THK TLC Series Instruction Manual Download Page 1

Page: 1 / 107

Servo driver controller

INSTRUCTION MANUAL

TLC

THK Electrical Actuator Controller Series

No.6070-2(0)E

Summary of Contents for TLC Series

Page 1: ...Servo driver controller INSTRUCTION MANUAL TLC THK Electrical Actuator Controller Series No 6070 2 0 E...

Page 2: ...3 System configuration 1 6 3 1 System configuration diagram Example 1 6 4 Flow until using the product 1 7 1 Check products 2 2 1 1 Check the package contents of TLC 2 2 1 2 Options 2 4 1 3 Names of...

Page 3: ...4 5 2 3 How to obtain STEP No whose operation has been completed 4 5 2 4 Timing chart 4 6 3 Function mode 1 4 7 3 1 Manual operation 4 7 3 2 Position instruction 4 7 3 3 Methods of position instructio...

Page 4: ...2 2 Auto servo OFF 1 ASO 1 5 6 2 3 Auto servo OFF 2 ASO 2 5 6 2 4 Auto servo OFF 3 ASO 3 5 6 2 5 Full servo control SERVO 5 6 3 Servo ON 5 7 3 1 Servo ON 5 7 4 Zero return 5 8 4 1 Zero return method 5...

Page 5: ...precautions 5 18 13 1 General precautions 5 18 14 Parameters 5 19 14 1 Parameter Actuator information 5 19 14 2 Parameter Actuator operation settings 5 19 14 3 Parameter External interface 5 22 14 4 P...

Page 6: ...place the battery 7 3 3 Product warranty 7 5 3 1 Free warranty period 7 5 3 2 Usage conditions range 7 5 3 3 Warranty scope 7 5 3 4 Exclusion of warranty liability 7 6 3 5 Delivery conditions 7 6 1 Dr...

Page 7: ...bout this chapter This chapter describes the overview of the product This chapter includes information that we want you to check and understand before working with the product 1 Introduction 1 2 1 1 A...

Page 8: ...in this manual Do not reproduce reprint or lend the whole contents or a part of this manual without permis sion Please note that description in this manual is subject to change without prior notice in...

Page 9: ...f this product 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...

Page 10: ...icates prohibition of the action This mark indicates instruction for the action This mark indicates caution about the action Prohibited Do not disassemble Obligatory Provide grounding connection Cauti...

Page 11: ...because they should be hot Doing so may cause burns Prohibited Obligatory Caution Electrical shock Do not disassemble Caution High temperature Do not impact the product and do avoid rough handling su...

Page 12: ...System configuration Higher device Emergency stop switch This should be prepared by yourself P 3 12 Driver controller TLC Encoder sensor cable This is provided with the unit P 8 3 24 V DC power Power...

Page 13: ...to 2 3 3 Installation Installation environment check P 2 7 Installation P 2 8 to 2 10 4 Wiring Connection between each device and cable P 3 1 to 3 25 5 Trial run and adjustment Preparation of setup to...

Page 14: ...he package contents and to install it to the machine and facilities This section is primarily intended for those in charge of installation of this product to a machine and facilities 1 Check products...

Page 15: ...direct motor coupling ES5R ES6R EC4R motor return SKR20 SKR26 KR20 KR26 CSKR20 CSKR26 direct motor coupling SKR20W SKR26W KR20W KR26W motor return KRF4 KRF5 CKRF4 CKRF5 direct motor coupling KRF4R KRF...

Page 16: ...box until the start of installation work Type of parts Model number Qty Driver controller See the product label 1 Power connector 15EDGKD 3 81 07P 1 DEGSON ELECTRONICS CO LTD 1 Lithium ion battery ER6...

Page 17: ...to use D STEP For details see the separate D STEP instruction manual 1 2 2 TDO The digital operator for driver controller TLC Model TDO N For details see the separate TDO instruction manual 1 2 3 I O...

Page 18: ...fication number is selected CN3 Communication cable for PC and TDO is connected CN5 Power supply and emergency stop SW are connected SV ALM It lights in green when the servo is turned ON In the alarm...

Page 19: ...no flammable substance exists in the vicinity 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 liqu...

Page 20: ...ty 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...

Page 21: ...ircuit that stops the operations of the product and disconnects the main cir cuit power supply in the event of emergency Failure to do so may cause the dam age of the product that leads to injury Obli...

Page 22: ...ectly faces to the operator The space between TLC and TLC must be 10 mm or more To allow for cooling by fan or natural convection the space between TLC and right left wall must be 30 mm or more To all...

Page 23: ...own installation which disturbs heat discharge To prevent effects of PWM switching noise and external noise be sure to perform single point D type ground for TLC frame ground FG Prepare bolts and tool...

Page 24: ...11 1 5 Peripheral devices 3 12 2 External input and output CN1 3 13 2 1 Electrical specification 3 13 2 2 Signal name 3 15 2 3 Pin assignment 3 19 2 4 Optional I O cable 3 25 Connect to peripherals t...

Page 25: ...disassemble Provide grounding connection Do not change the wiring or re move insert the cables and con nectors while the devices are ener gized Doing so may cause abnormal opera tion fault and electri...

Page 26: ...ables are provided as an option P 2 4 Higher device Emergency stop switch This should be prepared by yourself P 3 12 Driver controller TLC Encoder sensor cable This is provided with the unit P 8 3 24...

Page 27: ...o prevent them from not spreading Do not apply solder plating to the core doing so causes poor contact Do not twist more than one wire together doing so may cause a fall Wiring and routing Twist the e...

Page 28: ...iagram Use one machine of TLC no reset switch The motor is energized as soon as the emergency stop switch is released Connecting TDO will open the internal relay K1 and the TDO emergency stop switch i...

Page 29: ...p switch is released the motor would not be energized until the reset switch is turned ON The reset switch must be turned ON when the power is turned ON Use the external relay CR with the surge absorp...

Page 30: ...stop all the TLCs urgently When TDO is connected to any TSC the emergency stop by TDO also stops all the TLCs urgently TLC TLC TLC 24V 0V S1 S2 24V 0V EMG 0V CN4 CN3 K1 TLC MPO MPI CN4 X S1 S2 24V 0V...

Page 31: ...ected to any TLC the emergency stop by TDO also stops all the TLCs urgently Use the external relay CR with the surge absorption diode at 0 1 A or less coil current 24CV 0PV S1 S2 24V 0V EMG 0V Emergen...

Page 32: ...When TDO is connected to any TLC the emergency stop by TDO stops only the TLC ur gently Use the external relay CR with the surge absorption diode at 0 1 A or less coil current 24V S1 S2 24V 0V EMG 0V...

Page 33: ...t be fallen off even by pulling it lightly Do not pull it strongly 3 Connect the encoder sensor connec tor white to the CN2 of TLC If it is connected properly it should be locked and cannot be fallen...

Page 34: ...ect with the separately sold communication cable CBL COM 03 P 2 4 If the PC has only the USB port instead of the RS 485 port use the provided conversion cable Operations with other than this conversio...

Page 35: ...ctor Take appropriate measures such as contact duplexing according to the requirements on the safety category All the wiring examples in this document do not guarantee the achievement of the safety ca...

Page 36: ...ll cause an electric shock Caution Electrical shock Do not damage tuck place a heavy object on or apply excessive stress on the cable Doing so causes disconnection of the cable short circuits or elect...

Page 37: ...the same state continues for 6 ms or longer ON OFF and OFF ON Items Specifications Rated load voltage 24 V DC 10 Maximum current 50 mA 1 circuit Residual voltage 0 3 V or less Insulation method Photo...

Page 38: ...STRT PWRT STRT STRT 14 MANU MANU MANU MANU MANU MANU 15 HOME HOME HOME HOME HOME HOME 16 PAUSE PAUSE PAUSE PAUSE PAUSE PAUSE 17 REST REST REST REST REST REST 18 SV ON SV ON SV ON SV ON SV ON SV ON 19...

Page 39: ...d to the frame ground Signal name Pin number Function mode Functions and use application Reference page 0 1 2 3 4 5 PI 0 3 20 1 Specify the STEP No to be executed by binary The specification must be c...

Page 40: ...ot switch when the parameter No 38 is valid P 5 5 HOME 15 Execute the zero return operation P 5 8 PAUSE 16 With OFF pause P 5 10 REST 17 Reset the alarm During pause the remaining movement distance is...

Page 41: ...is within the range set by the parameters No 1 and 2 P 5 15 MODE S 26 ON Instruction mode OFF Normal mode P 4 8 P AREA 27 Turns ON when it is within the P area A B set by the running STEP No P 5 15 M...

Page 42: ...ea Operation mode status Zero return completed Positioning completed Load output determination Torque level status Operation preparations completed Voltage reduction in battery Alarm Output signal 24V...

Page 43: ...Position area Operation mode status Zero return completed Positioning completed Writing completed Operation preparations completed Voltage reduction in battery Alarm Output signal 24VDC 24VDC 0V 0V E...

Page 44: ...mber End position number End position number Position area Operation mode status Zero return completed Positioning completed Load output determination Torque level status Operation preparations comple...

Page 45: ...position number End position number End position number End position number Operation mode status Zero return completed Positioning completed Load output determination Torque level status Operation p...

Page 46: ...output Cylinder type arrival completed output Cylinder type arrival completed output Cylinder type arrival completed output Cylinder type arrival completed output Area Position area Zero return compl...

Page 47: ...Zero return Alarm reset Servo on Input signal Cylinder type position detection output Cylinder type position detection output Cylinder type position detection output Position area Zero return complet...

Page 48: ...Purple CN1 31 Yellow Black dot CN1 14 Purple White dot CN1 32 Yellow Green dot CN1 15 Gray CN1 33 Green Black dot CN1 16 Gray White dot CN1 34 Light gray Green dot Conventional product I O cable CBL...

Page 49: ...3 How to obtain STEP No whose operation has been completed 4 5 2 4 Timing chart 4 6 3 Function mode 1 4 7 3 1 Manual operation 4 7 3 2 Position instruction 4 7 3 3 Methods of position instruction 4 8...

Page 50: ...s chapter describes the driver controller TLC s functions 5 Function mode 5 4 12 5 1 Specify and execute STEP No 4 12 5 2 Move command method 4 12 5 3 Position detection signal 4 12 5 4 Timing chart 4...

Page 51: ...l instruction mode by I O Without area output with P area output 64 2 Position 256 type Multi point positioning operation with 256 points Without area output with P area output 256 3 Position 512 type...

Page 52: ...OFF ON OFF Note 1 If input is made before INPS turns ON multi step transmission operation is activated after INPS turns ON Note 2 The delay time is up to several milliseconds End position PO Instruct...

Page 53: ...ng PI s ON Example To specify STEP No 22 22 16 4 2 so turn PI 4 16 PI 2 4 and PI 1 2 ON Example To specify STEP No 101 101 64 32 4 1 so turn PI 6 64 PI 5 32 PI 2 4 and PI 0 1 ON PI 0 1 2 3 4 5 6 7 8 B...

Page 54: ...t input STRT detect the rising edge from signal OFF to ON The moving signal MOVE is output only in function mode 0 OFF OFF OFF OFF OFF ON ON ON ON ON TSC power supply Servo on input SV ON Zero return...

Page 55: ...common to that of the inching operation described below Inching operation Once turned ON the actuator in moves for certain distance in positive direction with JOG P pin 11 or in negative direction wi...

Page 56: ...f instruction normal po sition mode Check that the MODE S pin 26 is OFF Execution in the function mode 1 follows the function mode 0 2 1 Specify and execute STEP No P 4 5 See However STRT PWRT pin 13...

Page 57: ...ting completion signal WEND pin 31 turns ON for 30 ms T1 30 ms External input instruction mode input MODE Instruction position number input PI 0 to PI 5 Moving direction input JOG P during external in...

Page 58: ...ct the method in the parameter No 13 Move command system P 5 20 Level The movement is started when turning the input signal ON and is stopped when turning it OFF on the way Edge The movement is starte...

Page 59: ...turning ON the corresponding start signal will operate the actuator according to the program set to each STEP No The zero return input HOME pin 15 detects the rising edge from signal OFF to ON Move co...

Page 60: ...of the input signal and is not stopped even when turning it OFF on the way If PAUSE is valid parameter No 33 is valid turn it OFF to pause it 5 3 Position detection signal Regardless of the selected a...

Page 61: ...input HOME and ST 0 to ST 2 detect the rising edge from signal OFF to ON TLC power supply During the operation Servo on During zero return Servo on input SV ON T1 T2 10 ms or more Pos Range Pos Range...

Page 62: ...nvalid 5 6 2 2 Auto servo OFF 1 ASO 1 5 6 2 3 Auto servo OFF 2 ASO 2 5 6 2 4 Auto servo OFF 3 ASO 3 5 6 2 5 Full servo control SERVO 5 6 3 Servo ON 5 7 3 1 Servo ON 5 7 4 Zero return 5 8 4 1 Zero retu...

Page 63: ...peed switching 5 16 11 1 Speed switching 5 16 12 Brake release 5 17 12 1 Release with switch 5 17 12 2 Release with external input and output 5 17 13 General precautions 5 18 13 1 General precautions...

Page 64: ...nt TLC This section describes the parameter details 14 Parameters 5 19 14 1 Parameter Actuator information 5 19 14 2 Parameter Actuator operation settings 5 19 14 3 Parameter External interface 5 22 1...

Page 65: ...N 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 dama...

Page 66: ...ns are performed with the mode change switch set to AUTO in this mode MANU S output pin 28 is turned OFF This manual primarily describes the operation method and operations using the external input an...

Page 67: ...Auto servo OFF time 2 P 5 20 Other operations are same as 2 2 Auto servo OFF 1 ASO 1 P 5 6 2 4 Auto servo OFF 3 ASO 3 Once reached the servo will be turned OFF after the elapse of the time set in the...

Page 68: ...eased at the same time as the servo ON Note that the actuator may fall in using it in the vertical direction if the torque is insufficient When you turn the servo OFF while the actuator is running the...

Page 69: ...becomes the zero point Position for starting the zero return Initial moving direction Reverse direction of the stroke end Stroke end Zero point First zero point signal Zero point With offset Offset T...

Page 70: ...initions of positive and negative of moving direction the direction in which the ac tuator returns after turning around at the stroke end for the zero return operation is regarded as positive The dire...

Page 71: ...re turning the PAUSE input pin 16 OFF In this case turning ON the PAUSE again will not resume the operations and the unit remains in the position so enter the operation command for the next STEP No Th...

Page 72: ...tes in positive direction with JOG P pin 11 or in negative direction with JOG N pin 12 For definitions of positive and negative directions see 4 2 Positive negative of moving di rection P 5 11 The mov...

Page 73: ...rned ON when the current position enters into the IN POSI of the target POSI For more information on settings see the separate D STEP or TDO instruction manual STEP No ABS INC Position Speed ACC DCC J...

Page 74: ...n when the amount of impressing is not constant you can perform pressing by controlling the torque For more information on settings see the separate D STEP or TDO instruction manual STEP No ABS INC Po...

Page 75: ...on settings see the separate D STEP or TDO instruction manual When the range setting is valid When the range setting is invalid Distance to the target Target position Maximum amount of pressing Positi...

Page 76: ...nfigured in the P area A mm and P area B mm of the program table the P AREA output pin 27 turns ON which is executable in operation modes 0 1 2 4 and 5 The P area set for the running STEP No is valid...

Page 77: ...l perform speed switching set E to JUMP No You can switch speed only in the operation mode 0 2 and 3 This function is not available for operations from D STEP or TDO The machine always pauses STEP No...

Page 78: ...ure to do so may cause damages or injuries If it is manually released return it to the valid status manually The brake remains released until it is returned to the valid status and it does not interlo...

Page 79: ...movement INPS pin 30 and LS pin 19 to 21 signals ON the intervals of more than 10 ms are necessary 2 In the operation modes 0 and 1 the MOVE output pin 25 turns ON until the movement comple tion from...

Page 80: ...ption Inputs the default value of Acceleration and Deceleration entered when double clicking an arbitrary row of the program table See 5 4 Acceleration and deceleration rates P 5 19 10 IN POSI range m...

Page 81: ...still mode of Program table is ASO2 See 5 5 3 Auto servo OFF 2 ASO 2 P 5 20 for details 19 Auto servo OFF 3 s 0 to 9999 9999 Description Sets the time until the servo turns OFF after completing the po...

Page 82: ...status Limit for pressing Current limit on stop status Description Sets the current limit after the pressing operation being in vain Current limit on stop status Current set in No 11 Limit for pressi...

Page 83: ...gnal type Select PEND INP INP Description Selects the output method of signal for positioning completion INPS pin 30 When the servo is OFF this is unconditionally turned OFF regardless of the current...

Page 84: ...pends on models Description This is a parameter to determine the responsiveness of speed control loop As the load inertia increases the setting value should be increased Increasing the value improves...

Page 85: ...ribes the causes and counter measures when an alarm is displayed or other failure occurs on the driver controller TLC 1 Alarm lists 6 2 1 1 Alarm lists 6 2 1 2 About the status of the servo when an al...

Page 86: ...ted usually it generates immediately after exceeding the parameter 33 Soft limit over The current position has exceeded the parameter No 3 or 4 34 Push hold operation range over error During the press...

Page 87: ...ition error deviation The servo changes to OFF status 33 Soft limit over The servo keeps ON status 34 Push hold operation range over error The servo changes to OFF status 35 Encoder communication erro...

Page 88: ...es 0 through 3 See 2 3 How to obtain STEP No whose operation has been completed P 6 4 Assuming the AC is equivalent to each binary number digit convert them into decimal numbers to obtain an alarm cod...

Page 89: ...with new one Encoder has a fault Replace the actuator with new one Actuator connection cable has a fault Replace the cable with new one Driver controller board has a fault Replace the driver controlle...

Page 90: ...at While energizing Ambient temperature is high Set the ambient temperature within the product specification range Bad ventilation is likely to cause the heat to be stayed inside the unit Set the surr...

Page 91: ...t this chapter This chapter describes the maintenance repair and replacement procedures of this product and warranty 1 Maintenance and inspection 7 2 1 1 Periodical inspection 7 2 1 2 Standard of dura...

Page 92: ...crew There shall be no loose connectors or fixing screws Securely re connect or re tighten Abnormality of unit parts There should be no decoloration damage or disconnection due to heating Replace with...

Page 93: ...y case to the unit Connect the connector to CN6 At this point the BALM output pin 33 is turned ON Remove it by pushing it Pull out the connector Engage the battery case hook with the unit Pressing the...

Page 94: ...2 Repair Replacement 7 4 7 Maintenance and Warranty TLC 5 Release the EMG stop and supply 24V to S1 of CN4 6 Use the alarm code No 63 EMG stop to reset the alarm 7 Turn the servo ON...

Page 95: ...osis 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...

Page 96: ...of free repair work In case of any paid 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 w...

Page 97: ...chapter summarizes the technical information including specifications and dimensional diagrams of this product When using this product refer to this chapter for any details you want to know 1 Driver...

Page 98: ...o ready Alarm and Emergency stop circuit etc 24 V DC 10 This should be prepared by yourself External power supply for input output Communication Digital operator or PC software Connected device RS 485...

Page 99: ...or TLC m 28 22 20 17 53 29 7 5max For secured 6 3max High flex Encoder cable for TLC CBL TLC ACS F For secured CBL TLC ACS R High flex represents cable length 03 3m 05 5m 10 10m I O cable CBL TSC IO C...

Page 100: ...ment auto tuning after confirming that the actuator has completed its trial run cable connection slider operating direction travel confirmation normally Make sure that emergency stop can be performed...

Page 101: ...gain adjustment Auto tuning start Auto tuning result Vibration overshoot Satisfactory results Directly change gain parameter Satisfactory results Gain adjustment end Unsatisfactory results Manual adj...

Page 102: ...tps tech thk com Auto tuning procedure Start up D STEP display the startup screen and connect to the driver controller to be set Before starting auto tuning perform a trial run with the program screen...

Page 103: ...r automatic setting confirm the displayed Stroke and Acceleration and select Move For manual setting select Not Use Mass Estimation When setting manually enter Load inertia ratio Make sure that the ga...

Page 104: ...displayed in the order of tuning up to No 10 Vibration and noise will occur during auto tuning but this is not abnormal 5 Saving the gain value Select Parameter Write to save If tuning has been perfo...

Page 105: ...conditions are too severe with respect to the motor capacity 2 When errors occur during auto tuning If auto tuning stops due to a driver control error check the following items Is the speed drive pat...

Page 106: ...nuary 2013 No 6070 1 0 E First edition June 2014 No 6070 1 1 E Changed the parameter setting range by the software version changes Added notes on the battery alarm November 2016 No 6070 1 2 E Added co...

Page 107: ...TLC THK Electric Actuator Controller series Servo driver controller INSTRUCTION MANUAL No 6070 2 0 E 201804...

Search results

Summary of Contents for TLC Series

Reviews:

Related manuals for TLC Series

Brands by name

Popular brands

THK TLC Series, Instruction Manual

Search results

Summary of Contents for TLC Series

Reviews:

Related manuals for TLC Series

Brands by name

Popular brands