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Summary of Contents for THK THC
- Page 1 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru THK Electrical Actuator Controller Series Servo driver controller INSTRUCTION MANUAL No.6080-2(0)E...
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Page 2: Table Of Contents
System configuration System configuration diagram (Example) ―――――――――――――― 1-6 Flow until using the product Check products Check the package contents of THC ― ――――――――――――――― 2-2 Option ――――――――――――――――――――――――――――― 2-4 Names of individual parts and functions ―――――――――――――― 2-6 Store and dispose of products ―――――――――――――――――― 2-8 How to install Installation environment ―――――――――――――――――――――... - Page 3 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru Table of Contents External input and output (CN1) 3-12 Electrical specification ――――――――――――――――――――― 3-12 Signal name ――――――――――――――――――――――――― 3-14 Pin assignment ―――――――――――――――――――――――― 3-18 Optional I/O cable ――――――――――――――――――――――― 3-24 Overview Type of function mode ―――――――――――――――――――――― 4-3 Selection by intended use ―――――――――――――――――――― 4-3 Timing chart (Common to position move) ―...
- Page 4 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 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 ――――――――――――――――――――...
- Page 5 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru Table of Contents Pressing operation 5-15 Pressing operation ―――――――――――――――――――――― 5-15 Torque determination 5-16 Torque determination ――――――――――――――――――――― 5-16 Area determination 5-17 10-1 Area determination ―――――――――――――――――――――― 5-17 Speed switching 5-18 11-1 Speed switching ――――――――――――――――――――――― 5-18 Brake release...
- Page 6 Table of Contents Maintenance and inspection Periodical inspection ―――――――――――――――――――――― 7-2 Standard of durability of consumables for driver controller THC ―――― 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 ―――――――――――――――――――――――――...
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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. This section includes intro- Introduction ………………… 1-2 duction about the product and this manual. -
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
• For the driver controller THC, select the electrical actuator to use when purchasing it. Use them in the Important prescribed combination. -
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
THC. THC, which results in fault or burns. Obligatory Such abnormality may cause a mal- Do not set the speed or accelera-... -
Page 12: System Configuration
* 1: See the separate D-STEP instruction manual. * 2: See the separate TDO instruction manual. * 3: An emergency stop circuit should be prepared by yourself. ( → P.3-7) The connector for CN7 is provided with THC. ( → P.3-5) -
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 ①Safety statement check → P.1-4 ②Safety check of the installation location 1. Safety check → P.2-9 ③Installation check → P.2-10 to 2-12 ①Preparation of required devices → P.1-6 2. - Page 14 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 ……………… 2-2 package contents check and parts of this product. 1-1. Check the package contents of THC …… 2-2 1-2. Option ………………………………………… 2-4 1-3. Names of individual parts and functions … 2-6 1-4.
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Page 15: Check Products
Model number (See the following) Serial number <Model configuration> THC － 010 － 100AC － MOD － A － SKR33 － 20 － D － B － 0395 － 1 － A － P － J ① ② ③ ④... - Page 16 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 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 8EDGKGB-5.0-05P-11-01A(H)
- Page 17 For details, see ( → P.3-13)( → P.3-24) Driver controller side Host controller side □□ (Cable length) 1-2-4 PC communication cable A PC communication cable for use with D-STEP. Model number: CBL-COM-03 For details, see the separate D-STEP instruction manual. PC side Driver controller THC side (CN3)
- Page 18 Model number Manufacturer RH150 100Ω J Iwaki Musen Kenkyusho Co.,Ltd. RH150 50 Ω J THC capacity and type and required number of regeneration resistance based on actuator orientation For details, see ( → P.8-4). Actuator orientation THC capacity Horizontal...
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Page 19: Names Of Individual Parts And Functions
Names of individual parts and functions 1-3-1 Driver controller THC Connectors for CN1, CN5, CN7, and CN9 are provided with this product. No cable is provided, so please separately prepare it. For I/O of CN1, an optional package with a cable is available. - Page 20 The brake is turned ON/OFF and the mode is switched. It lights in yellow when 5 V for control A power supply is connected to power is generated within THC. here. P24E It lights in yellow when 24 V for TDO (FG) is generated within THC.
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Page 21: Store And Dispose Of Products
Indoor or outdoor at the driver controller THC's ambient temperature of -20 to 85°C (no freezing) Indoor or outdoor at the driver controller THC's ambient humidity of 90% RH or less (no conden- sation) ... -
Page 22: How To Install
Caution – Flammable 2-1-1 Installation environment of driver controller THC 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 23: Install Thc
2. Installation How to install Install THC WARNING Driver controller THC must be Install a safety device such as installed within the control panel a breaker for wiring to prepare a n d o p e r a t e d w i t h t h e d o o r... - Page 24 To allow for cooling by fan or natural convection, the space between THC and right/left wall must be 50 mm or more. To allow for cooling by fan or natural convection, the space above/below THC must be 50 mm or more.
- Page 25 2-2-2 How to install Use 2 installation holes on the fittings of the driver controller THC 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 26 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 3. Wiring About this chapter This chapter describes how to connect to and wire THC. 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 …………………………………………...
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Page 27: How To Wire
Doing so may cause an electric shock. disassemble Electrical shock Do not touch the energized parts Be sure to perform single-point D- within THC. type ground for the FG terminal of Doing so may cause an electric shock. this product. Provide ... -
Page 28: Entire Wiring
* 1: See the separate D-STEP instruction manual. * 2: See the separate TDO instruction manual. * 3: An emergency stop circuit should be prepared by yourself. ( → P.3-7) The connector for CN7 is provided with THC. ( → P.3-5) -
Page 29: Connect Peripheral Devices To Power Supply
Connect peripheral devices to power supply 1-2-1 How to connect connectors for CN5 power supply The power supply (CN5) connector to connect to the driver controller is provided with the driver controller THC as standard. (→P.2-3) Model number Model 100W... - Page 30 1-2-2 How to connect connector for CN7 emergency stop The connector for emergency stop (CN7) to connect to the driver controller is provided with the driver controller THC as standard. (→P.2-3) Input power supply Power (CN7) connector type 24 V DC ± 10% FK-MC0,5/2-ST-2,5 OG (PHOENIX CONTACT) Prepare the power supply cable.
- Page 31 1-2-3 How to connect power connector for CN9 brake The connector for brake (CN9) to connect to the driver controller is provided with the driver control- ler THC as standard. (→P.2-3) Input power supply Power (CN9) connector type 24 V DC ± 10% (max.1 A) FK-MC0,5/2-ST-2,5 (PHOENIX CONTACT) Prepare the power supply cable.
- Page 32 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 3. Wiring How to wire 1-2-4 Connection of FG wire Production of FG cable example (Prepare it by yourself. ) Recommended electric wire: 2 mm (AWG14) Connect the FG wire to the GND terminal, and ground it to the earth.
- Page 33 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 3. Wiring How to wire • Be sure to attach a surge absorption element in external relay K2. Contact specification of internal relay K1: 30V DC/1 A Important TDO emergency stop circuit and external emergency stop switch example 2 • The motor is energized as soon as the emergency stop switch is released.
- Page 34 3. Wiring How to wire 1-2-6 Connect to driver controller THC Check that the power of THC is not turned ON. Connect the motor brake connector to the CN4 of THC. If it is connected properly, it should be locked and cannot be fallen off even by pulling it lightly.
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Page 35: Connect To Pc
• 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. Insert the cable to the CN3 of THC, aligning the arrow of the plug with the one of THC. -
Page 36: Peripheral Devices
1-5-1 Breaker for wiring For your safety, attach an electric leakage breaker appropriate for the AC power supply onto the primary side of the AC power supply to supply the power for the THC. 1-5-2 Noise filter This is a device to prevent exogenous noise from power supply line. -
Page 37: External Input And Output (Cn1)
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 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 38 Input тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru Internal 3. Wiring External input and output (CN1) circuit 1, 2 External power supply 1.8k DC24V 2-1-2 External output specifications Each input 3 to 18 3.9k 0.01 F Item Specifications Rated load voltage 24 V DC ± 10%...
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Page 39: Signal Name
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 3. Wiring External input and output (CN1) Signal name 2-2-1 List of function modes Signal name Input/ Function mode 0 Function mode 1 Function mode 2 Function mode 3 Function mode 4 Function mode 5... - Page 40 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 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 41 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 3. Wiring External input and output (CN1) Function mode Signal Reference Functions and uses name number page － ○ － － － － Move in the negative (-) direction. ( → P.4-7) JOG N With ON, the brake is released forcibly. Usually, it inter- ○...
- Page 42 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 3. Wiring External input and output (CN1) Function mode Signal Reference Functions and uses name number page － － － － － ○ LS 0 When it enters into the positioning range set in each STEP LS 1 －...
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Page 43: Pin Assignment
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 3. Wiring External input and output (CN1) Pin assignment 2-3-1 Function mode 0 The position 64 type pin assignment For details of CN5 wiring, see (→P.3-4, P3-7 to 3-8) For details of CN7 wiring, see (→P.3-5, P3-7 to 3-8) For details of CN8 wiring, see (→P.8-6) - Page 44 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 3. Wiring External input and output (CN1) 2-3-2 Function mode 1 This is the pin assignment of external unit input instruction type. For details of CN5 wiring, see (→P.3-4, P3-7 to 3-8) For details of CN7 wiring, see (→P.3-5, P3-7 to 3-8) For details of CN8 wiring, see (→P.8-6)
- Page 45 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 3. Wiring External input and output (CN1) 2-3-3 Function mode 2 The position 256 type pin assignment For details of CN5 wiring, see (→P.3-4, P3-7 to 3-8) For details of CN7 wiring, see (→P.3-5, P3-7 to 3-8) For details of CN8 wiring, see (→P.8-6)
- Page 46 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 3. Wiring External input and output (CN1) 2-3-4 Function mode 3 The position 512 type pin assignment For details of CN5 wiring, see (→P.3-4, P3-7 to 3-8) For details of CN7 wiring, see (→P.3-5, P3-7 to 3-8) For details of CN8 wiring, see (→P.8-6)
- Page 47 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 3. Wiring External input and output (CN1) 2-3-5 Function mode 4 The solenoid mode 1 type pin assignment. For details of CN5 wiring, see (→P.3-4, P3-7 to 3-8) For details of CN7 wiring, see (→P.3-5, P3-7 to 3-8) For details of CN8 wiring, see (→P.8-6)
- Page 48 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 3. Wiring External input and output (CN1) 2-3-6 Function mode 5 The solenoid mode 2 type pin assignment. For details of CN5 wiring, see (→P.3-4, P3-7 to 3-8) For details of CN7 wiring, see (→P.3-5, P3-7 to 3-8) For details of CN8 wiring, see (→P.8-6)
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Page 49: Optional I/O Cable
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 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. - Page 50 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. THC Functions About this chapter This chapter describes the driver controller THC's functions. This section describes the Overview ……………………… 4-3 overview of the THC func- tions. 1-1. Type of function mode …………………… 4-3 1-2.
- Page 51 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. THC Functions About this chapter This chapter describes the driver controller THC's functions. This section describes the Function mode 4 ………… 4-10 function mode 4. 4-1. Specify and execute STEP No. …………… 4-10 4-2.
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Page 52: Overview
4. THC Functions Overview THC have 6 modes for different purposes and objectives. The 6 modes have different number of positions, implemented functions, and operation methods. You can change the mode in the parameter No.36 (Function mode selection ). -
Page 53: Timing Chart (Common To Position Move)
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. THC 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. -
Page 54: Function Modes 0, 2 And 3
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. THC 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. -
Page 55: Timing Chart
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. THC 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 56: Function Mode 1
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. THC 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 57: Methods Of Position Instruction
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. THC 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 "3-1 Manual operation (→P.4-7)". -
Page 58: Timing Chart (Instruction Mode)
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. THC 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. -
Page 59: Specify And Execute Step No
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. THC 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 60: Timing Chart (Instruction Mode)
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. THC Functions Function mode 4 How to obtain STEP No. whose operation has been completed PE (pin.19 to 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 61: Specify And Execute Step No
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. THC 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 62: Timing Chart
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 4. THC 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 63 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……………… 5-4 operation mode details. 1-1. MANUAL mode ……………………………… 5-5 1-2. AUTO mode ………………………………… 5-5 1-3.
- Page 64 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation and Adjustment This section describes the Manual operation ………… 5-13 manual operation details. 6-1. Manual operation …………………………… 5-13 This section describes the Positioning operation …… 5-14 positioning details. 7-1. Positioning operation ……………………… 5-14 This section describes the Pressing operation ………...
- Page 65 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation and Adjustment This section describes the Parameters 5-21 …………………………… parameter details. 14-1. Parameter: Actuator information ……… 5-21 14-2. Parameter: Actuator operation settings … 5-21 14-3. Parameter: External interface …………… 5-24 14-4. Parameter: Servo gain …………………… 5-25...
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Page 66: Operation Mode
It may cause damages or injuries. If an alarm of THC is generated, re- In the event of instantaneous power move the cause, ensure the safety, failure during actuator operation, and reset the alarm. -
Page 67: Manual Mode
Adjustment Operation mode There are 2 types of THC 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 68: Standstill Mode
Other operations are same as 2-2 Auto servo OFF 1 (ASO 1) ( → P.5-6). Auto servo OFF 3 (ASO 3) ＜ Driver controller TSC/TLC/THC ＞ Once reached, the servo will be turned OFF after the elapse of the time set in the parameter No.19 (Auto servo OFF time 3) ( →... -
Page 69: Servo On
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation 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 70: Zero Return
1 (necessary for instruction though). You cannot change the returning direction and speed. THC is an absolute encoder. Once zero return is performed, the current position is recognized by the battery attached to the driver controller even if the control power of the driver controller is shut down. - Page 71 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation and Adjustment Zero return ＜Sensor dog is located between the zero point sensor and the motor side OT sensor, or on the motor side OT sensor＞ ① Turn the SV-ON input (pin.18) ON. Check that the SVRDY output (pin.32) is ON.
- Page 72 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation and Adjustment Zero return ＜Sensor dog is located on the reverse motor side OT sensor＞ ① Turn the SV-ON input (pin.18) ON. Check that the SVRDY output (pin.32) is ON. ② When the HOME input (pin.15) is turned ON, the zero return operation will be started.
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Page 73: Pressing Zero Return Method
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation and Adjustment Zero return Pressing zero return method ＜Pressing zero return (no OT sensor)＞ ① Turn the SV-ON input (pin.18) ON. Check that the SVRDY output (pin.32) is ON. ② When the HOME input (pin.15) is turned ON, the zero return operation will be started. -
Page 74: Pause
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation 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. -
Page 75: Manual Operation
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation 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 76: Positioning Operation
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation and Adjustment Positioning operation Positioning operation You can perform this in all function modes. When "Push (%)" in the program table is "0," positioning operation will be performed to move the actuator to the target "Position". -
Page 77: Pressing Operation
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation and Adjustment Pressing operation Pressing operation You can perform this in the function 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 78: Torque Determination
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation and Adjustment Torque determination Torque determination You can perform this in the function mode 0, 2, 3, and 4. You can set the current during "Pressing operation" as "Push (%)," and moreover you can set "Threshold"... -
Page 79: Area Determination
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation 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. -
Page 80: Speed Switching
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation 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 81: Brake Release
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation 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 external input and output), and it remains deactivated even if the servo is turned OFF. -
Page 82: General Precautions
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation 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. -
Page 83: Parameters
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation 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 ... - Page 84 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation and Adjustment Parameters Parameter name Unit Setting range Default value Cur. limit at stop 1 to 70 Sets the current applied to the motor when the actuator is in stop status. Increasing the value increases the stoppage holding torque (settable to the linear), but Description also increases the heat generation and the electric power usage.
- Page 85 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation and Adjustment Parameters Parameter name Unit Setting range Default value Judgment time 1 to 99999 Description When performing the torque determination in pressing operation, this sets the time until the condition is judged to be met after reaching the threshold.
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Page 86: Parameter: External Interface
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation and Adjustment Parameters Parameter name Unit Setting range Default value Selection of emergency stop circuit function [Select] Valid/Invalid Valid Enables the valid/invalid setting of emergency stop circuit input (CN7 and TDO). Description Invalid : The emergency stop circuit (CN7 and TDO) will be invalid. -
Page 87: Parameter: Servo Gain
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 5. Operation and Adjustment Parameters 14-4 Parameter: Servo gain Parameter name Unit Setting range Default value Position gain 1~65536 Depends on 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 88 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 THC. This section describes the Alarm lists …………………… 6-2 alarm lists. 1-1.
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Page 89: Alarm Lists
System alarm Microcomputer error Regeneration overload Overload has been applied to the regenerative circuit within the THC Fault in IPM module Failure of motor drive circuit EMG stop Emergency stop has been entered * For low battery, only a D-STEP alarm history is output. -
Page 90: About The Status Of The Servo When An Alarm Sounds
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 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 low-volt The servo changes to OFF status... -
Page 91: Alarm Code
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 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 to 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 92: Causes And Counter Measures Of Alarms
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Troubleshooting Causes and counter measures of alarms Causes and counter measures of alarms Alarm name Generation status Causes Measures Set the input voltage within the product The input voltage is high When power is... - Page 93 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 6. Troubleshooting Causes and counter measures of alarms Alarm name Generation status Causes Measures Put the actuator back within a The unit gets in over-travel status stroke range OT detection While energizing Sensor has a fault...
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Page 94: Maintenance And Inspection
1-1. Periodical inspection ……………………… 7-2 dence of troubles. 1-2. Standard of durability of consumables for driver controller THC ……………………… 7-2 This section describes the Repair/Replacement ……… 7-3 parts that can be replaced by the customer and the 2-1. -
Page 95: Periodical Inspection
TDO connection circuit Contact relay 100,000 cycles (with TDO connected) • We do not provide repair service for the driver controller THC out of the warranty period. Please prepare a Important spare driver controller THC in advance or purchase new one. -
Page 96: Repair/Replacement
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 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 97 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 7. Maintenance and Warranty Repair/Replacement Release the emergency stop and energize between L1 and L2 of CN5. Use the alarm code No.63 emergency stop to reset the alarm. Turn the servo ON.
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Page 98: Product Warranty
Location of the product label 1-1 Package contents check of driver controller THC (→ P.2-2) 3-3-2 Consumables and spare parts Battery and cables are consumables. It is recommended to prepare spare parts for cables, driver controller THC and other peripherals. -
Page 99: Exclusion Of Warranty Liability
Japan. 3-3-4 Repair period For driver controller THC, we do not support repair services out of the warranty coverage. Please prepare a spare THC in advance or purchase new one. Exclusion of warranty liability Regardless of whether it is within the free warranty period or not, any damage to the equipment other than our products and opportunity loss incurred by the customer due to the failure of the products are not covered by the warranty. - Page 100 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 THC ……… 8-2 driver controller THC. 1-1.
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Page 101: Driver Controller Thc
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 8. Technical Materials Driver controller THC Specifications and dimensional drawing Specifications Model number Model 100 V AC specification-based model 200 V AC specification-based model Capacity 100W 200W 400W 100W 200W 400W 750W Single phase, 100 V AC, 50/60 Hz... -
Page 102: Cables
8. Technical Materials Cables Connection cable 2-1-1 Motor brake cable for THC Motor brake cable for THC: CBL-THC-ACP-** F (For secured) CBL-THC-ACP-** R (High flex) ** indicates cable length (03: 3m, 05: 5m, 10: 10m). * m φ7.8 max (For secured) φ8.2 max (High flex) Driver controller side Actuator side （55）... -
Page 103: Regeneration Resistance
Iwaki Musen Kenkyusho Co., Ltd. RH150 50Ω J 750W B x 2 pcs. B x 2 pcs. ■ Regeneration resistance connection cable (CBL-REG00-01F) * A cable insertion jig (DG010-01P-19-00AH) is provided together. Model number Length Manufacturer CBL-REG00-01F THK CO., LTD. - Page 104 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 8. Technical Materials Option 3-1-2 Precautions for regeneration resistance Required number of regeneration resistance must be prepared for each THC. 3-1-3 Outline drawing of regeneration resistance Common to RH150 (90 W, 100 Ω) (90 W, 50 Ω)
- Page 105 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 8. Technical Materials Option 3-1-4 Configuration diagram of regeneration resistance 3-1-5 Wiring example for regeneration resistance ■ Wiring example (when using two regeneration resistance units) In case of using two regeneration resistance units, please connect them in series.
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Page 106: Gain Adjustment (Auto Tuning)
тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 8. Technical Materials Gain adjustment (auto tuning) Method of gain adjustment 4-1-1 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. - Page 107 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 8. Technical Materials Gain adjustment (auto tuning) 4-1-2 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.
- Page 108 Auto tuning The setup tool *D-STEP is used for auto tuning. * The driver controller TLC/THC must be Ver. 1.08 or higher, and the setup tool D-STEP must be Ver. 1.30 or higher. * The latest D-STEP can be downloaded free of charge from our electrical actuator website (https://tech.thk.com/).
- Page 109 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 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.
- Page 110 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 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 111 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru 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.
- Page 112 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru Appendix MEMO...
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Page 113: Revision History
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. Instruction Date of issue Details manual No. January 2013 No.6080-1(0) E First edition February 2013 No.6080-1(1) E Chapter 2: 1-1-2 Correction of erroneous description (Connector type) - Page 114 тел. +7(499) 703-39-86 www.thk.ru sales@thk.ru THK Electric Actuator Controller series Servo driver controller INSTRUCTION MANUAL 201804 No.6080-2(0)E...
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