THK TJU User manual

Network unit & Branch unit
INSTRUCTION MANUAL
TNU / TJU
THK Electrical Actuator Controller Series
No.6090-6(0)E
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i
Table of Contents
TNU
1. Introduction
1-2
1-1 Acknowledgment  1-2
1-2 About this manual 1-2
1-3 How to use this product  1-3
1-4 About product support 1-3
1-5 About related instruction manuals 1-3
1-6 Product and company information 1-3
2. Safety precautions 1-4
2-1 About ranks of precautions 1-4
2-2 About description of precautions  1-4
2-3 Safety precautions  1-5
3. System configuration 1-6
3-1 System configuration diagram (Example) 1-6
4. Flow until using the product 1-7
5. Network type 1-8
5-1 CC-Link  1-8
5-2 EtherCAT 1-8
5-3 EtherNet/IP 1-8
5-4 DeviceNet  1-9
1. Check products 2-2
1-1 Check the package contents of TNU 2-2
1-2 Check the package contents of TJU 2-3
1-3 Option 2-4
1-4 Names of individual parts and functions  2-5
1-5 Store and dispose of products  2-9
2. How to install 2-10
2-1 Installation environment  2-10
2-2 Installation  2-11
1. Introduction
1-1
2. Installation
2-1
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ii
Table of Contents
TNU
3. Wiring
3-1
4. TNU functions
4-1
1. How to wire 3-2
1-1 Entire wiring  3-3
1-2 Connect peripheral devices to TNU power supply 3-4
1-3 Connect to master devices 3-7
1-4 Connect TJU  3-9
1-5 Connect to PC  3-11
1-6 Connect to TDO 3-11
1-7 Peripheral devices 3-11
1. TNU functions 4-2
1-1 TNU functions  4-2
1-2 Control functions overview  4-3
1-3 Lower-level communication prohibition function 4-11
1-4 Broadcast function  4-11
1-5 Remote MANUAL function  4-11
1-6 Data readout function  4-12
1-7 DVC write status display function  4-15
1-8 DVC function 4-15
2. CC-Link communication specifications 4-16
2-1 CC-Link communication overview 4-16
2-2 CC-Link data mapping 4-16
2-3 Buffer memory allocation correspondence table 4-26
2-4
Number of occupied stations / multiple settings (CC-Link Ver.2.00 only)
 4-27
2-5 CSP, CSP+ files (TNU Firmware Ver. 1.2 or later) 4-27
3. EtherCAT communication specification 4-28
3-1 EtherCAT communication overview  4-28
3-2 EtherCAT PDO mapping (I/O allocation correspondence table)  4-28
3-3 ESI files  4-34
4. EtherNet/IP, DeviceNet communication specification 4-35
4-1 Communication overview  4-35
4-2 EtherNet/IP, DeviceNet Data mapping (master -> slave)  4-36
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iii
Table of Contents
TNU
5. TACnet communication specifications 4-42
5-1 TACnet communication overview  4-42
5-2 TACnet communication status transition diagram  4-42
5-3 TACnet communication diagram  4-44
1. Operation mode 5-2
1-1 I/O mode 5-3
1-2 PC/TDO mode  5-3
2. General precautions 5-4
2-1 About upper-level communication 5-4
3. Communication parameters 5-5
3-1 Communication parameters  5-5
3-2 Net device list  5-8
1. Introduction 6-2
1-1 Standard precautions  6-2
1-2 Saving programs and parameters (Important) 6-2
2. Product overview 6-3
2-1 Product configuration  6-3
2-2 Application of this manual  6-3
2-3 Configuration of required devices  6-3
2-4 User support  6-4
4. TNU functions
4-1
5. Operation and Adjustment
5-1
6. Setup tool D-STEP
6-1
4-3 EtherNet/IP, DeviceNet communication specification 4-38
4-4 EDS files 4-41
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Table of Contents
TNU
1. Introduction 7-2
1-1 Standard precautions  7-2
1-2 Saving programs and parameters (Important) 7-2
1-3 Limit for operation (Important)  7-2
2. Connection 7-3
2-1 Connect to TNU 7-3
2-2 Initial screen  7-3
2-3 Connect start screen  7-4
2-4 Connection failure screen  7-4
2-5 ID selection screen  7-4
1. Alarm lists 8-2
1-1 Alarm lists  8-2
2. Causes and counter measures of alarms 8-3
2-1 Causes and counter measures of alarms 8-3
3. Other troubles 8-5
3-1 D-STEP cannot detect the driver controller 8-5
3-2 The driver controller does not operate even with the lower-level
communication authorization switch ON  8-6
3-3 During DVC pressing operation, position data abnormality occurs 8-6
3-4 Driver controller input signal is slow  8-6
3-5 Even with driver controller input signal MANU set to ON,
operation from D-STEP, TDO is not possible  8-6
7. Digital operator TDO
7-1
8. Troubleshooting
8-1
6. Setup tool D-STEP
6-1
3. Operation method 6-5
3-1 Connect start screen  6-5
3-2 Net device list setting screen  6-6
3-3 Parameter setting screen 6-7
3-4 Alarm history display screen  6-10
3-5 Setting before communication with driver controller (Important) 6-10
3-6 Offline edit screen selection  6-11
3-7 Offline net device list setting screen  6-11
3-8 Offline parameter setting screen 6-12
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Table of Contents
TNU
1. Network unit TNU 10-2
1-1 Specifications and dimensional drawing  10-2
2. Branch unit TJU 10-3
2-1 Specifications and dimensional drawing  10-3
3. Connection cable 10-4
3-1 PC communication cable 10-4
3-2 TACnet cable 10-4
4. Sample program 10-5
4-1 Broadcast sample program 10-5
4-2 CC-Link sample program 10-7
5. Memory map 10-8
5-1 Memory map 10-8
Revision history
10. Technical Materials
10-1
Appendix
1. Maintenance and inspection 9-2
1-1 Periodical inspection  9-2
1-2 Standard of durability of consumables for TNU and TJU  9-2
2. Product warranty 9-3
2-1 Free warranty period 9-3
2-2 Usage conditions (Range)  9-3
2-3 Warranty scope 9-3
2-4 Exclusion of warranty liability 9-4
2-5 Delivery conditions  9-4
9. Maintenance and
Warranty
9-1
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1-1
TNU
This section includes intro-
duction about the product
and this manual.
This section includes gen-
eral precautions to follow
when using the product.
Be sure to read this sec-
tion before use and ob-
serve the precautions.
This section includes intro-
duction about peripheral
devices to be used with
this product.
This section describes
installation and setting
processes to make this
product ready for use.
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.
1. Introduction
1. Introduction ………………… 1-2
1-1 Acknowledgment…………………………… 1-2
1-2 About this manual ………………………… 1-2
1-3 How to use this product…………………… 1-3
1-4 About product support …………………… 1-3
1-5 About related instruction manuals ……… 1-3
1-6 Product and company information ……… 1-3
2. Safety precautions ………… 1-4
2-1 About ranks of precautions ……………… 1-4
2-2 About description of precautions ……… 1-4
2-3 Safety precautions ………………………… 1-5
3. System configuration ……… 1-6
3-1 System configuration diagram (Example) 1-6
4. Flow until using the product
………………………………… 1-7
5. Network type ………………… 1-8
5-1 CC-Link ……………………………………… 1-8
5-2 EtherCAT …………………………………… 1-8
5-3 EtherNet/IP ………………………………… 1-8
5-4 DeviceNet …………………………………… 1-9
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1. Introduction
1-2
TNU
1-1 Acknowledgment
Thank you for purchasing our product.
This product is a communication unit to connect the THK driver controllers TSC, TLC, and THC to
industrial networks. We hope our products contribute to your further prosperity.
1-2 About this manual
1-2-1 Intended audience
The person in charge of designing embedded systems of the product and installing, wiring, and
maintaining the product, and the person who actually uses the product.
1-2-2 Using This Manual
This manual describes correct handling methods and precautions for the product.
For the maximum performance and long life of the product, carefully read and understand this man-
ual to safely and correctly use the product.
If you access our website or use the printed version of this manual, be sure to keep it in the place
that the intended audience can refer to it when needed.
1-2-3 Notice and attention
zDo not use or handle the product in the ways that are not described in this manual.
zDo not reproduce, reprint, or lend the whole contents or a part of this manual without permission.
zPlease note that description in this manual is subject to change without prior notice in the future,
due to improvements of the product or other reasons.
zWe have made all possible efforts to make the content of this manual accurate. However, if you
find any mistake or uncertainty in this manual, please contact our Customer Support (refer to
back cover).
zDrawings show representative examples, and may differ from your product.
zNote that THK shall not be liable for any result incurred by applying this manual, regardless of the reason.
zThis 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.
* Special types represent the products that have different materials and specifications from those
of the standard products on catalogs.
1-2-4 Notation of this manual
1.
Introduction
• Notes that can lead to unsatisfactory functions, error, or damage of the product if not observed while using
the product.
Important
• Reference information for the description.
Reference
• Supplementary information for the description.
Note
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1. Introduction
1.
Introduction
1-3
TNU
1-3 How to use this product
zThis product cannot be used for the devices or systems that are used under the situations that
can affect human life.
zIf you consider using this product for special applications such as passenger movement vehicle,
medical, aerospace, nuclear power, and electric power devices or systems, be sure to consult
with THK in advance.
zThis product is manufactured under the strict quality control, however, that does not mean that
the product is free from failure. For applications to the equipment that may suffer serious acci-
dents or loss from the failure of this product, install safety devices or backup devices that prevent
such serious accidents or loss.
1-4 About product support
For the following information, please contact our Customer Support (refer to back cover).
zTechnical support for this product
1-5 About related instruction manuals
zWhen you use the network unit TNU, read the following instruction manuals as necessary.
· Controller series Setup tool D-STEP
· Controller series Digital operator TDO
· Controller series Driver controller TSC
· Controller series Driver controller TLC
· Controller series Driver controller THC
1-6 Product and company information
To find the latest product and company information, we recommend you to periodically access our
website.
zWebsite URL: http://www.thk.com/
zTechnical support website URL: https://tech.thk.com/
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1-4
1. Introduction
TNU
2-1 About ranks of precautions
This manual uses the classifications of "Danger," "Warning," and "Caution" for warning indications
for safety matters.
2-2 About description of precautions
Precautions are classified as "Prohibition," "Instruction," and "Precaution" according to the action.
This mark indicates
"Prohibition" of the
action.
This mark indicates
"Instruction" of the
action.
This mark indicates
"Caution" of the
action.
Prohibited Do not
disassemble
Obligatory Provide grounding
connection
Caution Caution -
Electrical shock
Caution –
Flammable
Caution – High
temperature
Caution – Getting
caught
DANGER Erroneous handling may urgently cause
death or serious injury to a person
WARNING Erroneous handling may cause death or
serious injury to a person
Erroneous handling may cause injury to a
person or property damage only
CAUTION
2.
Safety precautions
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1-5
1. Introduction
2.
Safety precautions
TNU
2-3 Safety precautions
zWhile the actuator is operating or
operable, do not enter the working
area of any moving part including
the load.
Doing so may cause you to touch the
moving part and get injured.
zIf the product fails or any abnor-
mality is observed, shut down the
power of the driver controllers
TSC, TLC, and THC.
Such abnormality may cause a mal-
function of actuator, resulting in dam-
age or injury.
zDo not touch the internal part of
the network unit TNU.
Doing so may cause electric shocks.
zDo not damage, tuck, or apply ex-
cessive stresses on the cable.
Doing so may cause electric shocks.
zDo not modify, disassemble, or al-
ter the product.
Doing so may cause injury or fault.
Doing so may cause burns.
Prohibited
Obligatory
Caution -
Electrical shock
Do not
disassemble
zDo not impact the product and
do avoid rough handling such as
throwing it.
Doing so may cause the fault or dam-
age that leads to injury.
zDo not frequently switch the power
between on and off.
Doing so may generate heat from the
internal parts of the network unit TNU,
which results in fault or burns.
zDo not set the speed or accelera-
tion setting that exceeds the actua-
tor specification.
Doing so may cause motor failure,
which leads to unexpected accidents
or damages.
zIf an alarm is generated, remove
the cause, check the safety, de-
activate the alarm, and restart the
operation. (-> P.8-2)
Failure to do so may result in failure,
which leads to injury.
zUse this product with a combina-
tion that is specified beforehand.
Failure to do so may cause fire or fault.
zObserve the specified input volt-
age.
Failure to do so may cause fire or fault.
Prohibited
Obligatory
Caution –
Flammable
WARNING
CAUTION
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1-6
1. Introduction
TNU
3-1 System configuration diagram (Example)
zThe following figure is a configuration drawing where the driver controller TSC is 16-axis com-
bined with TNU.
zCables used for connecting the devices shown with should be prepared by yourself.
3.
System configuration
CN1 upper-level network
communication connector
is provided with TNU.
(TNU-CC, TNU-DV)
TDO(-> P.7-1)
Higher device
The power supply should be
prepared by yourself.
The power connector for
CN4 is provided with TNU.
(-> P.3-4)
PC communication cables
are provided as an option.
(-> P.2-4)
★
CN3
Emergency stop switch
This should be prepared
by yourself.
24 V DC power
★
★
★
★
★
Branch unit TJU
(-> P.3-9)(1 to 3 units)
CN1
CN2
CN4
LINE IN
LINE IN
LINE IN
Termination
resistance OFF
[TERM.OFF]
(-> P.2-8) Termination
resistance OFF
[TERM.OFF]
(-> P.2-8)
Termination resistance ON
[TERM.ON]
(-> P.2-8)
Max. 16 axes
Driver controller
Actuator
Network unit
TNU
★
PC (D-STEP) (-> P.6-1)
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1-7
1. Introduction
TNU
4.
Flow until using the product
1. Safety Check
(1) Safety statement check -> P.1-4
(2) Safety check of the installation location
-> P.2-10
(3) Installation check -> P.2-11 to 2-13
2. Installation (1) Installation environment check -> P.2-10
(2) Installation -> P.2-11 to 2-13
3. Wiring
(1) Connection between each device and
cable -> P.3-1 to 3-11
4. TNU functions
(allocation)
(1) CC-Link communication overview
-> P.4-16
(2) EtherCAT communication overview
-> P.4-28
(3) EtherNet/IP communication overview
-> P.4-35
(4) EtherNet/IP, DeviceNet communication
overview -> P.4-38
6. Setup tool setting (1) Setup tool setting -> P.6-5
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1-8
1. Introduction
5.
Network type
TNU
5-1 CC-Link
The CC-Link is a serial-based open field network.
This network is operated by the non-profit organization CC-Link Partner Association (CLPA) and has
the following features:
1. Achievement of the high-speed and stable I/O response
2. Efficiency promoted by wiring saving
3. Flexible responses to multivendors
4. High reliability realized by RAS (Reliability, Availability, and Serviceability) functions
For detailed information on CC-Link, refer to the documents issued by the CC-Link Partner Associa-
tion and instruction manual for the master device used.
5-2 EtherCAT
EtherCAT is an open field network compatible with Ethernet.
EtherCAT is an open network designed with the operating principle to realize the high-speed
communication and the architecture suitable for motion control, such as a function that
synchronizes between highly accurate nodes, featuring the simpler wiring compared to Ethernet
without requiring a switching hub.
The structure is supported for the needs of decentralizing I/O devices including the safety.
The single network design will also save the wiring within the devices. Not only speeding up,
increasing the accuracy of the device control, or improving the device production cycle time,
EtherCAT also helps you to lower the cost associated with device installation or maintenance,
such as standardizing cable wiring or simplifying the assembly.
For detailed information on EtherCAT, refer to the documents issued by EtherCAT Technology Group
and the instruction manual for the master device used.
5-3 EtherNet/IP
EtherNet/IP is a standard industrial Ethernet network which adopts the widely used Ethernet TCP/
IP protocol and has CIP (Common Industrial Protocol) installed as the control protocol at the
application layer.
It is regulated by IEC Standard IEC 61158.
Making the most of its ability for rapid and wide-range communication of large volumes of control
and monitoring data from the field, it promises improved operation rates and quality and reduced
TCO.
For detailed information on EtherNet/IP, refer to the documents issued by the ODVA (Open De-
viceNet Vendor Association) and instruction manual for the master device used.
5.
Network type
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1-9
1. Introduction
5.
Network type
TNU
5-4 DeviceNet
DeviceNet is a network which uses ISO standard (11898) CAN (Controller Area Network) for its data
link layer and part of its physical layer, with additional DeviceNet physical and application layers.
By using serial communication instead of I/O connection to connect with field devices, it enables
efficient transmission of large volumes of data. The standardized connection method enables intel-
ligent devices and increased system productivity.
For detailed information on DeviceNet, refer to the documents issued by the ODVA (Open DeviceNet
Vendor Association) and instruction manual for the master device used.
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2-1
TNU
This section describes the
package contents check
and parts of this product.
This section describes the
installation procedures of
this product.
About this chapter
This chapter describes how to check the package contents and to install it to the machine and facilities.
This section is primarily intended for those in charge of installation of this product to a machine and facilities.
2. Installation
1. Check products ……………… 2-2
1-1 Check the package contents of TNU …… 2-2
1-2 Check the package contents of TJU …… 2-3
1-3 Option ………………………………………… 2-4
1-4 Names of individual parts and functions
………………………………………………… 2-5
1-5 Store and dispose of products…………… 2-9
2. How to install ……………… 2-10
2-1 Installation environment ………………… 2-10
2-2 Installation …………………………………… 2-11
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2. Installation
1.
Check products
2-2
TNU
Model :TNU - CC
Input :24VDC 0.3A
Ver :XXXXXXX
Serial :XXXXXXXX
1-1 Check the package contents of TNU
1-1-1 Check the model/type of the product
Check the model indicated on the product label* against the purchase information.
Model
(See the following)
Serial number
<Model configuration>
TNU - CC
(1) Model TNU: Network unit TNU
(2) Network type CC: CC-Link
EC: EtherCAT
EP: EtherNet/IP
DV: DeviceNet
(2)(1)
1-1-2 Checking the type and number of TNU accessories
No cable is provided, so please separately prepare a cable.
Type of parts Model Qty.
Network unit * See the product label 1
Power connector (CN4) MPC300-38104 1
･TNU-CC
Type of parts Model Qty.
Upper-level network communication
connector (CN1) MSTB2,5/5-ST-5,08 ABFY AU 1
1-1-3 Check the product for any damage or abnormality
After the checking, keep the product packed in the packaging box until the start of installation work.
1.
Check products
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2. Installation
1.
Check products
2-3
TNU
• For any special type, check against the delivery specification documents.
Model :TJU
Serial :XXXXXXXX
1-2 Check the package contents of TJU
1-2-1 Check the model/type of the product
Check the model indicated on the product label* against the purchase information.
Model
(See the following)
Serial number
<Model configuration>
TJU
(1) Model TJU: Branch unit TJU
1-2-2 Checking the type and number of TJU accessories
No cable is provided, so please separately prepare a cable.
* Prepare the cables between TNU and TJU , TJU and TJU by yourself.
1-2-3 Check the product for any damage or abnormality
After the checking, keep the product packed in the packaging box until the start of installation work.
(1)
Reference
Type of parts Model Qty.
Branch unit * See the product label 1
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2. Installation
1.
Check products
2-4
TNU
1-3 Option
1-3-1 D-STEP
Network unit on
TNU-side (CN2)
PC side
USB
A setup tool. This can be downloaded from our website free of charge.
* Registration with the technical support is required to download.
URL: https://tech.thk.com/
In addition, a PC communication cable is required to use D-STEP.
For details, see the separate D-STEP instruction manual.
1-3-2 TDO
The digital operator for driver controller TSC, TLC and THC.
Model number: TDO-N
For details, see the separate TDO instruction manual.
1-3-3 PC communication cable
A PC communication cable for D-STEP.
Model number: CBL-COM-03
For details, see the separate D-STEP instruction manual.
The cable is used to connect the branch unit TJU and driver controller.
Model: CBL-NW-** (01: 1 m, 03: 3 m)
For details, see the technical documents. (-> P.10-4)
1-3-4 TACnet cable
Driver controller side
Branch unit TJU side
(Cable length)
**
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2. Installation
1.
Check products
2-5
TNU
1-4-1 Network unit TNU
⿟TNU-CC connectors for CN1 and CN4 are provided with this product. No cable is provided, so
please separately prepare it. CN1 connector is not provided with TNU-EC and TNU-EP.
⿟A cable to connect to CN2 and PC is available as an option. (-> P.2-4)
⿟Prepare a cable to connect CN3 and TJU by yourself. (-> P.3-9)
1-4 Names of individual parts and functions
(1) Power-on display (red)
When this light is on, the power supply 24 V DC is being input.
(2) Upper-level network communication status display (green)
When this light is on, it indicates communication in process
with the upper-level master device. Light goes off at a TNU
network setting error, indicating a failure of communication
with the master. The light remains off until alarm reset
processing is done.
(3) TACnet communication status display (green)
When this light is on, it indicates no communication with
lower-level devices, or normal communication. When the
number of retries has been surpassed and a communication
error occurs, the light goes off and remains off until alarm
reset processing is done.
(4) Error display (red)
When normally connected with the upper-level master device,
the light goes off. When this display is flashing, it is in startup
or a TNU system error has occurred.
(1) (2) (3) (4)
Upper-level network ID setting switch
Sets the device ID of the upper-level network by the x10 rotary
switch and x1 rotary switch values.
CN1
Upper-level network communication connector
Connect to the upper-level device network.
Mode change switch
Switch to select the upper-level device that transmits commands
to the lower-level device
On CN1 side, the communication command by the upper-level
network master (I/O mode)
On CN2 side, the communication command from the upper-level
device supporting TACnet (PC/TDO mode)
CN2
Communication connector
Connector to connect the PC or TDO.
CN3
Communication connector
Connector to connect to the TJU.
CN4
Power connector
Connector for the input power supply.
(FG)
Ground wire is connected.
EtherCAT
TNU-CC, TNU-EC
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