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Toyo TC100 Series User Manual

Servo cylinder controller
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TOYO Servo Cylinder Controller
English User's Manual
V17.01
TC100 Series
ERR
SON
PWR

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  • Page 1 TOYO Servo Cylinder Controller English User’s Manual V17.01 TC100 Series...

  • Page 2: About The Product

    TC100 User’s Manual About the product About the product We are not liable for damages due to the infringement of third party patents, intellectual rights, or other • rights, in connection with the use of the products manufactured by this product. This product is intended for general-purpose industrial equipment.
  • Page 3 TC100 User’s Manual Foreword Thank you for using this product. This User’s Manual provides the information about the TC100 Series Controller. It includes: Installation and inspection of the step controller and step motor • Overview of the step controller components •...

  • Page 4: Safety Precautions

    TC100 User’s Manual Safety precautions Before the installation, operation, maintenance, and inspection of this product, carefully read this User’s Manual, and the instructions and related documents of any other equipment and axillary devices connected to it, to ensure correct use. Such operations should be performed only by the specialists with the knowledge of safety and equipment.
  • Page 5 TC100 User’s Manual Safety precautions Warning [General] • Dot not operate the product beyond its specifications. If it is operated beyond its specifications, malfunction, failure or damage may occur In addition, the product may be shortened obviously. In particular, you should observe the maximum load and speed limits. [Installation] •...
  • Page 6 TC100 User’s Manual Safety precautions Caution [Installation] Do not expose the product to direct sunlight (ultraviolet rays), or place it near dust, salt, iron powder, • humid environment, or in the atmosphere that contains organic solvent, phosphate ester working oil, sulfurous acid gas, chlorine gas, or acids.
  • Page 7 TC100 User’s Manual Safety precautions [Installation] Do not place any obstacles that block air ventilation around the controller. Otherwise, it may cause poor • ventilation. Do not configure a control circuit that will cause the workpiece to drop in case of power failure. Configure a •...

  • Page 8: Table Of Contents

    TC100 User’s Manual Table of Contents 1. Overview Foreword How to read the model specification Components of the controller system Steps from unpacking to commissioning Warranty period and coverage 2. Specifications Basic specifications Name and description of each part of the controller External dimensions of the controller 3.
  • Page 9 RTU request message structure ASCII request message structure 9. TOYO-Single software operation Getting started with TOYO-Single 9.2. Installation and removal of TOYO-Single software Introduction to TOYO-Single software interface How to operate TOYO-Single software 10. Appendix 10.1 Overview of error messages 10.2...

  • Page 10: Overview

    TC100 User’s Manual Overview Foreword This product is a controller specially designed for the CTH/CGH/CY/CGY/CTB/CS/CH Series drive shafts and electric grippers. It can perform control using the I/O control of the host controller (PLC), communication control, and pulse control functions. In addition, this product also features the power-saving function to meet the increasing need for energy saving.

  • Page 11: How To Read The Model Specification

    TC100 User’s Manual How to read the model specification TC100-01 Controller model Cable length 01：1m 03：3m 05：5m 10：10m Components of the controller system Communication Cable -11-...

  • Page 12: Steps From Unpacking To Commissioning

    TC100 User’s Manual Steps from unpacking to commissioning If you are using this product for the first time, refer to the steps below and make sure you have all necessary items and connect all required cables. 1. Check the items in the package If you find any of the following items missing or of a wrong model type, please contact your dealer.
  • Page 13 3. Steps The following shows the basic steps from controller installation to operation. Installation 1、 Connect each cable and connector. 2、 Grounding. 3、 Create an emergency stop circuit. 1、 Verify the wiring of the power connector. 2、 Supply power. 1、 Launch TOYO UI. Set the transportation weight. 2、 Set parameters. Set the software limit. 3、 Perform home return.   Check if the robot moves. 1、 Perform Jogging and enter values directly. Perform movement after points are set. Check the use with peripherals. 1、 Perform commissioning, adjustment, ...

  • Page 14: Warranty Period And Coverage

    TC100 User’s Manual Warranty period and coverage The controller you bought is strictly tested prior to shipment. Its warranty is described as follows: 1. Warranty period The warranty period shall be one of the following periods, whichever ends first: 18 months after shipment from our factory •...

  • Page 15: Specifications

    TC100 User’s Manual Specifications Basic specifications Items TC100 Control power DC 24V (±10%) Input power Power supply DC 24V (±10%) / DC 48V (±10%) Number of control axes 1 axis Applicable motors 2-phase micro step motor Dimension 56, 42, 25 Type Motor Rated output 2Ao-p (the peak value of sine wave current)

  • Page 16: Name And Description Of Each Part Of The Controller

    TC100 User’s Manual Name and description of each part of the controller Power and EMS Motor power and brake Feedback from motor RS-485_1 UI coonnection port RS-485_2 RS-485 ID setting switch IO port External dimensions of the controller An external view and dimensions of the product are shown below. -16-...

  • Page 17: Installation And Wiring

    TC100 User’s Manual Installation and wiring Pay due attention to the installation environment of the controller. Installation environment When performing installation and wiring of the controller, do not block the ventilation holes for • cooling. (Insufficient ventilation not only prevents the controller from operating at full capacity, but also cause breakdown.) Prevent foreign matter from entering the controller through the ventilation holes.

  • Page 18: Noise Sources And Elimination

    TC100 User’s Manual (2) Precautions regarding wiring method Use a twisted cable for connection to the DC 24V external power supply. Separate the controller cables from high-power lines such as a cable connecting to a power circuit. (Do not bundle them together. Do not place them in the same cable duct.) When you need a longer motor cable or encoder cable, consult us.
  • Page 19 TC100 User’s Manual Regardless of whether your system consists of a single controller or multiple controllers, leave sufficient space around each controller so that it can be installed/removed easily. ■■ Temperature and humidity The temperature and humidity around the controller should meet following criteria. •...

  • Page 20: Power Wiring Diagram

    TC100 User’s Manual Power wiring diagram Use the supplied power connector to connect to the power supply. 1. The name and functions of the terminals of the power connector Signal name Description Grounding (To avoid noise interference which may lead to false action, perform grounding properly.) Main power: ±...

  • Page 21: Connection To The Robot

    TC100 User’s Manual Connection to the robot Connect the robot cables to the connector interface on the front panel of the controller. 1. Connection method Controller CTH/CY Series Caution:   Be sure to use the dedicated T100 cables to connect the robot. •...

  • Page 22: Connection To The Communication Unit

    TC100 User’s Manual Connection to the communication unit Use the dedicated cables to connect to communication devices, such as PC/ ■■ The name and functions of the terminals of the power connector Signal name Description Signal ground wire (knitted wire mesh) SIG-A DATA + Signal ground wire (knitted wire mesh)

  • Page 23: In/Out Signal Wiring

    TC100 User’s Manual IN/OUT signal wiring Connect the robot cables to the connector interface on the front panel of the controller. 1. Connection method (NPN) -23-...
  • Page 24 TC100 User’s Manual Use the dedicated cables to connect to communication devices, such as PC 2. The name and functions of the terminals of the power connector 3. CN-4 IO pin assignments Color Color Signal Content description Signal Content description code code Brown...
  • Page 25 TC100 User’s Manual 4. Description of I/O functions ① DI definitions If you want to use the controller functions, use the default I/O definitions. Do not modify them, or UI may be unavailable. INPUT Digital Input Signal 12-point / IO functions are configurable / NPN I/O signals Function description Homing Start...

  • Page 26: Relay Contact Wiring Diagram

    TC100 User’s Manual Relay contact wiring diagram 1. Wiring of relay contacts INPUT CIRCUIT OUTPUT CIRCUIT B1~B10 1.5 KΩ DC 24V DC 24V 6.8 KΩ -COM A3~A14 1.5mA≦ If ≦6mA Ic≦10mA Vce≦30V 2. Wiring of transistor contacts INPUT CIRCUIT OUTPUT CIRCUIT 1.5 KΩ...

  • Page 27: Data Setting

    TC100 User’s Manual 4. Data setting If you want to operate a robot with the TC100 Series, you must set the coordinate data and parameter data. Overview Setting of coordinate point data: The coordinate point data is used to provide the “standard settings” of the optimum position by specifying the carrying weight.

  • Page 28: The Detailed Description Of The Coordinate Point Data

    TC100 User’s Manual Coordinate point data: P1~P127 Item Content Range Unit Initial value 1 Operation mode Set the type of the position. 5 modes Movement Set the target position or amount of -9999.99~9999.99 0.00 coordinates movement. 3 Movement speed Set the operation speed (%) 1~100 4 Torque limit Set the current limit value.
  • Page 29 TC100 User’s Manual ■■ Case 2 Lower Movement Movement Upper limit of Point Operating Torque limit limit of the Delay Next step coordinates speed the interval number mode (1~1000)x0.01 interval time ms (1~100)% range mm range mm 0.00 0.00 0.00 250.00 0.00 0.00...
  • Page 30 TC100 User’s Manual ORG: Home Return Movement It moves toward Home from the current position. ORG: The Home position is based on the parameter settings. It is classified as “Motor Side” and “Opposite Motor Side.” ■■ Case 1 Lower Movement Movement Upper limit of Point...
  • Page 31 TC100 User’s Manual -TSL: Negative Torque Search It starts negative torque search from the current position. Negative limit ■■ Case 1 Lower Movement Movement Upper limit of Point Operating Torque limit limit of the Delay Next step coordinates speed the interval number mode (1~1000)x0.01...
  • Page 32 TC100 User’s Manual ■■ Case 2 Lower Movement Movement Upper limit of Point Operating Torque limit limit of the Delay Next coordinates speed the interval number mode (1~1000)x0.01 interval time ms step no. (1~100)% range mm range mm ABS-R 210.00 0.00 0.00 ABS-R...

  • Page 33: Movement Speed

    TC100 User’s Manual ■■ Case 2 Lower Movement Movement Upper limit of Point Operating Torque limit limit of the Delay Next step coordinates speed the interval number mode (1~1000)x0.01 interval time ms (1~100)% range mm range mm INC-R 0.00 0.00 INC-R 50.00 0.00...

  • Page 34: Torque Limit

    TC100 User’s Manual Torque limit Set the current limit value for movement. It is set based on the percentage (%) of the rated current of each robot. Caution:   The setting value of the torque limit is measured in 0.1%. Therefore, 1000 represents 100% which indicates the rated current of each robot.

  • Page 35: Parameter Data

    TC100 User’s Manual Parameter data Position Control Parameter Number Reboot NO Parameter Abbreviation Description Remarks Range after modification words Alarm value of the Vary depending on the 0108 H FullCountValue 100000 counter overflow model pulse If the setting value is too large or the movement Reach the interval 0 ~ 1000...

  • Page 36: Thrust Control Parameter

    TC100 User’s Manual Number Reboot NO Parameter Abbreviation Description Remarks Range after words modification The current increase ratio of Full time 100~150 011C H CrntBoostRate Open-Circuit Mode Initial value 100 during acceleration and deceleration The range setting 0~10000 011D H NearZone of the NEAR signal Initial value 4...

  • Page 37: Input Parameters

    TC100 User’s Manual Number Reboot after Parameter Abbreviation Description Remarks Range of words modification When power is on, the delay Set the delay time when 0 ~ 3 2 7 6 7 0517 H InitializeDelay time when the initializing the 0506 H msec initialization is parameter...

  • Page 38: Speed Setting Parameters

    TC100 User’s Manual 0709 H PRGSEL3-S: Program Selection No.0 ～ 127 Bit3 080A H PRGSEL4-S: Program Selection No.0 ～ 127 Bit4 070B H PRGSEL5-S: Program Selection No.0 ～ 127 Bit5 070C H PRGSEL6-S: Program Selection No.0 ～ 127 Bit6 070D H TRQLIM: Torque Limit 070E H ERR0: Error Coding Bit0...

  • Page 39: Home Setting Parameters

    TC100 User’s Manual Home setting parameters Number of Reboot after Parameter Abbreviation Description Remarks Range words modification Set the movement direction for home return. 0: Torque return + direction; 1: Torque return - direction; 2: After torque return + direction, find the Z-phase in an opposite way;...

  • Page 40: Communication Setting Parameters

    TC100 User’s Manual Communication setting parameters Reboot after Number Parameter Abbreviation Description Remarks Range modification of words Set the communication rate 0: 9600bps 0A00 H BaudRate Communication rate 1: 19200bps 2: 38400bps 3: 57600bps Set the number of the data S t r i n g d a t a b i t bits in one string.

  • Page 41: Description Of I/O Functions

    TC100 User’s Manual Description of I/O functions I/O specifications TC100 can communication with peripherals with the IO interface. I/O is interfaced with a 32-pin ribbon cable. You should select the length of your ribbon at the time of purchase. I/O specifications: Transistor type (NPN). 10 IN DC24V, ±10%, 1.5~6mA/point, common anode.

  • Page 42: Description Of Input Signals

    TC100 User’s Manual Description of input signals Signal name Description Point coordinates are valid only when the home return is performed after booting. When this signal is ON, perform the following steps: ALM_RESET When an alarm occurs, reset it. After the corresponding actions are taken, dismiss the alarm using this signal.

  • Page 43: Description Of Output Signals

    TC100 User’s Manual Description of output signals Signal name Description The InPositon signal is ON when the command position is identical to the current position. IN-POSITION When the value of parameter InPositionZone is too large or it moves at a slower speed, the InPosition signal may often be ON.

  • Page 44: Action Timing

    TC100 User’s Manual Action timing Home return MANUAL Home Return Action MOVE ORG-S Within 20 ms Description: 1. After normal booting, the servo signal is ON. 2. The signal “ORG” will be input and the signal is ON. 3. It starts to perform the home return and the “MOVE” signal is ON. Input “ORG” and the signal becomes OFF.

  • Page 45: I/O Point Teaching

    TC100 User’s Manual I/O point teaching MANUAL Selected  Selected  I/O point m I/O point n PRGSEL 0~6 TEACH Selected I/O  Selected I/O  point m memory point n memory Current position  memory Description: It is valid only when “MANUAL” is ON. 1. Set the “MANUAL” signal to ON. 2. Determine and select a point position to be taught based on the signal “PRGSEL0 ～ 6” (in binary code). 3.

  • Page 46: Trqlim Signal Output

    TC100 User’s Manual TRQLIM signal output 100% Motor current value Current setting value TRQLIM INRANGE signal output During the setting of a point position, this signal will be output only when the motor moves to the range after the upper limit and lower limit of INRANGE are set. The range of the motor position The range set by INRANGE INRANGE...

  • Page 47: Communication

    TC100 User’s Manual Communication _RS485 Communication specification This unit communicates with other devices via MODBUS PROTOCOL. There are two transfer modes: ASCII or RTU (binary) modes. Item ASCII Mode RTU Mode Communication MODBUS ASCII MODBUS RTU protocol Communication RS-485 2-wire (half-duplex) method USB2.0 RS-485: Up to 500 meters when combined with cables...

  • Page 48: Data Structure

    TC100 User’s Manual Data structure ■■ Read status Number of Position Abbreviation Description Remarks Range / unit words 0: Stop 1000 H ActionStatus Action status 1: Working 2: Abnormal stop 0: The current position is not within the Current status set range 1001 H InpStatus...
  • Page 49 TC100 User’s Manual Number of Position Abbreviation Description Remarks Range / unit words I n d e p e n d e n t Output status of OUT 3; 1023 H PORT (OUT 3) output status 0: OFF 1: ON I n d e p e n d e n t Output status of OUT 4;...
  • Page 50 TC100 User’s Manual ■■ Read 50 error histories Position Number of words Abbreviation Description 1060 H AlarmList 01 50 error histories -01 1061 H AlarmList 02 50 error histories -02 1062 H AlarmList 03 50 error histories -03 1063 H AlarmList 04 50 error histories -04 1064 H...
  • Page 51 TC100 User’s Manual Torque stop 0: + direction; 1: - direction. 2005 H TrqStopDir search direction Valid when the torque control is performed. Specified Set the command and the current position data 0.01mm/ 2006 H PosAmount position data value (initial value 0) 1pulse Servo is ON/ 2011 H...
  • Page 52 TC100 User’s Manual ■■ Description of the step commands Number Brief Position Step Content description Range / unit　 of words description Used to set the Movement Mode 0: INC Relative position movement (initial value) 1: ABS Absolute position movement 2: ORG Home return 3: +TSL Positive torque search movement 4: -TSL Negative torque search movement 5: Temporarily unavailable...
  • Page 53 TC100 User’s Manual ■■ Parameter comments and storage Number of Brief Position Content description Range / unit words description Parameter 9991 H Up to 15 characters (single-byte alphanumeric) 　 comments Parameter 9999 H 0: Current parameter; 1: Default parameter storage ■■...

  • Page 54: Detailed Error Message

    TC100 User’s Manual Detailed error message When an error other than the response conditions is detected, an error code corresponding to the error type is returned. 1. Function code error ① . If the function code entered is wrong, the received function code will respond “function code” + “80 H.” Example: Character ASC code...

  • Page 55: Rtu Request Message Structure

    TC100 User’s Manual RTU request message structure 1. WORD data reading From the start position, read the number of WORDs to continuously read the WORD data. After reading the WORD data, it is sent from high bytes to low bytes. ■■...
  • Page 56 TC100 User’s Manual 2. WORD data writing Specify the position to start writing the WORD data. Send the written WORD data from high bytes to low bytes. ■■ Request message structure 01 H ~ 10 H Function code 06 H Starting position for High bytes 0000 H ~ FFFF H...
  • Page 57 TC100 User’s Manual 3. Continuous WORD data writing The start position to write the number of WORDs and continuously write the WORD data. Send the WORD data from high bytes to low bytes. ■■ Request message structure 01 H~10 H Function code 10 H Starting position for...
  • Page 58 TC100 User’s Manual 4. The calculation example of CRC-16 CRC-16 is the error acknowledgment of 2 bytes (16 bits). CRC-16 performs calculation from the ID position to the end of the data in sequence. 1. Declare CRC as FFFF H initial value. 2.

  • Page 59: Ascii Request Message Structure

    TC100 User’s Manual ASCII request message structure 1. WORD data reading From the start position, read the number of WORDs to continuously read the WORD data. After reading the WORD data, it is sent from high bytes to low bytes. ■■...
  • Page 60 TC100 User’s Manual 2. WORD data writing Specify the position to start writing the WORD data. Send the written WORD data from high bytes to low bytes. ■■ Request message structure Start code “ ： ” “0”, “1”~“1”, “0” Function code “0”, “6”...
  • Page 61 TC100 User’s Manual 3. Continuous WORD data writing The start position to write the number of WORDs and continuously write the WORD data. Send the WORD data from high bytes to low bytes. ■■ Request message structure Start code “ ： ” “0”, “1”~“1”, “0”...
  • Page 62 TC100 User’s Manual ASCII continuous data writing Example: Write relative movement data 2000 H (set the relative movement distance) Data position: Number of WORDs: 2 words Character ： ASC code Number Starting position for Number of WORDs Verification of bytes First WORD data Second WORD data Activation...

  • Page 63: Toyo-Single Software Operation

    Getting started with TOYO-Single 1. Introduction To make our customers use the products manufactured by Toyo Automation Co., Ltd. in a convenient way, we have independently developed TOYO-Single for TC100 for a better user experience. 2. Installation and software requirements...

  • Page 64: Installation And Removal Of Toyo-Single Software

    TC100 User’s Manual 9.2. Installation and removal of TOYO-Single software 1. Installation This chapter introduces how to install Toyo-Single. First, open the [Toyo-Single.exe] setup file, as shown in Figure (1). Figure (1) Toyo-Single.exe ① Framework detection After opening the file, you will be asked to install Microsoft .NET Framework 4, if it is not installed on your PC, as shown Figure (2).
  • Page 65 TC100 User’s Manual After opening the setup file, carefully read the license agreement and check “I have read and agree to the license terms” and click [Install], as shown in Figure (3). Figure (3) Microsoft .NET Framework 4 Installation Screen It takes some time to perform the installation procedure.
  • Page 66 TC100 User’s Manual Click [Finish] to finish the installation procedure, as shown in Figure (5). Figure (5) Completion of Framework installation -66-...
  • Page 67 Figure (7). Figure (7) Welcome to the installation screen The information screen is shown. After reading the Toyo Single software copyright notice, click [Next] to proceed with the installation step, as shown in Figure (8). Figure (8) Copyright notice...
  • Page 68 TC100 User’s Manual You will see the screen where you can select an installation position. If you want to select another installation position, click [Browse] to select where you want to install files. It is recommended to use the default path. After selection, click [Next] to proceed with the installation step, as shown in Figure (9).
  • Page 69 Figure (11) Installation confirmation screen When you enter the installation completion screen, check [Run TC100] if you want to automatically launch Toyo-Single after installation. Otherwise, uncheck it. Finally, click [Finish] to finish the installation procedure, as shown in Figure (12).
  • Page 70 TC100 User’s Manual USBDriver-FTDI ③ This chapter introduces how to install the FTDI driver. After entering the installation screen, click the [Extract] button, as shown in Figure (13). Figure (13) Enter the program screen The driver installation wizard appears and click [Next], as shown in Figure (14). Figure (14) Installation wizard -70-...
  • Page 71 TC100 User’s Manual The license agreement appears and carefully read the agreement. Next, check [I accept this agreement] and click [Next], as shown in Figure (15). Figure (15) License screen Finally, after confirming the status of the installation procedure, click the [Finish] button to end the installation procedure, as shown in Figure (16).
  • Page 72 TC100 User’s Manual 2. Removal This chapter introduces how to remove Toyo-Single software. You can go to [Control Panel]->[Programs]- >[Uninstall programs] and click [Uninstall or change a program]. Then select [Toyo-Single-Ver.1.0] to carry out software uninstallation, as shown in Figure (17).

  • Page 73: Introduction To Toyo-Single Software Interface

    TC100 User’s Manual Introduction to TOYO-Single software interface 1. Initial screen This chapter introduces the basic main connection screen as shown in Figure (1) according to different functions. ▼ Basic main connection screen Figure (1) Initial system screen ① Basic status bar Displays the current basic system status.
  • Page 74 TC100 User’s Manual Point write-back: You can write the modified point position values or all point position values on the current page to the controller. 10. Parameter write-back: You can write the modified parameter values or all parameter values on the current page to the controller.
  • Page 75 TC100 User’s Manual ⑤ Output monitoring This area provides the feedback data of the controller, as shown in Figure (6). Figure (6) Output monitoring ⑥ Main operation area The user can operate the actuator, edit point position values and parameter values, and monitor the feedback data of the controller in real time, as shown in Figure (7).
  • Page 76 TC100 User’s Manual 2. Description of the point position page The point position page is mainly used to teach points of the actuator, as shown in Figure (8). For your convenience, this system has different operating methods for the user to finish operations quickly. They are [Auto Operation], [Manual Operation], [Perform Points], [Manual Operation Mode], and [Servo / Home Operation].
  • Page 77 TC100 User’s Manual ③ Perform points This function allows you to display and select currently performed points, as shown in Figure (11). Figure (11) Perform points ④ Manual operation This function allows the user to manually perform general operations, as shown in Figure (12). Figure (12) Manual operation ⑤ Simulated display This function enables simulated display of the current position of the physical actuator, and you can manually...
  • Page 78 Figure (15) Servo / Home operation ⑧ Point position form Display the data about 127 point positions in TOYO-Single, as shown in Figure (16). The operating modes include INC, ABS, ORG, +TSL, -TSL, INC-R, and ABS-R where the operating conditions of ORG, +TSL, and -TSL do not refer to the colored items, while INC, ABS, INC-R, and ABS-R refer to all conditions.
  • Page 79 TC100 User’s Manual This function has three display methods: The first displays the values of the current recorded during the operation of the motor for 1 minute, as shown in Figure (19). The second displays the RPM recorded during the operation of the motor for 1 minute, as shown in Figure (20). The third displays the values of current and RPM recorded during the operation of the motor for 1 minute, as shown in Figure (21).
  • Page 80 TC100 User’s Manual 3. Description of the Monitoring page The Monitoring page is mainly used to monitor the current information about the actuator feedback the controller, and conduct point operations as well as read error messages using the input monitoring, as shown in Figure (23).
  • Page 81 TC100 User’s Manual ③ Position / thrust (position) control This area allows you to perform home return and torque limit control, as shown in Figure (26). Figure (26) Position / thrust (position) control ④ Motor status monitoring This area allows you to display of the information about the actuator feedback by the controller, as shown in Figure (27).
  • Page 82 TC100 User’s Manual 4. Description of the Parameters page The Parameters page is mainly used to display and set the relevant controller parameter, as shown in Figure (29). This page has 8 parameter items. These are [Position Control], [Thrust Control Parameters], [Common Parameters], [Input Port Assignment], [ Output Port Assignment], [Position Control Parameters], [ Home Return Parameters], [Communication Setting Parameters] which are available for the user to set.

  • Page 83: How To Operate Toyo-Single Software

    How to operate TOYO-Single software 1. Controller connection This section introduces how to connect software to the controller. First, launch TOYO-Single software, as shown in Figure (30). Figure (30) TOYO-Single software Select the [Add connection] button on the [Toolbar], as shown in Figure (31).

  • Page 84: Home Return

    TC100 User’s Manual Figure (34) Initial system screen 2. Home return Before operation, if the actuator does not return to home, the ORG-S indicator goes off. In this case, you have to perform home return, which will be described in the following. If the ORG-S indicator to the left is not lit up, you have to perform home return, as shown in Figure (35).
  • Page 85 TC100 User’s Manual Figure (37) System screen 3. Point movement Points can be moved automatically or manually. Auto operation allows you to track point movement based on the selected point, and detect the current point position. Manual operation allows you to move one point based on the selected point.

  • Page 86: Manual Operation

    TC100 User’s Manual For [Auto Operation], click the [START] button, as shown in Figure (40), to start auto operation of points. Figure (40) START button If you want to end the operation, click the [STOP] button, as shown in Figure (41). Figure (41) STOP button For [Manual Operation], after you select a point, click the [Point START] button, as shown in Figure (42), to start manual operation of points.

  • Page 87: Point Teaching

    TC100 User’s Manual Next, perform Jog, as shown in Figure (46). Click the button to move as specified by [Constant Speed]. Figure (46) Jog button ③ Manual Before performing Manual Movement, you can set the movement speed, as shown in Figure (47). Figure (47) Constant speed Next, perform Manual Movement, as shown in Figure (48).
  • Page 88 TC100 User’s Manual 6. Add data The Add data function allows automatic setup of the initialized parameter values based on the actuator model, motor direction, and actuator load selected by the user for the convenience when he/she sets parameters. The following describes these operations.
  • Page 89 TC100 User’s Manual Then the system automatically generates the initialized point position table and the initialized parameter values based on the settings in the previous step, as shown in Figure (55). (a) Initialized point position table (b) Initialized parameter values Figure (55) Initialized parameter values -89-...
  • Page 90 TC100 User’s Manual After the parameters are set, the message indicating the motor model is different may appear, as shown in Figure (56), if you want to write parameters. This is because the system finds out that the motor model corresponding to the previously set actuator model does not match with that in the current controller.
  • Page 91 TC100 User’s Manual The system asks you whether to write back parameters, as shown in Figure (59). If you select [Yes], the system will write all parameters, and write the [model specifications] (which is show in connection mode). If you do not need this, select [No]. Figure (59) Confirmation of parameter write-back -91-...

  • Page 92: Appendix

    TC100 User’s Manual 10. Appendix 10.1 Overview of error messages ■■ Overview of controller LED indicators LED name Function description LED colors When the main power and control power are supplied properly, it is lit Green up. When some parameters are written, it flashes if the power has to be reset.

  • Page 93: Cable Data

    TC100 User’s Manual 10. Appendix 10.2 Cable data TC100 motor cable set Length Model No. Cable length (L1) Unit TC100-CAB-STA-01 TC100-CAB-STA-03 2940 TC100-CAB-STA-05 4940 10 m TC100-CAB-STA-10 9940 ■■ Motor cable set - Controller side Connector 1 Signal name Description HRS pin +5 V Power output +5 V...
  • Page 94 TC100 User’s Manual 10. Appendix 10.2 Cable data ■■ Motor cable set - Motor side Connector 1 Signal name Description HRS pin +5 V Power output +5 V 24-5 Power output 0V 24-4 ENCODER A-Phase 24-10 ENCODER / A-Phase 24-9 ENCODER B-Phase 24-15 ENCODER /B-phase...

  • Page 95: Expansion Module Data

    TC100 User’s Manual 10. Appendix 10.3 Expansion module data ■■ PULSE board - Open Collect Output module: 10PIN 4PIN 1.+5V 2.GND TC100 control side actuator motor side 3.A+ 4.A- 4.GND 5.B+ 6.B- 7.Z+ 8.Z- 9.NC(空) 10.FG(屏蔽接地 External device output side ■■ Connector definitions -95-...
  • Page 96 TC100 User’s Manual 10. Appendix 10.3 Expansion module data ■■ PULSE board to counter cable set 30.00 30.00 20.00 20.00 10.00 10.00 250.00 Signal Left connector Description Right connector name +5 V Power output +5 V Power output 0V ENCODER A-Phase ENCODER / A-Phase ENCODER B-Phase ENCODER /B-phase...
  • Page 97 TC100 User’s Manual -97-...
  • Page 98 www.toyorobot.com TC100 User’s Manual. Version. 1701EN. Reproduction is not permitted without permission. 2017.5.10 Designed by www.hgo-design.com...

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