 Communication speed lower level Communication speed with driver controller 7 Lower level communication prohibition function Function which prohibits automatic start of lower level communication at power ON When invalid lower level communication starts automatically after TNU startup No Parameter details Unit Default setting Input range 1 Comment None 16 one byte alphanumer...

Page 90: ... 156k 625k 2 5M 5M 10M 3 Number of occupied stations multiple settings 1 Stations times 4 stations 1 time See 1 4 CC Link version V1 10 V1 10 V2 00 1 Settable number of occupied stations multiple settings by CC Link version are as follows For link point count for each setting see Number of occupied stations multiple settings P 4 27 V1 10 V2 00 4 stations 1 time 1 station 8 times 2 stations 4 times...

Page 91: ... 254 3 Subnet Mask 255 255 255 0 0 0 0 0 to 255 255 255 254 4 DHCP Invalid Invalid Valid 1 5 Communication speed EtherNet IP Mbps Auto Auto 10HDX 10FDX 100HDX 100FDX 2 6 Default Gateway 0 0 0 0 0 0 0 0 to 255 255 255 254 1 If DHCP Valid unforeseen IP address changes may take place so we recommend setting DHCP Invalid and setting IP addresses manually 2 HDX half duplex FDX full duplex DeviceNet No ...

Page 92: ...connected can be omit ted to improve the communication performance Setting is performed using the setup tool D STEP P 6 6 Setting values can be selected from the following items When not concerned with the type of driver controller connected or when connecting to new models in the future Any can be selected Input Mode IO Simple Half Full Input Mode Sets the input mode for the driver controller con...

Page 93: ...rd precautions 6 2 1 2 Saving programs and parameters Important 6 2 2 Product overview 6 3 2 1 Product configuration 6 3 2 2 Application of this manual 6 3 2 3 Configuration of required devices 6 3 2 4 User support 6 4 3 Operation method 6 5 3 1 Connect start screen 6 5 3 2 Net device list setting screen 6 6 3 3 Parameter setting screen 6 7 3 4 Alarm history display screen 6 10 3 5 Setting before ...

Page 94: ... use this software to execute Save for File on the PROGRAM and Param eter screens For more information see the instruction manual of the D STEP Duplication or reproduction of the whole or part of this manual without permission is prohibited Please note that the contents of this manual is subject to change without prior notice We have made all possible efforts to make the content of this manual acc...

Page 95: ... same 2 3 Configuration of required devices 2 3 1 PC 32 bit OS Japanese version Microsoft Windows XP SP 3 Vista 7 English version Chinese version 64 bit OS Japanese version Microsoft Windows XP SP 3 Vista 7 English version Chinese version This product does not guarantee operations on Windows Emulator The hardware specifications that allow adequate performance of each Microsoft Windows ver sion Thi...

Page 96: ...scribed on the back cover For inquiry please provide the information provided on affixed label to the product We do not provide support for any third party product including your PC and peripheral device etc Please check the support information of the respective products or contact the PC or pe ripheral device manufacturers www thk ru тел 7 499 703 39 86 sales thk ru ...

Page 97: ... TNU 3 Offline Edit button Opens the offline edit screen This document describes only information related to TNU of D STEP For details of D STEP refer to the instruction manual of D STEP Network communication takes the priority in the D STEP acquisition screens PROGRAM and Monitor screens so screen refresh may be delayed The waveform of acquisition screen logging cannot be used 1 2 3 3 Operation m...

Page 98: ...ite button Write the net device list set by D STEP into TNU In addition to setting Device connected to each ID Input Mode I O Simple Half Full can be se lected For Device and Input Mode see P 5 8 Connection capacity The usage capacity of the input mode set can be confirmed with the gauge TNU Software version is displayed Device Designates the type of driver controller connected to each ID Input Mo...

Page 99: ...parameter is allowed Setting of external network type cannot be modified 2 Read button Reads the parameters stored in TNU into the PC 3 Write button Write the parameters set by D STEP into TNU External network Screen switches by type of external network CC Link 1 2 3 www thk ru тел 7 499 703 39 86 sales thk ru ...

Page 100: ...6 Setup tool D STEP 3 Operation method 6 8 TNU EtherCAT EtherNet IP www thk ru тел 7 499 703 39 86 sales thk ru ...

Page 101: ...6 Setup tool D STEP 3 Operation method 6 9 TNU DeviceNet www thk ru тел 7 499 703 39 86 sales thk ru ...

Page 102: ...rm list P 8 2 The alarm history saves 50 past alarms and power ON information 3 5 Setting before communication with driver controller Important From D STEP be sure to set the parameter No 48 TDO enable function to Invalid before performing the program edit and operation command of each driver controller If it keeps Valid communication cannot be established In addition return back to Valid to do it...

Page 103: ...the driver controller and network unit to be edit 2 Network unit selection Select TNU 1 2 3 7 Offline net device list setting screen 1 Set the devices connected to each ID 2 File You can open save and print the settings Offline net device list setting screen 1 2 www thk ru тел 7 499 703 39 86 sales thk ru ...

Page 104: ...ne parameter setting screen 1 Setting of each parameter is allowed Setting of external network type cannot be modified online 2 File You can open save and print the settings Offline TNU parameter setting screen 1 2 www thk ru тел 7 499 703 39 86 sales thk ru ...

Page 105: ...6 Setup tool D STEP 3 Operation method 6 13 TNU Offline external network parameter setting screen www thk ru тел 7 499 703 39 86 sales thk ru ...

Page 106: ...ecautions on use of this product This section describes the product overview 7 Digital Operator TDO 1 Introduction 7 2 1 1 Standard precautions 7 2 1 2 Saving programs and parameters Important 7 2 1 3 Limit for operation Important 7 2 2 Connection 7 3 2 1 Connect to TNU 7 3 2 2 Initial screen 7 3 2 3 Connect start screen 7 4 2 4 Connection failure screen 7 4 2 5 ID selection screen 7 4 www thk ru ...

Page 107: ...l describes the correct methods for handling and operating the digital operator TDO and precautions for this product Carefully read and understand this manual before using the product to safely and correctly han dle the product Be sure to keep this manual after reading it so that you can refer to it when needed Please visit THK technical support website user registration is required to check the l...

Page 108: ...te or modify the cable change the length etc by yourself Otherwise unexpected behavior may occur Be sure to hold the connector when disconnecting the cable Unplugging the cable by forcibly pulling it may cause cable disconnection Obligatory Do not bend or tension the cable When inserting the round connector to CN2 of TNU do not insert while turning around to check the mate location of concavity an...

Page 109: ... The following screen is displayed when a connection is failed Turn on the power again and retry the connection If the communication is still not established there is a possibility of equipment failure or cable disconnection 2 5 ID selection screen For IDs whose connection is confirmed 0 is indicated in red frame When selecting the ID and pressing Enter key you can connect to the driver controller...

Page 110: ... 2 Causes and counter measures of alarms 8 3 2 1 Causes and counter measures of alarms 8 3 3 Other troubles 8 5 3 1 D STEP cannot detect the driver controller 8 5 3 2 The driver controller does not operate even with the lower level communication authorization switch ON 8 6 3 3 During DVC pressing operation position data abnormality occurs 8 6 3 4 Driver controller input signal is slow 8 6 3 5 Even...

Page 111: ... error After the start up the rotary SW was changed 4 Upper level communication error Timeout or communication error was detected in the upper level communication 5 TACnet communication error Lower level communication error Timeout or communication error were detected in TACnet communication Red flashing 1 Alarm lists On the D STEP screen CC Link EtherCAT EtherNet IP or DeviceNet communication err...

Page 112: ...rupted due to noise Eliminate the noise source from the set environment Cable is not properly connected Connect the cable in proper way Cable is disconnected Replace the cable with new one Connector is not properly connected Connect it in proper way The driver controller is broken Replace the driver controller with new one The driver controller is not power up Check if the power of the driver cont...

Page 113: ...ve comm before ORG 23 ORG time out 24 Writing error on move 25 Position data anomaly 31 Position comm error 32 Excessive position deviation 33 SoftWare limit over 34 Push hold operation range over error 35 Encoder communication error 36 Encoder error 37 Battery error 38 Low battery 51 EEPROM error 52 Detection error 53 Motor overload 54 Servo error 55 Overheat in driver controller 56 Electronic th...

Page 114: ...N5 CN7 Control power supply 24 V DC 24 V DC Control power supply Motor power supply TACnet Cable Industrial Ethernet cable Motor power supply Control power supply If D STEP cannot detect the driver controller or if the alarm goes off when the driver controller is connected to TNU but not for the driver controller alone confirm the following 1 Properly set the termination resistance of the branch u...

Page 115: ... in remote MANUAL status Turn remote MANUAL from ON to OFF Or move the driver controller toggle switch from AUTO to MANU to AUTO 8 Inconsistency between upper level master and data area and TNU data area settings Check the upper level master and TNU settings 3 3 During DVC pressing operation position data abnormality occurs When the DVC switch is left ON during pressing operation because the drive...

Page 116: ...r and replacement procedures of this product and warranty 9 Maintenance and Warranty 1 Maintenance and inspection 9 2 1 1 Periodical inspection 9 2 1 2 Standard of durability of consumables for TNU and TJU 9 2 2 Product warranty 9 3 2 1 Free warranty period 9 3 2 2 Usage conditions Range 9 3 2 3 Warranty scope 9 3 2 4 Exclusion of warranty liability 9 4 2 5 Delivery conditions 9 4 www thk ru тел 7...

Page 117: ...d on the unit Clean it with cloth or the like Loose connector screw There shall be no loose connectors or fixing screws Securely re connect or re tighten Abnormality of unit parts There should be no discoloration damage or disconnection due to heating Replace with new one 1 2 Standard of durability of consumables for TNU and TJU 1 2 1 Standard of durability of consumables for TNU Parts listed in t...

Page 118: ...ope 2 3 1 Failure diagnosis Please inform our Customer Support refer to back cover of the trouble description content and model and serial number indicated on the product label Then we will perform the initial diagnosis of the product failure When we recognize that the failure occurred within the free warranty period set forth above and the responsibility of the cause rests on us the warranty is a...

Page 119: ...d repair work the warranty period of the repaired section shall be 6 months from the repair work regardless of the warranty period of the product itself Repair works are performed in our plant Whether free or paid repair work cost of returning the product to our site shall be customer s responsibility The cost of delivering the repaired or replacing product to customer s site is our responsibility...

Page 120: ...escribes the TJU This section describes the connection cable This section describes the sample program 1 Network unit TNU 10 2 1 1 Specifications and dimensional drawing 10 2 2 Branch unit TJU 10 3 2 1 Specifications and dimensional drawing 10 3 3 Connection cable 10 4 3 1 PC communication cable 10 4 3 2 TACnet cable 10 4 4 Sample program 10 5 4 1 Broadcast sample program 10 5 4 2 CC Link sample p...

Page 121: ...ut 128 CH output 128 CH 4 stations 1 2 3 4 stations Applicable controllers TSC TLC THC THK network Transmission channel type RS 485 Communication speed bps 38 4k 57 6k 115 2k Communication method Half duplex method Maximum main line length m 20 Maximum number of shafts connected 16 Input power supply 24 V DC 10 max 0 3 A Operating temperature Storage temperature 0 to 55 C no freezing 20 to 85 C no...

Page 122: ...2 1 Specifications and dimensional drawing Specifications Dimensions Mounting pitch Models TJU Port count 7 Input 1 Output 6 Termination resistance Built in switchable Dimensions mm 32x192 2x77 6 Weight g 220 www thk ru тел 7 499 703 39 86 sales thk ru ...

Page 123: ...l CBL COM 03 3 2 TACnet cable The cable is used to connect the branch unit TJU and driver controller Model CBL NW 01 1 m 03 3 m Network unit on TNU side CN2 PC side USB Model Lo Length mm Branch unit TJU side Branch unit TJU side Driver controller side Driver controller side www thk ru тел 7 499 703 39 86 sales thk ru ...

Page 124: ...t function This is an example of a servo on ladder program which sets all 16 axes at once through broadcast The startup of internal relay M2000 works as the trigger for all axes servo on 4 1 Broadcast sample program www thk ru тел 7 499 703 39 86 sales thk ru ...

Page 125: ...ram 10 6 TNU This is an example of a servo off ladder program which sets all 16 axes at once through broadcast The stand down of internal relay M2000 works as the trigger for all axes servo off www thk ru тел 7 499 703 39 86 sales thk ru ...

Page 126: ... unit remote device TNU CC THK Station number 1 I O unit remote IO AJ65SBTB32 BDT2 Mitsubishi Electric Corporation Station number 5 Branch unit TJU THK Driver controller TSC THK ID 0 CC Link device allocation information Remote input RX X1000 Remote output RY Y1000 Remote register RWr W0 Remote register RWw W100 SET W100 F W0 E W0 F W0 D END EMGS E ALM F ON Turn SVON F and PAUSE E ON Rising of SVR...

Page 127: ...A B C D E F Driver controller ID 0 DVC write failure Driver controller ID 1 DVC write failure Driver controller ID 2 DVC write failure Driver controller ID 3 DVC write failure Driver controller ID 4 DVC write failure Driver controller ID 5 DVC write failure Driver controller ID 6 DVC write failure Driver controller ID 7 DVC write failure Driver controller ID 8 DVC write failure Driver controller I...

Page 128: ...D 5 DVC write ID 6 DVC write ID 7 DVC write ID 8 DVC write ID 9 DVC write ID A DVC write ID B DVC write ID C DVC write ID D DVC write ID E DVC write ID F DVC write Broadcast 0 1 2 3 4 5 6 7 8 9 A B C D E 0 1 2 3 4 5 6 7 8 9 A B C D E F ID 0 DVC switch ID 1 DVC switch ID 2 DVC switch ID 3 DVC switch ID 4 DVC switch ID 5 DVC switch ID 6 DVC switch ID 7 DVC switch ID 8 DVC switch ID 9 DVC switch ID A...

Page 129: ...iver controller ID 2 Position data H Driver controller ID 3 Control area Driver controller ID 3 Position data L Driver controller ID 3 Position data H Driver controller ID 4 Control area Driver controller ID 4 Position data L Driver controller ID 4 Position data H Driver controller ID 5 Control area Ver1 3 or later RY in IO mode 0 1 2 3 4 5 6 7 8 9 A B C D E F TNU control area RY0F to 00 RY1F to 1...

Page 130: ...osition L Driver controller ID 4 Current position H 0 1 2 3 4 5 6 7 8 9 A B C D E F Driver controller input signal No 0 Driver controller input signal No 1 Driver controller input signal No 2 Driver controller input signal No 3 Driver controller input signal No 4 Driver controller input signal No 5 Driver controller input signal No 6 Driver controller input signal No 7 Driver controller input sign...

Page 131: ...ent value H Driver controller ID 1 Present speed value Not in use Not in use 0 1 2 3 4 5 6 7 8 9 A B C D E F Driver controller input signal No 0 Driver controller input signal No 1 Driver controller input signal No 2 Driver controller input signal No 3 Driver controller input signal No 4 Driver controller input signal No 5 Driver controller input signal No 6 Driver controller input signal No 7 Dri...

Page 132: ... No D Driver controller output signal No E Driver controller output signal No F Driver controller ID 0 Signal area RWr0 RWr1 RWr2 RWr3 RWr4 RWr5 RWr6 RWr7 RWr8 RWr9 RWrA RWrB RWrC RWrD RWrE RWrF Driver controller ID 0 Current position L Driver controller ID 0 Current position H Driver controller ID 0 Present current value L Driver controller ID 0 Present current value H Driver controller ID 0 Pres...

Page 133: ... products February 2014 No 6090 2 1 E Correction of erroneous description Jun 2014 No 6090 2 2 E Correction of erroneous description February 2015 No 6090 3 0 E Added the EtherNet IP March 2015 No 6090 4 0 E Added DeviceNet April 2016 No 6090 5 0 E Addition of functions individual DVC function data readout function April 2018 No 6090 6 0 E Errors corrected notes added www thk ru тел 7 499 703 39 8...

Page 134: ...TNU TJU INSTRUCTION MANUAL No 6090 6 0 E 201804 THK Electric Actuator Controller Series Network unit Branch unit www thk ru тел 7 499 703 39 86 sales thk ru ...

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