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Toyo TC100 Series User Manual

Servo cylinder controller
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TOYO Servo Cylinder Controller
English User's Manual
V2301
TC100 Series
ERR
SON
PWR

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  • Page 1 TOYO Servo Cylinder Controller English User’s Manual V2301 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. •...
  • 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 control circuit that will prevent the bench or workpiece from dropping when the power to the machine is cut off or an emergency stop is actuated [Installation, operation, and maintenance]...

  • Page 8: Table Of Contents

    TC100 User’s Manual Table of Contents 1. Overview Foreword 1.2 How to read the model specification 1.3 Components of the controller system 1.4 Steps from unpacking to commissioning 1.5 Warranty period and coverage 2. Specifications 2.1 Basic specifications 2.2 Name and description of each part of the controller 2.3 Controller size 3. Installation and wiring 3.1 Installation environment 3.2 Power Supply 3.3 Noise elimination and grounding 3.4 Heat dissipation and installation 3.5 Power wiring diagram 3.6 Connection to the robot 3.7 Connection to the communication unit...
  • Page 9 7.6 INRANGE signal output 7.7 The LED display on the controller 8. Communication _RS485 8.1 Communication specification 8.2 Data structure 8.3 Detailed error message 8.4 RTU request message structure 8.5 ASCII request message structure 8.6 EtherCAT network settings 9. TOYO-Single software operation 9.1 Introduction of TOYO-Single 9.3 Description of TOYO-Single software interface 9.4 Uniaxial software operation instructions 9.5 Claw software operation instructions 103 10. Appendix 10.1 Overview of error messages 107 10.2 Alarm exclusion 107 10.3...

  • Page 10: Overview

    TC100 User’s Manual Overview Foreword This product is a controller specially designed for the CGTH/CGTY/CTH/CY/CCB/CS/CH Series drive shafts and electric grippers. It can be controlled by the IO control, communication control and pulse control function (except electric gripper) of the main controller (PLC). In addition, this product also features the power-saving function to meet the increasing need for energy saving.

  • Page 11: 1.2 How To Read The Model Specification

    TC100 User’s Manual 1.2 How to read the model specification TC100 - 01 - N1 Shielding wire model Controller model Cable length 01：1m 03：3m 05：5m 10：10m Components of the controller system *Standard I/O shielding wire Model JW-HIF6/32P-1.5M#2464(17P) Optional/Standard 1m/3m/5m/10m Communication Cable RS485 Communication cable Model TC100-CAB-485 Optional/Standard 1m/3m/5m/10m TC100 Relay Signal+Power Line-180 °...

  • 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. • 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 • 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 TC100 User’s Manual Warranty period and coverage The controller you bought is strictly tested prior to shipment. Its warranty is described as follows: • Warranty period The warranty period shall be one of the following periods, whichever ends first: •     18 months after shipment from our factory •     12 months after delivery to a specified location •...

  • Page 15: Specifications

    TC100 User’s Manual TC100 User’s Manual 2. Specifications 2.1 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, 35, 25, 20 Type Motor...

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

    TC100 User’s Manual 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 Controller size An external view and dimensions of the product are shown below. -16-...

  • Page 17: Installation And Wiring

    TC100 User’s Manual 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.) •...

  • Page 18: Heat Dissipation And Installation

    TC100 User’s Manual • 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 Min. 10mm Min. 10mm 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. Ambient temperature: 0 ～...

  • Page 20: Power Wiring Diagram

    TC100 User’s Manual Power wiring diagram Use the supplied power connector to connect to the power supply. • The name and functions of the terminals of the power connector No. 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 Caution:   Do not connect the power voltage and terminal incorrectly. Otherwise, it may cause malfunction. • PIN(E) on the power connector is the grounding terminal which should be connected. • Use AWG#18(0.75mm2) cables. • Install a filter at the input of wires to avoid false action caused by noise. •...

  • Page 22: Connection To The Communication Unit

    TC100 User’s Manual Motor encoder connector Signal name Description +5 V Power output +5 V Power output 0V ENCODER A-phase ENCODER /A-phase ENCODER B-phase ENCODER /B-phase ENCODER Z-phase ENCODER /Z-phase ----- Shielded grounding Connection to the communication unit Use the dedicated cables to connect to communication devices, such as PC. ■■...

  • Page 23: In/Out Signal Wiring

    TC100 User’s Manual 3.8 IN/OUT signal wiring Connect the robot cables to the connector interface on the front panel of the controller. • Connection method (NPN) TC100 COM + DC +24V COM - DC 0V 1.5kΩ 6.8kΩ IN 1 IN 2 IN 3 IN 4 IN 5 IN 6 IN 7...
  • Page 24 TC100 User’s Manual Use the dedicated cables to connect to communication devices, such as PC • The name and functions of the terminals of the power connector Brown Brown/White Blue Blue/White Green Green/Black White White/Black Yellow Yellow/Black Red/Black Orange Orange/Black Pink Pink/Black Gray...
  • Page 25 TC100 User’s Manual • 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 TC100 User’s Manual ② DO definitions If you want to use the controller functions, use the default I/O definitions. Do not modify them, or UI may be unavailable. OUTPUT Digital Output Signal 10-point / IO functions are configurable / NPN I/O signals Function description Inposition Signal...

  • Page 27: Relay Contact Wiring Diagram

    TC100 User’s Manual Relay contact wiring diagram • Wiring of relay contacts INPUT CIRCUIT OUTPUT CIRCUIT B1~B10 1.5 K DC 24V DC 24V 6.8 K -COM A3~A14 Ic≦10mA Vce≦30V 1.5mA≦ If ≦6mA • Wiring of transistor contacts INPUT CIRCUIT OUTPUT CIRCUIT 1.5 K B1~B10 DC24V...

  • Page 28: Precautions When Wiring

    TC100 User’s Manual 3.10 Precautions when wiring • Cable and connector selection guide According to the installation requirements of different customers’ equipment, the company provides a variety of cable outlet ways for customers to choose. Please select the direction of the cable outlet according to the installation specifications. In addition, the types of cable are divided into standard and flexible cables with excellent bending resistance.
  • Page 29 TC100 User’s Manual • Precautions to put cables in tracks When the cable is in the tracks, the cable should be properly fixed to avoid pulling and friction during operation. Below is a schematic diagram of the separators and comb plates commonly used in cable tracks Please refer to the specifications of each brand for selection.

  • Page 30: Data Setting

    TC100 User’s Manual 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 31: 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. 9 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...
  • Page 32 TC100 User’s Manual ■■ Case 2 Torque Acce- Dece- Point Move Lower limit Upper limit Wait Ope- Move- Next Limit leration leration Posi- Speed of range of range Time ration ment step time time (1~1000) tion (1~100)% x0.01 msec msec 0.00 0.00 0.00...
  • Page 33 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 Torque Acce- Dece- Point Move Lower limit Upper limit Wait Ope- Move- Next Limit leration leration Posi- Speed of range of range Time ration...
  • Page 34 TC100 User’s Manual -TSL: Negative Torque Search It starts negative torque search from the current position. Negative limit ■■ Case 1 Torque Acce- Dece- Point Move Lower limit Upper limit Wait Ope- Move- Next Limit leration leration Posi- Speed of range of range Time ration...
  • Page 35 TC100 User’s Manual ■■ Case 2 Torque Acce- Dece- Point Move Lower limit Upper limit Wait Ope- Move- Next Limit leration leration Posi- Speed of range of range Time ration ment step time time (1~1000) tion (1~100)% x0.01 msec msec ABS-R 210.00 0.00 0.00...
  • Page 36 TC100 User’s Manual ■■ Case 2 Torque Acce- Dece- Point Move Lower limit Upper limit Wait Ope- Move- Next Limit leration leration Posi- Speed of range of range Time ration ment step time time (1~1000) tion (1~100)% x0.01 msec msec INC-R 210.00 0.00 0.00...
  • Page 37 TC100 User’s Manual Action specificatio: Point P3 moves 128.55mm in the “relative position” in the negative direction with a speed of 50% and a torque of 82.3%. If the torque is greater than 82.3%, it stops at 82.3% and outputs the signal of arrival of torque.

  • Page 38: Movement Coordinates

    TC100 User’s Manual Movement coordinates They varies depending on the operating mode. ■■ ABS: Absolute position and the setting value is used as the target position. ■■ INC: Absolute position and the setting value is used as the signed amount of movement. The figure shows the movement difference when 100 is set for the movement coordinates.

  • Page 39: Interval Range Setting (Upper / Lower Limit)

    TC100 User’s Manual 4.6 Interval range setting (upper / lower limit) Set the upper limit and lower limit of the interval range. In the interval, the dedicated signal “INRANGE” can be output. You have to set I/O parameters to be output before the dedicated signal is output. The figure below shows the setting example of the interval 50~150 from Home of the absolution position.

  • Page 40: Parameter Data

    TC100 User’s Manual Parameter data Motor parameter Number Reboot NO Parameter English abbreviation Description Remarks Range after words modification A FullCount alert is raised when Alarm value of the the Pulse value of the difference 0108 H FullCountValue counter between the present position and overflow(Pulse) the command position is greater than this value.

  • Page 41: Common Parameter

    TC100 User’s Manual Common parameter Number English Reboot after Parameter Description Remarks Range of words abbreviation modification Maximum output torque setting in Maximum value is 2 times of rated 0 ~ 1000 0500 H MaxTrqRate position mode torque (initial value 650) ×0.1% (x 0.1%) Full torque error time...

  • Page 42: Output Settings

    TC100 User’s Manual TC100 User’s Manual Output settings Number of English Reboot after Parameter Description Remarks words abbreviation modification 0700 H INPOSITION Inposition in-place signal 0701 H ALARM Error signal 0702 H READY Ready to proceed to the next point 0703 H MOVE On the move 0705 H...

  • Page 43: Home Setting Parameters

    TC100 User’s Manual TC100 User’s Manual Number English Reboot after Parameter Description Remarks Range of words abbreviation modification Set the action status. 0: In-motion status OFF after the specified PULSE 0 ～ 1 Set the in-motion is output. 080A H MoveSttSet status 1: Inposition ON and In- motion status OFF after...

  • Page 44: Communication Setting Parameters

    TC100 User’s Manual Number English Reboot after Parameter Description Remarks Range abbreviation modification words When the torque is returned to the origin, the torque will be detected and then moved in the opposite direction by The movement an offset amount of movement speed. speed for the 0904 H OrgOffsetSpeed...
  • Page 45 TC100 User’s Manual Description of I/O functions 6.1 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). 14 IN DC24V, ±10%, 1.5~6mA/point, common anode.
  • Page 46 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 47 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 48: Home Return

    TC100 User’s Manual TC100 User’s Manual Action timing Home return MANUAL Home Return Action MOVE ORG-S Within 20 ms Description: • After normal booting, the servo signal is ON. • The signal “ORG” will be input and the signal is ON. • It starts to perform the home return and the “MOVE” signal is ON. Input “ORG” and the signal becomes OFF.
  • Page 49 TC100 User’s Manual 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. • Set the “MANUAL” signal to ON. Determine and select a point position to be taught based on the signal “PRGSEL0 ～ 6” (in binary code). •...
  • Page 50 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 51: Communication Specification

    TC100 User’s Manual 8. Communication _RS485 8.1 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 RS-485 2-wire (half-duplex) Communication method USB2.0...
  • Page 52 TC100 User’s Manual 8.2 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 of the set range 1001 H InpStatus InPositon signal...
  • Page 53 TC100 User’s Manual Number of Position Abbreviation Description Remarks Range / unit words Independent output Output status of OUT 3; 1023 H PORT (OUT 3) status 0: OFF 1: ON Independent output Output status of OUT 4; 1024 H PORT (OUT 4) status 0: OFF 1: ON Independent output...
  • Page 54 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 AlarmList 05 50 error histories -05...
  • Page 55 TC100 User’s Manual ■■ Action Number Range / Position Abbreviation Description Remarks of words unit Set the relative movement distance (valid when 0.01mm/ Relative amount 2000 H INCamount position control and torque control) (initial value 0) 1pulse of movement Set the absolute movement distance (valid when 0.01mm/ Absolute amount 2002 H...
  • Page 56 TC100 User’s Manual Number Range / Position Abbreviation Description Remarks of words unit After the IN8 analog input setting of 0：OFF：1：ON, IN8 analog input 2048 H the current value is taken as the signal or entity signal setting received by the controller. After the IN9 analog input setting of 0：OFF：1：ON, IN9 analog input 2049 H...
  • Page 57 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 [Position mode] (initial value) 1: ABS Absolute position movement [Position mode] 2: ORG Home return 3: +TSL Positive torque search movement 4: -TSL Negative torque search movement 5: Unopened...
  • Page 58 TC100 User’s Manual ■■ Parameter comments and storage Number of Brief Position Content description Range / unit words description Parameter 9999 H 0: Current parameter; 1: Default parameter storage ■■ Open write instruction Character 9 9 9 B 0 0 0 4 4 C 7 6 3 0 3 1 5 4 7 9 5 6 6 7 2 CR LF 30 31 31 30 39 39 39 42 30 30 30 34 30 38 34 43 37 36 33 30 33 31 35 34 37 39 35 36 36 37 30 32 0D 0A...
  • Page 59 TC100 User’s Manual ■■ Description of structure content • 1.ID Specify an ID to send data. Only the machine with the same ID will receive the data. Other machines with different IDs will ignore the data. Caution:   The specified ID for communication is the setting value of the CH knob on the controller +1. For example, if the value of the external CH is “1,”...
  • Page 60 TC100 User’s Manual 8.3 Detailed error message When an error other than the response conditions is detected, an error code corresponding to the error type is returned. • Function code error • If the function code entered is wrong, the received function code will respond “function code” + “80 H.” Example: Character ASC code...
  • Page 61 TC100 User’s Manual 8.4 RTU request message structure • 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. ■■ Request message structure 01 H~10 H Function code 03 H High...
  • Page 62 TC100 User’s Manual • 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 High bytes Starting position for 0000 H ~ FFFF H writing Low bytes...
  • Page 63 TC100 User’s Manual • 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 High bytes Starting position for 0000 H ~ FFFF H...
  • Page 64 TC100 User’s Manual • 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. • Declare CRC as FFFF H initial value. •...
  • Page 65 TC100 User’s Manual 8.5 ASCII request message structure • 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. ■■ Request message structure Start code “：”...
  • Page 66 TC100 User’s Manual • 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” High “0”, “0”~“F”, “F” Start position for reading “0”, “0”~“F”, “F”...
  • Page 67 TC100 User’s Manual • 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” Function code “1”, “0” High “0”, “0”~“F”, “F”...
  • Page 68 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 69 TC100 User’s Manual 8.6 EtherCAT network settings • When OMRON PLC is used, the storage path of ESI file is as follows • When BACKOFF PLC is used, the storage path of ESI file is as follows • 1. Copy the file of TOYO-Device-1Axis.xml to the folder of EtherCAT Master tool • 2. Software name • 3. Preset path • 4. Beckhoff EtherCAT Configuration • 5. C:\EtherCAT Configurator\EtherCAT •...
  • Page 70 TC100 User’s Manual 2. READ TAG -70-...
  • Page 71 TC100 User’s Manual Data READ/WRITE Brief introduction Description of contents Scope format Output bit 0(OUT 1)~bit 9(OUT 10) (Set H1020 as the main) 0: OFF 1: ON (default IO definition is as follows) OUT1:ORG-S OUT2:INP The same OUT3:READY READ BOOL as OUT1~10 Overall output state OUT4:SERVO-S...
  • Page 72 TC100 User’s Manual TC100 User’s Manual Data READ/WRITE Brief introduction Description of contents Scope format 1：Absolute position movement 3：Origin return WRITE UINT MovType Movement type 6：Alarm return 8：Deceleration and stop D : Clear the command Set absolute moving distance (effective Absolute amount of under position control and torque control) WRITE...
  • Page 73 TOYO-Single software operation Introduction of TOYO-Single • 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. • Installation and software requirements...
  • Page 74 TC100 User’s Manual 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). If this screen is not displayed, skip to Section 1.2 and continue the installation procedure. Click [Yes] to download or click [No] to exit the installation procedure.
  • Page 75 TC100 User’s Manual It takes some time to perform the installation procedure. Please be patient, as shown in Figure (4). Figure (4) Installation procedure Click [Finish] to finish the installation procedure, as shown in Figure (5). Figure (5) Completion of Framework installation -75-...
  • Page 76 It can be switched based on the user preference. Click [OK], as shown in Figure (6). ① ② Figure (6) Installation language selection 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 (7). Figure (7) Copyright notice -76-...
  • Page 77 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 (8).
  • Page 78 Figure (10) 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 (11).
  • Page 79 TC100 User’s Manual ③ USBDriver-FTDI This chapter introduces how to install the FTDI driver. After entering the installation screen, click the [Extract] button, as shown in Figure (12). Figure (12) Enter the program screen The driver installation wizard appears and click [Next], as shown in Figure (13). Figure (13) Installation wizard -79-...
  • Page 80 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 (14). Figure (14) License screen Finally, after confirming the status of the installation procedure, click the [Finish] button to end the installation procedure, as shown in Figure (15).
  • Page 81 TC100 User’s Manual • 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 (16).
  • Page 82 TC100 User’s Manual Description of TOYO-Single software interface • Initial screen This chapter introduces the basic main connection screen as shown in Figure (1) according to different functions. ▼ Basic main connection screen ① ③ ② ⑥ ④ ⑤ Figure (1) Initial system screen •...
  • Page 83 TC100 User’s Manual • Point read: this function can be performed to read the point position in the current controller into the point position data columns. • Parameter reading: this function can be performed to read the parameter values in the current controller to the parameter page.
  • Page 84 Users can perform real-time operation, edit point position and parameter value, monitor controller feedback information and other functions., as shown in Figure (7). Figure (7) Main operation area • Official website hyperlink It provides users with a link to TOYO’s official website for the latest product news. Figure (8) Hyperlink button -84-...
  • Page 85 TC100 User’s Manual • Description of the point position page The point position page is mainly used to teach points of the actuator, as shown in Figure (9). For your convenience, this system has different operating methods for the user to finish operations quickly. They are [Servo/origin operation], [operation mode], [manual operation mode].
  • Page 86 TC100 User’s Manual • Perform points This function allows you to display and select currently performed points, as shown in Figure (12). Figure (12) Perform points • Manual operation This function allows the user to manually perform general operations, as shown in Figure (13). Figure (13) Manual operation •...
  • Page 87 • Point position form Display the data about 127 point positions in TOYO-Single, as shown in Figure (17). The operating modes include INC, ABS, ORG, +TSL, -TSL, INC-R, and ABS-R, The operation mode of claw system is divided into INC-T, ABS-T, CLOSE, CLOSE-R, OPEN and OPEN-R. The operating conditions of ORG, +TSL, -TSL, CLOSE, CLOSE-R, OPEN and POEN-R do not refer to the items marked in gray.
  • Page 88 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 89 TC100 User’s Manual • 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 (24).
  • Page 90 TC100 User’s Manual • Detailed operation/torque value adjustment This area can perform position/push (position) control, torque value adjustment and other functions, as shown in Figure (27). Figure(27) Detailed operation/torque value adjustment • Motor status monitoring This area allows you to display of the information about the actuator feedback by the controller, as shown in Figure (28).
  • Page 91 TC100 User’s Manual • Description of the Parameters page The Parameters page is mainly used to display and set the relevant controller parameter, as shown in Figure (30). This page has 8 parameter items. These are [Otor Parameters], [Thrust Parameters], [Common Parameters], [Input Setting], [Output Setting], [Speed Parameters], [ Home Return Parameters], [Communication Setting Parameters] which are available for the user to set.
  • Page 92 Controller connection This section introduces how to connect software to the controller. First, launch TOYO-Single software, as shown in Figure (31). Figure (31) TOYO-Single software After entering the welcome page, you can set the system, as shown in Figure (32). Some functions are described as follows.
  • Page 93 TC100 User’s Manual Set the relevant station number, Com port, connection rate and other information, as shown in Figure (34). In addition, the [SEARCH] button below can be used to automatically judge whether there are available connections. After confirming the connection, please press the [Execute Connection] button. Figure (34) Add connection settings Confirm the controller connection message, as shown in Figure (35).
  • Page 94 TC100 User’s Manual • 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, please press the origin return button to operate, as shown in Figure (37).
  • Page 95 TC100 User’s Manual • Point movement Point position movement can be divided into automatic operation and manual operation. Automatic operation can carry out multi-point movement according to the selected point position. Manual operation allows you to move one point based on the selected point. The following describes these operations. There are two ways to select points: The first is to drag the scroll bar and select one, as shown in Figure (40).
  • Page 96 TC100 User’s Manual For [Auto Operation], click the [START] button, as shown in Figure (42), to start auto operation of points. Figure (42) START button If you want to end the operation, click the [STOP] button, as shown in Figure (43). Figure (43) STOP button For [Manual Operation], after you select a point, click the [Point START] button, as shown in Figure (44), to start manual operation of points.
  • Page 97 TC100 User’s Manual Next, perform Jog, as shown in Figure (48). Click the button to move as specified by [Constant Speed]. Figure (48) Jog button ③ Manual Before performing Manual Movement, you can set the movement speed, as shown in Figure (49). Figure (49) Constant speed Next, perform Manual Movement, as shown in Figure (50).
  • Page 98 TC100 User’s Manual • Add data Initial parameter values of the newly added data can be automatically set according to the product series, moving table model, motor direction and other values selected by the user to reduce the user’s inconvenience when setting parameters.
  • Page 99 TC100 User’s Manual If the user needs PULSE control, please check the corresponding option, as shown in Figure (57). Figure (57) PULSE control options Users need to set relevant initial data in this window to facilitate the automatic generation of initialized parameter values.
  • Page 100 TC100 User’s Manual Intelligent load adjustment function will automatically generate the ininitialized point position table and ininitialized parameter values according to the data set in the previous step, as shown in Figure (58). (a) Initialized point position table (b) Initialized parameter values Figure (59) Initialized parameter values -100-...
  • Page 101 TC100 User’s Manual After the parameters are set, the message indicating the motor model is different may appear, as shown in Figure (60), if you want to write parameters. This is because the system has detected that the motor model of the newly added sliding table is not the same as the motor model in the current controller.
  • Page 102 TC100 User’s Manual The system asks you whether to write back parameters, as shown in Figure (63). 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 (63) Confirmation of parameter write-back -102-...
  • Page 103 TC100 User’s Manual Claw software operation instructions This chapter will introduce six motion function modes of claw point position, as shown in Figure (1). Figure (1) The page of claw point position • Introduction to INC-T mode The function of relative position and movement controlled by torque refers to moving from the current position to the required relative position.
  • Page 104 TC100 User’s Manual • Introduction to ABS-T mode The function of absolute position and movement controlled by torque refers to moving from the original point to the required position. The moving coordinates and torque limit can be set freely, as shown in Figure (3).
  • Page 105 TC100 User’s Manual • Introduction to CLOSE-R mode The claw can be closed in the set range at the specified speed and torque. In the process of moving, TRQ_ LMT signal is on when INRANGE signal is on and the set torque condition is reached, indicating that the gripper has clamped the object and it is within the set position range, as shown in Figure (5).
  • Page 106 TC100 User’s Manual TC100 User’s Manual • Introduction to OPEN-R mode The claw can be opened in the set range at the specified speed and torque. In the process of moving, TRQ_ LMT signal is on when INRANGE signal is on and the set torque condition is reached, indicating that the claw has pushed the object apart, as shown in Figure (7).

  • Page 107: Overview Of Error Messages

    TC100 User’s Manual 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 108: Troubleshooting

    TC100 User’s Manual Flashing lights, Alarm state Causes Check / Process number of flickers Phase A or phase B of the motor is Motor wire break Please confirm motor wiring. disconnected. Encoder wire Phase A or phase B of the encoder is Please confirm encoder wiring.
  • Page 109 TC100 User’s Manual 10.4 Wire material data TC100 Relay Wire Line Part No Product name Specification Unit length(L) 16105-001002-* TC100 relay line-Standard version-* Signal+power+(W)-1m 16105-003002-* TC100 relay line-Standard version-* Signal+power+(W)-3m 16105-005002-* TC100 relay line-Standard version-* Signal+power+(W)-5m 16105-010002-* TC100 relay line-Standard version-* Signal+power+(W)-10m 16105-001003-* TC100 relay line-Standard version-*...
  • Page 110 TC100 User’s Manual Standard Cable Bending Cable Signal Metal Connector Pudp-10v-S Pin Function Colour Colour Name Green Orange and white Power output +5 V Green and white Orange Power output 0 V Brown Grey and white ENCODER Phase A Brown and white Grey ENCODER /A phase Orange...
  • Page 111 TC100 User’s Manual 10.5 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 -111-...
  • Page 112 TC100 User’s Manual 10.6 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 ENCODER Z-phase JST: JST:...
  • Page 113 TC100 User’s Manual 10.8 Legacy IO rainbow wiring pin definitions and functions Please use a dedicated connection cable when connecting to computer and other communication equipment. CN-4 IO Pin definitions Color Color Signal Content description Signal Content description code code Brown COM+ IO power supply +24V...
  • Page 114 www.toyorobot.com TC100 User’s Manual. Version. 2301EN. Reproduction is not permitted without permission. 2023.02 designed by www.hgo-design.com...

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