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THK TLC Series Instruction Manual

Electrical actuator controller servo driver controller
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THK Electrical Actuator Controller Series
Servo driver controller
TLC
INSTRUCTION MANUAL
No.6070-2(0)E

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Summary of Contents for THK TLC Series

  • Page 1 THK Electrical Actuator Controller Series Servo driver controller INSTRUCTION MANUAL No.6070-2(0)E...

  • Page 2: Table Of Contents

    Table of Contents Introduction Acknowledgment― ―――――――――――――――――――――――― 1-2 About this manual――――――――――――――――――――――――― 1-2 How to use this product― ――――――――――――――――――――― 1-3 About product support― ― ――――――――――――――――――――― 1-3 About related instruction manuals―――――――――――――――――― 1-3 Product and company information― ― ―――――――――――――――― 1-3 Safety precautions About ranks of precautions――――――――――――――――――――― 1-4 About description of precautions―...
  • Page 3 Table of Contents External input and output (CN1) 3-13 Electrical specification―――――――――――――――――――――― 3-13 Signal name― ――――――――――――――――――――――――― 3-15 Pin assignment― ―――――――――――――――――――――――― 3-19 Optional I/O cable―――――――――――――――――――――――― 3-25 Overview Type of function mode――――――――――――――――――――――― 4-3 Selection by intended use― ―――――――――――――――――――― 4-3 Timing chart (Common to position move)― ― ――――――――――――― 4-4 Function modes 0, 2 and 3 Specify and execute STEP No.―...
  • Page 4 Table of Contents Function mode 5 4-12 Specify and execute STEP No.― ――――――――――――――――― 4-12 Move command method――――――――――――――――――――― 4-12 Position detection signal――――――――――――――――――――― 4-12 Timing chart― ――――――――――――――――――――――――― 4-13 Operation mode MANUAL mode―――――――――――――――――――――――――― 5-5 AUTO mode― ―――――――――――――――――――――――――― 5-5 MANUAL mode switching― ―――――――――――――――――――― 5-5 Stop mode Invalid―...
  • Page 5 Table of Contents Torque determination 5-14 Torque determination― ――――――――――――――――――――― 5-14 Area determination 5-15 10-1 Area determination― ―――――――――――――――――――――― 5-15 Speed switching 5-16 11-1 Speed switching― ――――――――――――――――――――――― 5-16 Brake release 5-17 12-1 Release with switch― ―――――――――――――――――――――― 5-17 12-2 Release with external input and output― ― ――――――――――――― 5-17 General precautions 5-18 13-1...
  • Page 6 Table of Contents Maintenance and inspection Periodical inspection― ―――――――――――――――――――――― 7-2 Standard of durability of consumables for driver controller TLC― ―――― 7-2 Repair/Replacement How to replace the battery― ―――――――――――――――――――― 7-3 Product warranty Free warranty period― ― ―――――――――――――――――――――― 7-5 Usage conditions (range)―――――――――――――――――――――― 7-5 Warranty scope――――――――――――――――――――――――――...

  • Page 7: Introduction

    1. Introduction About 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. Introduction ………………… 1-2 This section includes intro- duction about the product 1-1.

  • Page 8: Acknowledgment

    ⿟ Drawings show representative examples, and may differ from your product. ⿟ Note that THK shall not be liable for any result incurred by applying this manual, regardless of the reason. ⿟ This manual can be applied to special types. However, the descriptions defined in the delivery specification drawings or the delivery specification documents of those special types should take precedence over this manual.

  • Page 9: How To Use This Product

    ・ Controller series Setup tool D-STEP ・ Controller series Digital operator TDO Product and company information To find the latest product and company information, we recommend you to periodically access our website. ⿟ Website URL: http://www.thk.com/ ⿟ Technical support website URL: https://tech.thk.com/...

  • Page 10: Safety Precautions

    1. Introduction Safety precautions About ranks of precautions This manual uses the classifications of "Danger," "Warning," and "Caution" for warning indications for safety matters. DANGER Erroneous handling may urgently cause death or serious injury to a person WARNING Erroneous handling may cause death or serious injury to a person CAUTION Erroneous handling may cause injury to a...

  • Page 11: Safety Precautions

    1. Introduction Safety precautions Safety precautions W A R N IN G CAUTION ⿟ While the actuator is operating or ⿟ Do not impact the product and operable, do not enter the working do avoid rough handling such as area of any moving part including throwing it.

  • Page 12: System Configuration

    1. Introduction System configuration System configuration diagram (Example) ⿟ The diagram below shows a representative example for using the economy series ES with the driver controller TLC. ⿟ Cables used for connecting the devices shown with ★ should be prepared by yourself. TDO( →...

  • Page 13: Flow Until Using The Product

    1. Introduction Flow until using the product ① Safety statement check → P.1-4 ② Safety check of the installation location 1. Safety check → P.2-7 ③ Installation check → P.2-8 to 2-10 ① Preparation of required devices → P.1-6 2. Preparation ②...
  • Page 14 2. Installation About this chapter This chapter describes how to check the 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. This section describes the Check products ………………...

  • Page 15: Check Products

    2. Installation Check products Check the package contents of TLC 1-1-1 Check the model/type of the product Check the model indicated on the product label against the purchase information. MODEL : TLC-005-24DC-MOD-A Model number Input : 24VDC ***A (See the following) Output : 0-24VAC ***A 2Phase 0-***Hz Actuator **********...
  • Page 16 2. Installation Check products 1-1-2 Checking the type and number of accessories No cable is provided, so please separately prepare a cable. Type of parts Model number Qty. Driver controller * See the product label 15EDGKD-3.81-07P-1 Power connector (DEGSON ELECTRONICS CO.,LTD) ER6V C4 Lithium ion battery (Toshiba Home Appliances Corporation)

  • Page 17: Options

    A setup tool. This can be downloaded from our website free of charge. * Registration with the technical support is required to download. URL: http://www.ea-thk.com In addition, a PC communication cable is required to use D-STEP. For details, see the separate D-STEP instruction manual.

  • Page 18: Names Of Individual Parts And Functions

    2. Installation Check products Names of individual parts and functions 1-3-1 Driver controller TLC ⿟ Connectors for CN1 and CN5 are provided with this product. No cable is provided, so please separately prepare it. For CN1, an optional package with a cable is available. ( → P.2-4)( → P.3-25) ⿟...

  • Page 19: Store And Dispose Of Products

    2. Installation Check products Store and dispose of products 1-4-1 For storage If the product is not used for a while, put the product with packing materials in a packaging box for transportation and store it in the following place: ⿟...

  • Page 20: How To Install

    2. Installation How to install Installation environment WARNING ⿟Do not put the product into fire to dispose of it. Doing so may lead the product to burst, generate noxious gas, or cause injury due to bursting. Caution – Flammable 2-1-1 Installation environment of driver controller TLC Place it within a control panel that meets the following conditions: ⿟...

  • Page 21: Install Tlc

    2. Installation How to install Install TLC WARNING ⿟Driver controller TLC must be in- ⿟ Install a safety device such as stalled within the control panel and a breaker for wiring to prepare operated with the door closed. against short-circuit of the wiring Obligatory Caution - Failure to do so may cause electric...
  • Page 22 2. Installation How to install 2-2-1 Standards for installation When installing the driver controller TLC to the control panel, observe the following installation stan- dards. ⿟ Install it onto the wall perpendicularly so that the front of TLC directly faces to the operator. ⿟...
  • Page 23 2. Installation How to install 2-2-2 How to install ⿟ Use 2 installation holes on the fittings of the driver controller TLC and fixing bolts for installation. Installation direction is vertical only (panel display is upright). Do not perform tilt, horizontal, or up- side-down installation which disturbs heat discharge.
  • Page 24 3. Wiring About this chapter This chapter describes how to connect to and wire TLC. Connect to peripherals to How to wire …………………… 3-2 operate the actuator. 1-1. Entire wiring ………………………………… 3-3 1-2. Connect peripheral devices to power supply ………………………………………… 3-4 1-3.

  • Page 25: How To Wire

    3. Wiring How to wire WARNING ⿟ Do not extend or shorten the pro- ⿟ Do not change the wiring or re- vided cables. move/insert the cables and con- Doing so may cause malfunctions or nectors while the devices are ener- Do not Caution - disassemble...

  • Page 26: Entire Wiring

    3. Wiring How to wire Entire wiring See the wiring example below. ⿟ The cable that connects to the CN1, CN3, and CN5 connectors with ★ mark is not provided, please prepare it separately. ( → P.3-4) ⿟ The optional cable (CBL-COM-03) to connect to CN3 PC and optional I/O cable (CBL-TSC-IO) to CN1 are available.

  • Page 27: Connect Peripheral Devices To Power Supply

    3. Wiring How to wire Connect peripheral devices to power supply 1-2-1 How to connect connectors for power supply The power supply (CN5) connector to connect to the driver controller is provided with the driver controller TLC as standard. (→ P.2-3) Input power supply Power (CN5) connector type 24 V DC ±...
  • Page 28 3. Wiring How to wire 1-2-2 Connection of FG wire Production of FG cable example (Prepare it by yourself.) ⿟ Recommended electric wire: 1.25 mm (AWG16) Connect the FG wire to the GND terminal, and ground it to the earth. GND terminal (M3 cross-recessed pan-head screws) FG wire...
  • Page 29 3. Wiring How to wire ⿟ Use one machine of TLC (with reset switch) • Even if the emergency stop 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. •...
  • Page 30 3. Wiring How to wire ⿟ Use two machines of TLC (the same power source) • One emergency stop switch can stop all the TLCs urgently. • When TDO is connected to any TSC, the emergency stop by TDO also stops all the TLCs urgently.
  • Page 31 3. Wiring How to wire ⿟ Use two or more machines of TLC (another power source) • One emergency stop switch can stop all the TLCs urgently. • When TDO is connected to any TLC, the emergency stop by TDO also stops all the TLCs urgently.
  • Page 32 3. Wiring How to wire ⿟ Solo emergency stop of TLC (TDO uses) • One emergency stop switch can stop all the TLCs urgently. • When TDO is connected to any TLC, the emergency stop by TDO stops only the TLC ur- gently.
  • Page 33 3. Wiring How to wire 1-2-4 Connect to driver controller TLC Check that the power of TLC is not turned ON. Connect the motor brake connector (black) to the CN4 of TLC. If it is connected properly, it should be locked and cannot be fallen off even by pulling it lightly.

  • Page 34: Connect To Pc

    3. Wiring How to wire Connect to PC 1-3-1 How to connect • Connect 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 conversion cable cannot be guaranteed.

  • Page 35: Peripheral Devices

    3. Wiring How to wire Peripheral devices 1-5-1 Breaker for wiring ⿟ For your safety, attach an electric leakage breaker appropriate for the DC power supply onto the primary side (the AC input side) of the DC power supply to supply the power for the TLC. 1-5-2 Electromagnetic contractor, surge suppressor ⿟...

  • Page 36: External Input And Output (Cn1)

    3. Wiring External input and output (CN1) WARNING ⿟ Do not change the wiring or re- ⿟ Do not damage, tuck, place a move/insert the cables and con- heavy object on or apply excessive nectors while the devices are ener- stress on the cable.
  • Page 37 3. Wiring External input and output (CN1) 2-1-2 External output specifications 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 coupler * In case of relay load, be sure to connect a Each diode for surge killer.

  • Page 38: Signal Name

    3. Wiring External input and output (CN1) Signal name 2-2-1 List of function modes Signal name Function Function Function Function Function Function Input/output mode 0 mode 1 mode 2 mode 3 mode 4 mode 5 number External input Position 64 Position 256 Position 512 Solenoid 1...
  • Page 39 3. Wiring External input and output (CN1) 2-2-2 Details of signals ⿟ In the following descriptions, "ON" means short circuit to 0 V. ⿟ Valid for function modes with " ○ ". Invalid for function modes with "-". The function modes with "...
  • Page 40 3. Wiring External input and output (CN1) Function mode Reference Signal name Functions and use application number page (→P.4-7) JOG N － ○ － － － － Move in the negative (-) direction. With ON, the brake is released forcibly. Usually, it (→P.5-17) BKRL ○...
  • Page 41 3. Wiring External input and output (CN1) Function mode Reference Signal name Functions and use application number page LS 0 － － － － － ○ When it enters into the positioning range set in each LS 1 － － －...

  • Page 42: Pin Assignment

    3. Wiring External input and output (CN1) Pin assignment 2-3-1 Function mode 0 ⿟ The position 64 type pin assignment P24O +24VDC P24O +24VDC External power supply input PI 0 Instruction position number Encoder input PI 1 Instruction position number PI 2 Instruction position number PI 3...
  • Page 43 3. Wiring External input and output (CN1) 2-3-2 Function mode 1 ⿟ The external input instruction-type pin assignment P24O +24VDC P24O +24VDC External power supply input PI 0 Instruction position number Instruction position number Encoder input PI 1 PI 2 Instruction position number Instruction position number PI 3...
  • Page 44 3. Wiring External input and output (CN1) 2-3-3 Function mode 2 ⿟ The position 256 type pin assignment P24O +24VDC P24O +24VDC External power supply input PI 0 Instruction position number Encoder PI 1 Instruction position number Instruction position number Input PI 2 PI 3...
  • Page 45 3. Wiring External input and output (CN1) 2-3-4 Function mode 3 ⿟ The position 512 type pin assignment P24O +24VDC P24O +24VDC External power supply input PI 0 Instruction position number Encoder PI 1 Instruction position number PI 2 Instruction position number Input Instruction position number PI 3...
  • Page 46 3. Wiring External input and output (CN1) 2-3-5 Function mode 4 ⿟ The solenoid mode 1 type pin assignment. P24O +24VDC P24O +24VDC External power supply input ST 0 Cylinder type start Encoder input ST 1 Cylinder type start Cylinder type start ST 2 ST 3 Cylinder type start...
  • Page 47 3. Wiring External input and output (CN1) 2-3-6 Function mode 5 ⿟ The solenoid mode 2 type pin assignment. P24O +24VDC P24O +24VDC External power supply input ST 0 Cylinder type start Encoder ST 1 Cylinder type start ST 2 Cylinder type start Input BAT+...

  • Page 48: Optional I/O Cable

    3. Wiring External input and output (CN1) Optional I/O cable ⿟ The wire color and pin number of the optional I/O cable (Separately-sold) * The terminal on the discrete wire side is shipped without processing. Driver controller side Host controller side (Cable length) Current product I/O cable: CBL-CON-IO-□□...
  • Page 49 4. TLC functions About this chapter This chapter describes the driver controller TLC's functions. This section describes the Overview ……………………… 4-3 overview of the TLC func- tions. 1-1. Type of function mode …………………… 4-3 1-2. Selection by intended use ………………… 4-3 1-3.
  • Page 50 4. TLC functions About this chapter This chapter describes the driver controller TLC's functions. Function mode 5 ………… 4-12 This section describes the function mode 5. 5-1. Specify and execute STEP No. …………… 4-12 5-2. Move command method ………………… 4-12 5-3.

  • Page 51: Overview

    4. TLC functions Overview TLC have 6 modes for different purposes and objectives. ⿟ The 6 modes have different number of positions, implemented functions, and op- eration methods. ⿟ You can change the mode in the parameter No.36 (Function mode). ⿟...

  • Page 52: Timing Chart (Common To Position Move)

    4. TLC functions Overview Timing chart (Common to position move) ⿟ The timing chart of each signal during general position movement for mode 0 to 3 is described below. For details of the chart for each mode, see the respective timing chart. Instruction position number input "PI□"...

  • Page 53: Function Modes 0, 2 And 3

    4. TLC functions Function modes 0, 2 and 3 Specify and execute STEP No. ⿟ To specify STEP No. in the function mode 0, 2 and 3, convert STEP No. into a binary number and turn ON/OFF the inputs of PI 1 to PI 8. ①―...

  • Page 54: Timing Chart

    4. TLC functions Function modes 0, 2 and 3 Timing chart ⿟ In the STRT signal move command, it reads the signals of PI 0 to PI 8 as STEP No. and operates according to the program set to each STEP No. ⿟...

  • Page 55: Function Mode 1

    4. TLC functions Function mode 1 Manual operation ⿟ In function mode 1, the actuator can be operated discretionarily by external input and output, in addition to normal positioning operation. * Operations are allowed even before zero return, but the servo must be ON. ⿟...

  • Page 56: Methods Of Position Instruction

    4. TLC functions Function mode 1 Methods of position instruction ①―Turn the servo ON. ②―Perform zero return. ③―Turn the MODE (pin.9) ON. Check that the MODE S (pin.26) is ON. ④―Move to the position you want to instruct by manual operation. See (→P.4-7) ⑤―Specify the STEP No.

  • Page 57: Timing Chart (Instruction Mode)

    4. TLC functions Function mode 1 Timing chart (Instruction mode) ⿟ In the instruction mode (MODE (pin.9) is ON), STRT/PWRT (pin.13) serves as PWRT. ⿟ Write the current position data into the "Position (mm)" field of the program table. ⿟ Writing is executed by turning ON the current position writing signal STRT/PWRT (pin.13) for 20 ms or more in the instruction mode (MODE (pin.9) input is ON).

  • Page 58: Function Mode 4

    4. TLC functions Function mode 4 Specify and execute STEP No. ⿟ To specify and execute STEP No. in the function mode 4, turn ON the ST of the same number (pin.3 to 9). ⿟ There is no need to turn the STRT (pin.13) ON. Note that turning the ST (pin.3 to 9) ON starts ex- ecution immediately.

  • Page 59: Timing Chart (Instruction Mode)

    4. TLC functions Function mode 4 How to obtain STEP No. whose operation has been completed ⿟ PE (pin.19-25) output equivalent to the operation-completed STEP No. is directly turned ON (ST corresponds PE one-to-one). See the figure in 4-2 Move command method. ⿟...

  • Page 60: Specify And Execute Step No

    4. TLC functions Function mode 5 Specify and execute STEP No. ⿟ To specify and execute STEP No. in the function mode 5, turn ON the ST of the same number (pin.3 to 5). ⿟ There is no need to turn the STRT (pin.13) ON. Note that turning the ST (pin.3 to 5) ON starts ex- ecution immediately.

  • Page 61: Timing Chart

    4. TLC functions Function mode 5 Timing chart ⿟ A start signal (ST 0 to ST 2) is available for each STEP No., and turning ON the corresponding start signal will operate the actuator according to the program set to each STEP No. ⿟...
  • Page 62 5. Operations and adjustment About this chapter This chapter describes the operations and adjustment. This section describes the Operation mode……………… 5-4 operation mode details. 1-1. MANUAL mode ……………………………… 5-5 1-2. AUTO mode ………………………………… 5-5 1-3. MANUAL mode switching ………………… 5-5 Stop mode ……………………...
  • Page 63 5. Operations and adjustment This section describes the Manual operation ………… 5-11 manual operation details. 6-1. Manual operation …………………………… 5-11 This section describes the Positioning operation …… 5-12 positioning details. 7-1. Positioning operation ……………………… 5-12 This section describes the Pressing operation ……… 5-13 pressing operation details.
  • Page 64 5. Operations and adjustment This section describes the Parameters 5-19 ……………………………… parameter details. 14-1. Parameter: Actuator information ……… 5-19 14-2. Parameter: Actuator operation settings ……………………………………… 5-19 14-3. Parameter: External interface …………… 5-22 14-4. Parameter: Servo gain …………………… 5-23...

  • Page 65: Operation Mode

    5. Operations and adjustment Operation mode WARNING ⿟ To prevent unexpected accidents, ⿟ Do not touch the actuator's mov- make sure to install the emergency ing part during operations. stop switch and have the machine Doing so may cause injuries. Prohibited Obligatory ready to be shut down at any time...

  • Page 66: Manual Mode

    5. Operations and adjustment Operation mode • There are 2 types of TLC operation mode: the MANUAL mode connects the PC or TDO to CN3 to operate the mode change switch with MANU, and the AUTO mode connects the external input and output signals to CN1 to operate the mode change switch with AUTO.

  • Page 67: Stop Mode

    5. Operations and adjustment Stop mode • You can select a stop status after reaching the target point in "Standstill mode". You can set the initial value when inputting programs in the parameter No.25 (Standstill mode). • Selecting an appropriate mode reduces heat generation and power usage. •...

  • Page 68: Servo On

    5. Operations and adjustment Servo ON WARNING ⿟ For vertical application, note that the moving part may fall if the torque is not sufficient. It may cause damages or injuries. Caution ⿟ To prevent unexpected accidents, execute a program after having the power of the driver controller ready to be shut down at any time.

  • Page 69: Zero Return

    5. Operations and adjustment Zero return ⿟ To define the zero-point before execution of programmed operations, it must be performed. However, it is not necessary for jog and inching operations in the Function mode 1 (necessary for instruction though). ⿟ You cannot change the returning direction and speed. ⿟...

  • Page 70: Positive/Negative Of Moving Direction

    5. Operations and adjustment Zero return Positive/negative of moving direction ⿟ For definitions 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 (+).

  • Page 71: Pause

    5. Operations and adjustment Pause Pause ⿟ Turning the PAUSE input (pin.16) OFF during operations will decelerate the speed and then pause it. Turning ON will resume the operations for the remaining move amount for the STEP No. that was active before turning the PAUSE input (pin.16) OFF. ⿟...

  • Page 72: Manual Operation

    5. Operations and adjustment Manual operation Manual operation ⿟ In function mode 1, the actuator can be operated discretionarily by external input and output, in addition to normal positioning operation. * Operations are allowed even before zero return, but the servo must be ON. ⿟...

  • Page 73: Positioning Operation

    5. Operations and adjustment Positioning operation Positioning operation ⿟ You can perform this in all operation modes. ⿟ When "Push (%)" in the program table is "0", positioning operation will be performed to move the actuator to the target "Position". ⿟...

  • Page 74: Pressing Operation

    5. Operations and adjustment Pressing operation Pressing operation ⿟ You can perform this in the operation mode 0, 2, 3, and 4. ⿟ When "Push (%)" is other than "0", pressing operation will be performed to press the object with torque limit (current limit).

  • Page 75: Torque Determination

    5. Operations and adjustment Torque determination Torque determination ⿟ You can perform this in the operation mode 0, 2, 3, and 4. ⿟ You can set the current during "Pressing operation" as "Push (%)", and moreover you can set "Threshold" as a guide for torque determination. ⿟...

  • Page 76: Area Determination

    5. Operations and adjustment Area determination 10-1 Area determination ⿟ There are 2 types: "area determination" that sets the determination range by parameters and "P area determination" that sets for STEP No. of the program table. ⿟ When the actuator enters into the range set by the parameter No.1 (Max. area) ( → P.5-19) and No.2 (Min.

  • Page 77: Speed Switching

    5. Operations and adjustment Speed switching 11-1 Speed switching ⿟ While moving, you can change the speed and continue the operation without pausing by issuing the execution command for the next program STEP No. (specify STEP No. → STRT ON). ⿟...

  • Page 78: Brake Release

    5. Operations and adjustment Brake release ⿟ The brake of the actuator with brake can be released manually. ⿟ Normally it is interlocked with servo ON for brake release. ⿟ However, if it will not interlock if deactivated manually (by using switches or ex- ternal input and output), and it remains deactivated even if the servo is turned OFF.

  • Page 79: General Precautions

    5. Operations and adjustment General precautions 13-1 General precautions (1) To receive the next STRT signal or ST 0 to 6 signals after the completion of 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 its start.

  • Page 80: Parameters

    5. Operations and adjustment Parameters You can set and save the following items for the parameters: ① Basic operations/constants of the driver controller/actuator ② Initial values entered into program table. ③ Constants related to servo operations ⿟ For actual setup operations, use the setup tool D-STEP or the digital operator TDO.
  • Page 81 5. Operations and adjustment Parameters Parameter name Unit Setting range Default value Move command method [Select] Level/Edge Level Selects the method of inputting move command (ST 0 to 6) (pin. 3 to 9) for function mode 4. Level: The movement is started when turning the input signal ON and is Description stopped when turning it OFF on the way.
  • Page 82 5. Operations and adjustment Parameters Parameter name Unit Setting range Default value Threshold judgment range [Select] Invalid/Valid Invalid When performing the torque determination in pressing operation, Valid: Sets the judgment range. Description Invalid: Does not set the judgment range. Invalid/Automatic turn off 1 to Default standstill mode [Select] Full servo...

  • Page 83: Parameter: External Interface

    5. Operations and adjustment Parameters 14-3 Parameter: External interface Parameter name Unit Setting range Default value Selection of invalid for pause input [Select] Invalid/Valid Valid The "PAUSE" input of the driver controller is configured to be N.C. contact from the viewpoint of fail safe. Therefore, this should be turned ON (shorted to 0 V) during the operation.

  • Page 84: Parameter: Servo Gain

    5. Operations and adjustment Parameters 14-4 Parameter: Servo gain Parameter name Unit Setting range Default value Depends on Position gain 1 to 65536 models This is a parameter to determine the responsiveness of position control loop. Description Increasing the setting value improves the follow-up performance to the position command but is likely to cause the overshoot.
  • Page 85 6. Troubleshooting About this chapter This chapter describes the causes and counter measures when an alarm is displayed or other failure occurs on the driver controller TLC. This section describes the Alarm lists …………………… 6-2 alarm lists. 1-1. Alarm lists …………………………………… 6-2 1-2.

  • Page 86: Alarm Lists

    6. Troubleshooting Alarm lists Alarm lists Code Alarm name Content Motor overvolt Overvoltage is applied to the motor power supply Control overvolt Overvoltage is applied to the input power supply Control low-volt The input power supply voltage is being reduced Voltage reduction in The motor power supply voltage is being reduced motor power supply...

  • Page 87: About The Status Of The Servo When An Alarm Sounds

    6. Troubleshooting Alarm lists About the status of the servo when an alarm sounds Code Alarm name Servo status Motor overvolt The servo changes to OFF status Control overvolt The servo changes to OFF status Control low-volt The servo changes to OFF status Voltage reduction in motor power supply The servo changes to OFF status Serial communication error...

  • Page 88: Alarm Code

    6. Troubleshooting Alarm code Alarm code • Upon alarm generation, the ALM output (pin.34) is turned OFF. (ON is the normal status) • In the event of any alarm, the binary alarm code is output to (AC 0-5) as the STEP No. is output in binary to PO 0-8, whose operation has been completed in Function modes 0 through 3.

  • Page 89: Causes And Counter Measures Of Alarms

    6. Troubleshooting Causes and counter measures of alarms Causes and counter measures of alarms Alarm name Generation status Causes Counter measures When 24 V power is activated Replace the driver controller with new (Opening of CN4 and MPI to Driver controller board has a fault MPO is used) Set the input voltage within the The input voltage is high...

  • Page 90: Causes And Counter Measures Of Alarms

    6. Troubleshooting Causes and counter measures of alarms Alarm name Generation status Causes Counter measures Driver controller board has a Replace the driver controller with new EEPROM error When power is activated fault Encoder has a fault Replace the actuator with new one Actuator connection cable has a Replace the cable with new one fault...

  • Page 91: Maintenance And Inspection

    7. Maintenance and Warranty About this chapter This chapter describes the maintenance, repair and replacement procedures of this product, and warranty. Perform correct mainte- Maintenance and inspection 7-2 nance works regularly as it could minimize the inci- 1-1. Periodical inspection ……………………… 7-2 dence of troubles.

  • Page 92: Periodical Inspection

    7. Maintenance and Maintenance and inspection Warranty WARNING ⿟ Be fore conducting maintenance and inspection works, be sure to stop the machine and shut off the power supply. Take security measures like locking, etc. to ensure any unau- thorized person cannot turn the power ON. Obligatory Otherwise, injury caused by unexpected behavior may occur.

  • Page 93: Repair/Replacement

    7. Maintenance and Warranty Repair/Replacement WARNING ⿟ For vertical application, note that the moving part may fall if the torque is not sufficient. It may cause damages or injuries. Caution CAUTION ⿟ When the battery is replaced after shutting down the control power supply, the current position of the absolute encoder is lost.
  • Page 94 7. Maintenance and Warranty Repair/Replacement Release the EMG stop and supply +24V to S1 of CN4. Use the alarm code No.63 EMG stop to reset the alarm. Turn the servo ON.

  • Page 95: Product Warranty

    7. Maintenance and Warranty Product warranty Described in this section are the details of the warranty applicable to the product you purchased. Free warranty period The warranty period shall be 12 months from the product delivery date or 18 months from the date of shipping (based on the manufacture date), whichever is earlier.

  • Page 96: Exclusion Of Warranty Liability

    7. Maintenance and Warranty Product warranty 3-3-3 Repair We will perform free repair works or replacement for any failure occurred within the free warranty pe- riod set forth above. However, it is our discretion whether we provide repair or replacement. Free warranty is not applicable even within the warranty period for any of the following cases: ⿟...
  • Page 97 8. Technical Materials About this chapter This 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. This section describes the Driver controller TLC ……… 8-2 driver controller TLC.

  • Page 98: Driver Controller Tlc

    8. Technical Materials Driver controller TLC Specifications and dimensional drawing ⿟ Specifications Model number Model Capacity Main circuit Input DC24V±10％ Control circuit power supply Power supply capacity [A] Rated 6A (up to 16A) Control shaft count 1 shaft Motor type AC servo motor Control Control method...

  • Page 99: Cables

    8. Technical Materials Cables Connection cable 2-1-1 Motor brake cable for TLC Motor brake cable for TLC: CBL‒TLC‒ACP‒**F (For secured) CBL‒TLC‒ACP‒**R (High flex) ** represents cable length (03: 3m, 05: 5m, 10: 10m) φ7.8max(For secured) φ8.2max(High flex) Driver controller side Actuator side （55）...

  • Page 100: Gain Adjustment (Auto Tuning)

    8. Technical Materials Gain adjustment (auto tuning) Method of gain adjustment 3-1-1 Gain adjustment (auto tuning) Before adjusting the gain, mount the object on the actuator upon confirming normal startup. Also, confirm the following before performing gain adjustment. CAUTION ⿟ Do not touch the slider when the actuator is in servo ON status or in operation. Otherwise, it may cause injury.
  • Page 101 8. Technical Materials Gain adjustment (auto tuning) 3-1-2 Gain adjustment procedure ◦ To adjust the gain, manually change the gain parameter or perform auto tuning. When home return cannot be performed, auto tuning may not be available. ◦ If satisfactory adjustment cannot be achieved with auto tuning, change the gain parameters manually for adjustment.
  • Page 102 Ver. 1.30 or higher. * The latest D-STEP can be downloaded free of charge from our electrical actuator website (https://tech.thk.com/). Auto tuning procedure ◦ Start up D-STEP, display the "startup screen," and connect to the driver controller to be set.
  • Page 103 8. Technical Materials Gain adjustment (auto tuning) ◦ Click on “Tuning” on the “D-STEP program screen” to display the “auto tune screen”. After clicking, an “auto tuning warning message” will be initially displayed. Select “OK” after reading the message. (1) Selecting the mass estimation ·...
  • Page 104 8. Technical Materials Gain adjustment (auto tuning) (2) Selecting the drive pattern · Since operation is based on the step data drive pattern set in advance, make sure that it is within the range of machine specifications for the available range and speed conditions.
  • Page 105 8. Technical Materials Gain adjustment (auto tuning) (6) Confirmation after auto tuning completion When auto tuning setting is completed, perform a trial run of the actuator with the normal program screen. Check the following items during operation. · Is there vibration or abnormal noise during operation? ·...

  • Page 106: Revision History

    Appendix Revision history The instruction manual No. is described on the back cover. Date of issue Instruction manual No. Details January 2013 No.6070-1(0)E First edition Changed the parameter setting range by the software version June 2014 No.6070-1(1)E changes Added notes on the battery alarm Added compatible model numbers November 2016 No.6070-1(2)E...
  • Page 107 THK Electric Actuator Controller series Servo driver controller INSTRUCTION MANUAL 201804 No.6070-2(0)E...

This manual is also suitable for:

Tlc-005-24dc-mod-a series

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