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THK TJU Instruction Manual

Electrical actuator controller series network unit & branch unit
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тел. +7(499) 703-39-86
www.thk.ru
sales@thk.ru
THK Electrical Actuator Controller Series
Network unit & Branch unit
TNU / TJU
INSTRUCTION MANUAL
No.6090-6(0)E

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  • Page 1 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru THK Electrical Actuator Controller Series Network unit & Branch unit TNU / TJU INSTRUCTION MANUAL No.6090-6(0)E...

  • Page 2: Table Of Contents

    EtherNet/IP―――――――――――――――――――――――――――― 1-8 DeviceNet― ――――――――――――――――――――――――――― 1-9 Check products Check the package contents of TNU― ― ――――――――――――――― 2-2 Check the package contents of TJU――――――――――――――――― 2-3 Option―――――――――――――――――――――――――――――― 2-4 Names of individual parts and functions― ―――――――――――――― 2-5 Store and dispose of products― ―――――――――――――――――― 2-9...
  • Page 3 How to wire Entire wiring― ―――――――――――――――――――――――――― 3-3 Connect peripheral devices to TNU power supply――――――――――― 3-4 Connect to master devices――――――――――――――――――――― 3-7 Connect TJU― ―――――――――――――――――――――――――― 3-9 Connect to PC― ―――――――――――――――――――――――― 3-11 Connect to TDO― ― ――――――――――――――――――――――― 3-11 Peripheral devices― ― ―――――――――――――――――――――― 3-11 TNU functions TNU functions―...
  • Page 4 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru Table of Contents EtherNet/IP, DeviceNet communication specification― ― ――――――― 4-38 EDS files―――――――――――――――――――――――――――― 4-41 TACnet communication specifications 4-42 TACnet communication overview― ―――――――――――――――― 4-42 TACnet communication status transition diagram― ――――――――― 4-42 TACnet communication diagram― ―――――――――――――――― 4-44 Operation mode I/O mode―...
  • Page 5 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru Table of Contents Operation method Connect start screen― ―――――――――――――――――――――― 6-5 Net device list setting screen― ――――――――――――――――――― 6-6 Parameter setting screen― ― ―――――――――――――――――――― 6-7 Alarm history display screen― ―――――――――――――――――― 6-10 Setting before communication with driver controller (Important)―――― 6-10 Offline edit screen selection―...
  • Page 6 Table of Contents Maintenance and inspection Periodical inspection― ―――――――――――――――――――――― 9-2 Standard of durability of consumables for TNU and TJU― ――――――― 9-2 Product warranty Free warranty period― ― ―――――――――――――――――――――― 9-3 Usage conditions (Range)― ―――――――――――――――――――― 9-3 Warranty scope―――――――――――――――――――――――――― 9-3 Exclusion of warranty liability― ――――――――――――――――――― 9-4 Delivery conditions―...

  • Page 7: Introduction

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 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 Acknowledgment ……………………………...

  • Page 8: Acknowledgment

    Drawings show representative examples, and may differ from your product. z Note that THK shall not be liable for any result incurred by applying this manual, regardless of the reason. z 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 Driver controller TLC · Controller series Driver controller THC Product and company information To find the latest product and company information, we recommend you to periodically access our website. z Website URL: http://www.thk.com/ z Technical support website URL: https://tech.thk.com/...

  • Page 10: Safety Precautions

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 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...

  • Page 11: Safety Precautions

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 1. Introduction Safety precautions Safety precautions W A R N I N G C AU T ION z While the actuator is operating or z Do not impact the product and operable, do not enter the working...

  • Page 12: System Configuration

    ★ This should be prepared CN1 upper-level network by yourself. communication connector is provided with TNU. (TNU-CC, TNU-DV) ★ Branch unit TJU Network unit (-> P.3-9)(1 to 3 units) LINE IN ★ ★ 24 V DC power LINE IN The power supply should be prepared by yourself.

  • Page 13: Flow Until Using The Product

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 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.2-10 (3) Installation check -> P.2-11 to 2-13 (1) Installation environment check -> P.2-10 2.

  • Page 14: Network Type

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 1. Introduction Network type Network type CC-Link The CC-Link is a serial-based open field network. This network is operated by the non-profit organization CC-Link Partner Association (CLPA) and has the following features: 1. Achievement of the high-speed and stable I/O response 2.

  • Page 15: Devicenet

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 1. Introduction Network type DeviceNet DeviceNet is a network which uses ISO standard (11898) CAN (Controller Area Network) for its data link layer and part of its physical layer, with additional DeviceNet physical and application layers.
  • Page 16 Check products ……………… 2-2 package contents check and parts of this product. Check the package contents of TNU …… 2-2 Check the package contents of TJU …… 2-3 Option ………………………………………… 2-4 Names of individual parts and functions ………………………………………………… 2-5 Store and dispose of products …………… 2-9 How to install ………………...

  • Page 17: Check Products

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 2. Installation Check products Check products Check the package contents of TNU 1-1-1 Check the model/type of the product Check the model indicated on the product label * against the purchase information. Model :TNU - CC...

  • Page 18: Check The Package Contents Of Tju

    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. Type of parts Model Qty.
  • Page 19 Network unit on TNU-side (CN2) 1-3-4 TACnet cable The cable is used to connect the branch unit TJU and driver controller. Model: CBL-NW-** (01: 1 m, 03: 3 m) For details, see the technical documents. (-> P.10-4) (Cable length) Driver controller side...

  • Page 20: Names Of Individual Parts And Functions

    CN1 connector is not provided with TNU-EC and TNU-EP. ⿟ A cable to connect to CN2 and PC is available as an option. (-> P.2-4) ⿟ Prepare a cable to connect CN3 and TJU by yourself. (-> P.3-9) TNU-CC, TNU-EC (1) Power-on display (red) When this light is on, the power supply 24 V DC is being input.
  • Page 21 On CN2 side, the communication command by the upper-level device supporting TACnet (PC/TDO mode) Communication connector Connector to connect the PC or TDO. Communication connector Connector to connect to the TJU. LED (MS) Indicates unit operation status. LED (NS) Indicates network communication status.
  • Page 22 (I/O mode) On CN2 side, the communication command by the upper-level device supporting TACnet (PC/TDO mode) Communication connector. Connector to connect the PC or TDO. Communication connector. Connector to connect to the TJU. LED (MS) Indicates unit operation status. LED (NS) Indicates network communication status.
  • Page 23 ･ LED to check a connection on the output ports (not lighting up in case of the destination is TJU) ･ Termination resistance change switch • When configuring a system, only for the TJU that is in the farthest location from the TNU, set its termination resistance change switch to "TERM.ON". Important If the termination resistance change switch is not set to "TERM.ON", an error may occur in the TACnet communication.

  • Page 24: Store And Dispose Of Products

    ⿟ Indoor or outdoor at the ambient humidity of 90% RH or less (no condensation) ⿟ Network unit TNU and branch unit TJU should be stored with the power disconnected ⿟ Place where no direct sunlight nor radiation heat reaches ⿟...

  • Page 25: How To Install

    Caution – Flammable 2-1-1 Installation environment of TNU and TJU Place it within a control panel that meets the following conditions: ⿟ Indoor or outdoor at the ambient temperature of 0 to 40°C (no freezing) ⿟ Indoor or outdoor at the ambient humidity of 90% RH or less (no condensation) ⿟...

  • Page 26: Installation

    2. Installation How to install Installation WARNING ⿟ TNU and TJU must be installed ⿟ Install a safety device such as within the control panel and oper- a breaker for wiring to prepare ated with the door closed. against short-circuit of the wiring...
  • Page 27 Standards for installation When installing the TNU and TJU to the control panel, observe the following installation standards: ⿟ Install TNU and TJU onto the wall perpendicularly so that the fronts directly face to the opera- tor. ⿟ The space between TNU and TJU must be 10 mm or more.
  • Page 28 2-2-2 How to install ⿟ Mount TNU and TJU, inserting the fixing bolts to the two mounting holes of the mounting brack- ets. The installation direction is vertical only (the panel display is upright). Do not perform tilt, hori- zontal, or up-side-down installation which disturbs heat discharge.
  • Page 29 Entire wiring ………………………………… 3-3 Connect peripheral devices to TNU power supply ………………………………………… 3-4 Connect to master devices ……………… 3-7 Connect TJU ………………………………… 3-9 Connect to PC ……………………………… 3-11 Connect to TDO …………………………… 3-11 Peripheral devices ………………………… 3-11...

  • Page 30: How To Wire

    Electrical shock Doing so may cause abnormal opera- tion, fault and electric shock. CAUTION ⿟ Do not connect to TNU and TJU or ⿟ Do not connect the CN5 (1) pin (S1) network devices other than TSC, to TSC and TLC.

  • Page 31: Entire Wiring

    ⿟ The cables to be connected to the CN1 to 4 connectors with ★ mark or between TJUs are not provided, so please separately prepare them by yourself. (-> P.3-4) (-> P.3-9) ⿟ A cable to connect to TJU and driver controller is available as an option. (-> P.2-4) PC (D-STEP) (-> P.6-1) TDO(->...

  • Page 32: Connect Peripheral Devices To Tnu Power Supply

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 3. Wiring How to wire Connect peripheral devices to TNU power supply 1-2-1 How to connect connectors for CN4 power supply The power supply (CN4) connector to be connected to the TNU is provided with TNU as standard.
  • Page 33 Production of FG cable example(Prepare it by yourself.) ⿟ Recommended electric wire: 1.25 mm (AWG16) Connect the FG wire to the FG terminal, and ground it to the earth. * Process the FG wire for both TNU and TJU. FG terminal (M3 cross-recessed pan-head screws) FG wire...
  • Page 34 ･ When TDO or the emergency stop of the CN4 (1) and (2) pins is input to TNU, the emergen- cy stop is entered in all the driver controllers connected to the TJU. ･ To enter the emergency stop individually to each driver controller, install an emergency stop circuit to each driver controller.

  • Page 35: Connect To Master Devices

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 3. Wiring How to wire 2013年11月21日 Connect to master devices 1-3-1 Connect to master devices Connect a CN1 connector-compliant cable according to the network type. Pin number Terminal name * Please prepare the cable by yourself.
  • Page 36 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 3. Wiring How to wire Set the TNU station number. Set the station number by the TNU rotary switch. Network Setting range Notes CC-Link 1 to 61 0 and 62 or greater cannot be set by user...

  • Page 37: Connect Tju

    Connection between TNU and TJU or TJU and TJU Prepare a cable by yourself. ⿟ The cables between TJU and TNU and between TJUs should be Ethernet ones of CAT5e and above. The following industrial Ethernet cables are recommended: • Use an Ethernet straight cable.
  • Page 38 ⿟ Connect the TJU ports (1) through (6) to the driver controller's CN3 by the TACnet cable. * If there is the next TJU, use the port (6) as OUT and connect to the next TJU's LINE IN. ⿟ A cable to connect to TJU and driver controller (TACnet cable) is available as an option. (-> P.2-4) ⿟...

  • Page 39: Connect To Pc

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 3. Wiring How to wire Connect to PC 1-5-1 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.

  • Page 40: Tnu Functions

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions About this chapter This chapter describes the network unit TNU’s functions. This section describes the TNU functions ……………… 4-2 overview of the TNU func- tions. TNU functions ……………………………… 4-2 Control functions overview ……………… 4-3 Lower-level communication prohibition function …...

  • Page 41: Tnu Functions

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions TNU functions TNU functions TNU ver. I/O communication Direct Value Control Remote MANUAL Broadcast Data read 1.00 to 1.11 ○ × × × × ○ ○ ○ ○ 1.20 × ○ ○...

  • Page 42: Control Functions Overview

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions TNU functions Control functions overview I/O communication is the function that uses communication to control the driver controller's input/ output function from the upper-level master device. Further, Direct Value Control (hereafter DVC) is a function which, in addition to I/O communication, designates values for target position, speed, etc.
  • Page 43 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions TNU functions ◦ What is Simple DVC? It is a mode in which the target position values are designated with the upper-level master device to operate the actuator. When designating target position values, by designating the STEP No. of the operation pattern previously programmed into the driver controller, it is possible to designate operation conditions (speed, acceleration, positioning width etc.) other than the target position.
  • Page 44 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions TNU functions ◦ About Full DVC It is a mode in which values for target position, positioning completion width, speed, acceleration rate, deceleration rate, current limit of pressing, P area A, P area B, and load current threshold value are designated with the upper-level master device to operate the accelerator.
  • Page 45 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions TNU functions ◦ 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) Remote register (RWw) W100 W0.6 (MOVE)
  • Page 46 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions TNU functions Input Output Status Remarks Lower-level Current value TNU / driver communication monitoring controller authorization switch (W1 to W2) communication start Servo on Servo on (SVON) Servo on completed (SVRDY) Servo on in-progress...
  • Page 47 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions TNU functions ◦ DVC data write function The DVC data write function is a function which enables writing numerical data input with the DVC to a designated STEP No. The DVC data write function is enabled when both the DVC switch and DVC write switch are turned on.
  • Page 48 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions TNU functions Input Output Status Remarks Lower-level Current value TNU / driver communication monitoring controller authorization switch (W1 to W2) communication start Servo on Servo on (SVON) Servo on completed (SVRDY) Servo on...
  • Page 49 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions TNU functions ・ Because the DVC function transmits large volumes of data, the upper-level master device requires a function that guarantees data identity and synchronicity. When controlling with an upper-level master device without this guarantee, operation unforeseen by the designer may take place.

  • Page 50: Lower-Level Communication Prohibition Function

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions TNU functions Lower-level communication prohibition function ◦ What is the lower-level communication prohibition function? The lower-level communication prohibition function is a function which enables switching ON and OFF the communication between the TNU and the driver controllers through the upper-level master device.

  • Page 51: Data Readout Function

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions TNU functions Data readout function ◦ About the data readout function The data readout function is a function for displaying the TNU / driver controller parameters or driver controller program data on the PLC.
  • Page 52 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions TNU functions X102E(CMD_READY) X102D(CMD_SEND_END) Output X102C(CMD_ERROR) Command No.(A) X1020~1027(CMD_No.) X1030~103F(Para_No.) Program No.(A) X1040~105F(Prameter) Parameter Command No.(A) Y1020~1027(CMD_No.) Axis No.(A) Y1028~102B(CMD_No.) Y1030~103F(Para_No.) Parameter No.(A) Input Y100C(TNU_PARA_SW) Y100E(CMD_SEND) Communication (TNU -> Dri-Com) Communication (Dri-Com -> TNU)
  • Page 53 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions TNU functions • Parameter list (driver controller) Parameter name Unit Max. area ○ ○ ○ 0.1 μm ○ ○ ○ Min. area 0.1 μm Soft limit + ○ ○ ○ 0.1 μm Soft limit - ○...

  • Page 54: Dvc Write Status Display Function

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions TNU functions Parameter name Unit 0 = Invalid, Inhibit MANU input ○ ○ ○ 1 = Valid ○ ○ ○ Position gain Speed loop P gain ○ ○ ○ Speed loop I gain ○...

  • Page 55: Cc-Link Communication Specifications

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions CC-Link communication specifications CC-Link communication overview ◦ The CC-Link communication overview is as follows. Communication standard CC-Link Ver.1.10 CC-Link Ver.2.00 Communication speed 10Mbps/5Mbps/2.5Mbps/625kbps/156kbps Communication method Broadcast polling method Synchronization system Frame synchronization...
  • Page 56 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions CC-Link communication specifications 2-2-1 TNU Firmware Ver. 1.3 or later ◦ RY section (master -> slave: in PC/TDO mode) Offset address Name Reference 0x00 to 0F TNU control area Table (1) 0x10 to 1F...
  • Page 57 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions CC-Link communication specifications [Table (1)] Name Set value Signal Alarm reset 1 = Alarm reset Edge Alarm history reset 1 = Alarm history reset Edge Remote MANUAL 0=AUTO, 1=MANU Level b3 to b9...
  • Page 58 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions CC-Link communication specifications ◦ RWw section (master -> slave) ◦ When Input Mode is IO As indicated in the following figure, the inputs from each driver controller (slave) of ID 0 through F are allocated to the ward device area, or the bits comprising each ward device are allocated to the driver controller inputs.
  • Page 59 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions CC-Link communication specifications <Half DVC> Offset address Name Unit Data type 0x (n) Driver controller input 0x (n+1) Position data (L) * Signed 0.1 μm 32-bit integer 0x (n+2) Position data (H) *...
  • Page 60 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions CC-Link communication specifications ◦ RX section (master -> slave: in PC/TDO mode) Offset address Name Reference 0x00 to 0F TNU signal area 1 Table (7) 0x10 to 1F TNU signal area 2...
  • Page 61 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions CC-Link communication specifications [Table (7)] Name Set value ID:0 TACnet communication error 0=Normal,1=Error ID:1 TACnet communication error 0=Normal,1=Error ID:E TACnet communication error 0=Normal,1=Error ID:F TACnet communication error 0=Normal,1=Error [Table (8)] Name Set value...
  • Page 62 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions CC-Link communication specifications [Table (12)] Name Set value Display parameter readout result b0 to b15 Data (H) (upper 16bits) [Table (13)] Name Set value ID:0 AUTO/MANUAL 0=AUTO, 1=MANU ID:1 AUTO/MANUAL 0=AUTO, 1=MANU...
  • Page 63 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions CC-Link communication specifications ◦ RWr section (slave -> master) ◦ When Input Mode is IO As indicated in the following figure, the inputs from each driver controller (slave) of ID 0 through F are allocated to the ward device area, or the bits comprising each ward device are allocated to the driver controller inputs.
  • Page 64 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions CC-Link communication specifications <Half DVC (in PC/TDO mode)> Offset address Name Unit Data type 0x (n) Reserved 0x (n+1) Position data (L) Signed 0.1 μm 32-bit integer 0x (n+2) Position data (H)

  • Page 65: Buffer Memory Allocation Correspondence Table

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions CC-Link communication specifications Buffer memory allocation correspondence table • The I/O pin number and CC-Link buffer memory allocation of each driver controller are as fol- lows. • RWw represents the top address of the device allocated to RWw, and id represents the ID num- ber of the driver controller.

  • Page 66: Number Of Occupied Stations / Multiple Settings (Cc-Link Ver.2.00 Only)

    Full DVC Required link point count CSP and CSP+ files (TNU Firmware Ver.1.2 or later) CSP and CSP+ files contain information on TNU specifications and device allocation, etc. (You can download this free program from the electrical actuator site: https://tech.thk.com/) 4-27...

  • Page 67: Ethercat Communication Specifications

    • Refer to the CC-Link Communication Specifications and buffer memory allocation chart for infor- mation about the I/O allocation chart. • About the I/O allocation chart in the ESI file that can be downloaded from the THK website. The driver controller input is registered to Index#2002.
  • Page 68 0x2 to 5 Reserved DVC switch Table (5) 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)] Name Set value...
  • Page 69 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions EtherCAT communication specifications [Table (2)] Name Set value Remarks ID:0 DVC: write 0 = Invalid, 1 = Valid Edge ID:1 DVC: write 0 = Invalid, 1 = Valid Edge ID:E DVC: write...
  • Page 70 Driver controller Table (12) status 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#2003. [Table (6)] Name Set value b0 to b7 Command No.
  • Page 71 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions EtherCAT communication specifications [Table (7)] Name Set value ID:0 TACnet communication error 0=Normal,1=Error ID:1 TACnet communication error 0=Normal,1=Error ID:E TACnet communication error 0=Normal,1=Error ID:F TACnet communication error 0=Normal,1=Error [Table (8)] Name Set value...
  • Page 72 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions EtherCAT communication specifications [Table (13)] Name Set value ID: 0 DVC write failure 0 = Not processed, 1 = failure status display ID: 1 DVC write failure 0 = Not processed, 1 = failure...

  • Page 73: Esi Files

    4. TNU functions EtherCAT communication specifications 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. 4-34...

  • Page 74: Ethernet/Ip, Devicenet Communication Specifications

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions EtherNet/IP,DeviceNet communication specifications Communication overview 4-1-1 EtherNet/IP communication overview Communication standard EtherNet/IP Communication speed 10/100Mbps Communication method Conforming to IEEE802.3, IEEE802.3u Transmission channel type Line/star/tree Communication cable length Distance between nodes: 100 m...

  • Page 75: Ethernet/Ip, Devicenet Data Mapping (Master -> Slave)

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions EtherNet/IP,DeviceNet communication specifications EtherNet/IP, DeviceNet Data mapping (master -> slave) ◦ TNU control input section (master -> slave: in PC/TDO mode) Offset address Name Reference TNU control area Table (1) DVC write switch...
  • Page 76 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions EtherNet/IP,DeviceNet communication specifications [Table (2)] Name Set value Remarks ID0 DVC: write 0 = Invalid, 1 = Valid Edge ID1 DVC: write 0 = Invalid, 1 = Valid Edge IDE DVC: write...

  • Page 77: Ethernet/Ip, Devicenet Communication Specification

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions EtherNet/IP,DeviceNet communication specifications EtherNet/IP, DeviceNet Communication Specifications ◦ TNU control output section (slave -> master: in PC/TDO mode) Offset address Name Reference TNU signal area 1 Table (6) TNU signal area 2...
  • Page 78 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions EtherNet/IP,DeviceNet communication specifications [Table (6)] Name Set value ID:0 TACnet communication error 0=Normal,1=Error ID:1 TACnet communication error 0=Normal,1=Error ID:E TACnet communication error 0=Normal,1=Error ID:F TACnet communication error 0=Normal,1=Error [Table (7)] Name Set value...
  • Page 79 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions EtherNet/IP,DeviceNet communication specifications [Table (12)] Name Set value ID:0 AUTO/MANUAL 0=AUTO, 1=MANU ID:1 AUTO/MANUAL 0=AUTO, 1=MANU ID:EAUTO/MANUAL 0=AUTO, 1=MANU ID:FAUTO/MANUAL 0=AUTO, 1=MANU [Table (13)] Name Set value ID: 0 DVC write failure status...

  • Page 80: Eds Files

    4. TNU functions EtherNet/IP,DeviceNet communication specifications 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/). 4-41...

  • Page 81: Tacnet Communication Specifications

    Interrupting IO mode communication communication Reception The I/O from PC/TDO command Reception from information from the master device PC/TDO is updated Transmission/ reception Transmission/ Transmission/ from/to TJU reception reception from/to TJU from/to TJU Transmit to PC/TDO Transmit to PC/TDO 4-42...
  • Page 82 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions TACnet communication specifications TNU Firmware Ver. 1.2 or later Initialization TNU Power SW= 0 SW= 1 ON status IO mode SW= 1 The I/O communication command information from IO mode PC mode the master device is transmitted/received.

  • Page 83: Tacnet Communication Diagram

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. TNU functions TACnet communication specifications 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.
  • Page 84 ID: X transmis Communicati <Command A> on line with PC/TDO and PC/TDO -> TNU response TNU_CN2 ID: X <Re: Command PC/TDO -> ID: X TNU transfer <Command A> TACnet THK network communication PC/TDO -> ID: X Slave <Re: Command response 4-45...
  • Page 85 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation and Adjustment About this chapter This chapter describes the operation and adjustment. This section describes the Operation mode……………… 5-2 operation mode details. I/O mode …………………………………… 5-3 PC/TDO mode ……………………………… 5-3 This section describes the General precautions …………...

  • Page 86: Operation Mode

    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 actuator, shut the power off imme- diately since there is a risk of fire etc.

  • Page 87: I/O Mode

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation and Adjustment Operation mode I/O mode ⿟ Pull the mode change switch toward the CN1 connector to establish communication with the upper-level communication as a master. ⿟ Set the MANU/AUTO change switch to AUTO for each driver controller.

  • Page 88: General Precautions

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation and Adjustment General precautions Upper-level communication ⿟ Since TNU is a device that relays the communication between the upper-level master device and the driver controller, there should be a delay between the master device command and response from the driver controller.

  • Page 89: Communication Parameters

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation and Adjustment Communication parameters Communication parameters 3-1-1 TNU Firmware Ver. 1.3 or later Parameter details Detailed description Comment Enter a comment to distinguish multiple TNUs. Generation interval of interrupting communication If the I/O information update time is longer than...
  • Page 90 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation and Adjustment Communication parameters ◦ CC-Link Parameter details Detailed description Applicable network type and name. External network type Online user setting not allowed. Communication speed Communication speed of CC-Link. (CC-Link) Number of occupied Number of CC-Link occupied stations, multiple settings.
  • Page 91 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation and Adjustment Communication parameters ◦ EtherNet/IP Parameter details Detailed description Applicable network type and name. External network type Online user setting not allowed. IP Address IP address setting Subnet Mask Subnet mask setting...

  • Page 92: Net Device List

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation and Adjustment Communication parameters Net device list ⿟ Set the driver controller to be connected to TNU. This is set to "Any" upon shipping and communicates with all the 16 shafts. By setting a driver controller connected to each ID, communication with shafts that are not connected can be omit- ted to improve the communication performance.
  • Page 93 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Setup tool D-STEP About this chapter This chapter describes the setup tool D-STEP. Only TNU related information are described for functions, so please refer to the separate instruction manual of D-STEP for details. This section describes the Introduction …………………...

  • Page 94: Introduction

    THK shall not be responsible for matching the actual operation with the description. ⿟ Note that THK shall not be liable for any result incurred by applying the product and this manual, regardless of the reason.

  • Page 95: Product Overview

    Product configuration ⿟ Product model number: D-STEP (You can download this free program from the electrical actuator site: https://tech.thk.com/) ⿟ To use this product, install the PC setup tool D-STEP on your PC, and use the PC communica- tion cable (sold separately, the model number: CBL-COM-03) to connect to TNU when RS-485 port is provided on your PC.

  • Page 96: User Support

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Setup tool D-STEP Product overview User support ⿟ For any question regarding this product and this manual, please contact us. The contact information is described on the back cover. ⿟ For inquiry, please provide the information provided on affixed label to the product.

  • Page 97: Operation Method

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Setup tool D-STEP Operation method Operation method ⿟ 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.

  • Page 98: Net Device List Setting Screen

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Setup tool D-STEP Operation method Net device list setting screen Pressing TNU connection button described in 3-1 Connect Start screen (-> P.6-5) will open TNU setting screen. (1) Set the devices connected to each ID.

  • Page 99: Parameter Setting Screen

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Setup tool D-STEP Operation method Parameter setting screen ● TNU parameters (1) Setting of each parameter is allowed. * Setting of external network type cannot be modified. (2) Read button: Reads the parameters stored in TNU into the PC.
  • Page 100 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Setup tool D-STEP Operation method ◦EtherCAT ◦EtherNet/IP...
  • Page 101 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Setup tool D-STEP Operation method ◦DeviceNet...

  • Page 102: Alarm History Display Screen

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Setup tool D-STEP Operation method Alarm history display screen (1) Reset alarm : Reset the generated alarm. (2) History clear : Deletes the alarm history from TNU memory. (3) Update : Loads the alarm history from TNU memory to D-STEP.

  • Page 103: Offline Edit Screen Selection

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Setup tool D-STEP Operation method Offline edit screen selection (1) TYPE: Selects TYPE of the driver controller and network unit to be edit. (2) Network unit selection: Select TNU. Offline net device list setting screen (1) Set the devices connected to each ID.

  • Page 104: Offline Parameter Setting Screen

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Setup tool D-STEP Operation method Offline 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.
  • Page 105 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Setup tool D-STEP Operation method Offline external network parameter setting screen 6-13...
  • Page 106 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 7. Digital Operator TDO About this chapter This chapter describes the digital operator TDO. Only TNU related information are described for functions, so please refer to the separate instruction manual of TDO for details. This section describes the Introduction …………………...

  • Page 107: Introduction

    THK shall not be responsible for matching the actual operation with the description. ⿟ Note that THK shall not be liable for any result incurred by applying the product and this manual, regardless of the reason.

  • Page 108: Connection

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 7. Digital Operator Connection Connection WARNING ⿟ While the actuator is operating, do not install or remove this product. Malfunction may cause damage to the devices and leading to injury. Prohibited CAUTION ⿟ Be sure to use the supplied cable to connect with TNU, and do not fabricate or modify the cable (change the length etc.) by yourself.

  • Page 109: Connect Start Screen

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 7. Digital Operator Connection Connect start screen ⿟ The following screen is displayed until the connection is established. C o n n e c t i n g . . . Connection failure screen ⿟ The following screen is displayed when a connection is failed.
  • Page 110 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 8. Troubleshooting About this chapter This chapter describes the causes and counter measures when an alarm is displayed or other failure occurs on TNU. This section describes the Alarm lists …………………… 8-2 alarm lists. Alarm lists …………………………………… 8-2...

  • Page 111: Alarm Lists

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 8. Troubleshooting Alarm lists Alarm lists Alarm lists ⿟ Alarm functions of TNU are as follows: ⿟ The method to check the alarm is described in 3-4 Alarm history display screen (-> P.6-10). Alarm name...

  • Page 112: Causes And Counter Measures Of Alarms

    Set the communication with the driver controller is speed in proper way not aligned TJU's termination resistance Set the termination resistance setting is wrong in proper way * On the D-STEP screen, CC-Link, EtherCAT, EtherNet/IP or DeviceNet communication error and TACnet communication error are indicated as, respectively, upper-level communication error and lower-level communication error.

  • Page 113: Causes And Counter Measures Of Alarms

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 8. Troubleshooting Causes and counter measures of alarms Driver controller alarm list When a driver controller alarm activates, an alarm code is output to PO0 to PO5. ●: ON　○: OFF Alarm name Motor overvolt ●...

  • Page 114: Other Troubles

    ⿟ 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 unit TJU (TERM.ON/OFF). The last TJU should have the termination resistance ON.

  • Page 115: The Driver Controller Does Not Operate Even With The Lower-Level

    ON (1) The driver controller and TNU are not connected. Or the power is not on. -> Connect correctly. (2) TJU's termination resistance setting is wrong. -> Set correctly. (-> P.2-8) (3) The driver controller settings are incorrect.
  • Page 116 Periodical inspection ……………………… 9-2 Standard of durability of consumables for TNU and TJU ………………………………… 9-2 Product warranty …………… 9-3 This chapter describes the warranty of this product. Free warranty period ……………………… 9-3 Warranty Usage conditions (Range) …………………...

  • Page 117: Periodical Inspection

    Contact relay TDO connection circuit (with TDO connected) 100,000 cycles • We do not provide repair service for TNU and TJU out of the warranty period. Please prepare a spare TNU Important and TJU in advance or purchase new ones.

  • Page 118: Product Warranty

    The final judgment of the warranty qualification is determined when we check the product in our site. 2-3-2 Consumables and spare parts ⿟ It is recommended to prepare spare parts for cables, network unit TNU and branch unit TJU and other peripherals.

  • Page 119: Exclusion Of Warranty Liability

    Japan. 2-3-4 Repair period For network unit TNU and branch unit TJU, we do not support repair services out of the warranty coverage. Please prepare a spare TNU and TJU in advance or purchase new ones. Exclusion of warranty liability ⿟...
  • Page 120 This section describes the Network unit TNU ………… 10-2 TNU. Specifications and dimensional drawing ………………………………………………… 10-2 This section describes the Branch unit TJU …………… 10-3 TJU. Specifications and dimensional drawing ………………………………………………… 10-3 This section describes the Connection cable ………… 10-4 connection cable.

  • Page 121: Network Unit Tnu

    0 to 55°C (no freezing)/-20 to 85°C (no freezing) Ambient condition Indoor (without exposure to direct sunlight) with no corrosive gas, flammable gas, oil mist or dust particles Protective function Upper-level network communication error, communication error, and system error Weight [g] 240 (TJU: 220) ⿟ Dimensions 10-2...

  • Page 122: Specifications And Dimensional Drawing

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 10. Technical Branch unit TJU Materials Specifications and dimensional drawing ⿟ Specifications Models Port count 7 (Input 1, Output 6) Termination resistance Built in (switchable) Dimensions[mm] 32x192.2x77.6 Weight[g] ⿟ Dimensions 10-3...

  • Page 123: Connection Cable

    Model: CBL-COM-03 PC side Network unit on TNU-side (CN2) TACnet cable ⿟ The cable is used to connect the branch unit TJU and driver controller. Model: CBL-NW-** (01: 1 m, 03: 3 m) Branch unit TJU side Driver controller side Model...

  • Page 124: Sample Program

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 10. Technical Sample program Materials Broadcast sample program ⿟ Broadcast 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.
  • Page 125 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 10. Technical Sample program Materials 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.

  • Page 126: Cc-Link Sample Program

    тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 10. Technical Sample program Materials CC-Link sample program ⿟ This section describes the sample program to operate the driver controller connected to the TNU from the upper-level PLC. 4-2-1 Procedures to driver controller operations Configuration...

  • Page 127: Memory Map

    Driver controller ID: C TACnet communication error RX3F to 30 Program No. / Parameter No. Driver controller ID: D TACnet communication error Command No. (8bit) (THK Protocol) Driver controller ID: E TACnet communication error RX4F to 40 Data (L) Access invalid...
  • Page 128 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 10. Technical Memory map Materials [Ver1.3 or later RY (in PC/TDO mode)] [PC/TDO mode RY] Alarm reset Alarm history reset Remote MANUAL Access invalid Broadcast DVC switch TNU parameter switch Access invalid Command transmission switch...
  • Page 129 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 10. Technical Memory map Materials [Ver1.3 or later RY (in IO mode)] [IO mode RY] Alarm reset Alarm history reset Remote MANUAL Access invalid Broadcast DVC switch TNU parameter switch Access invalid Command transmission switch...
  • Page 130 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 10. Technical Memory map Materials [Simple DVC RWr] RWr0 Driver controller ID: 0 Signal area Driver controller input signal No. 0 RWr1 Driver controller ID: 0 Current position (L) Driver controller input signal No. 1 Driver controller input signal No.
  • Page 131 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 10. Technical Memory map Materials [Half DVC RWr] RWr0 Driver controller ID: 0 Signal area RWr1 Driver controller ID: 0 Current position (L) Driver controller output signal No. 0 RWr2 Driver controller ID: 0 Current position (H) Driver controller output signal No.
  • Page 132 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 10. Technical Memory map Materials [Full DVC RWr] RWr0 Driver controller ID: 0 Signal area RWr1 Driver controller ID: 0 Current position (L) Driver controller output signal No. 0 RWr2 Driver controller ID: 0 Current position (H) Driver controller output signal No.
  • Page 133 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru Appendix Revision history The instruction manual No. is described on the back cover. Date of issue Instruction manual No. Details January 2013 No.6090-1(0)E First edition November 2013 No.6090-2(0)E Added the TNU-EC products February 2014 No.6090-2(1)E...
  • Page 134 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru THK Electric Actuator Controller Series Network unit & Branch unit TNU / TJU INSTRUCTION MANUAL 201804 No.6090-6(0)E...

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