P602C Stepping Servo Motor Double Axes Controller User`s Manual
Contents
1. a gt IN Executing this function has to wait the START signal input then execute the next step b gt IN NOT It is opposite to IN OUTPUT 9 P602C PI V02E P602C Stepping Servo Motor Double Axes Controller User s Manual TROY a POUT Pin 7 READY of 20 PIN will output L signal b gt OUT NOT It is opposite to OUT Executing this function Pin 7 READY of 20PIN will back to H level REPEAT END REPEAT description REPEAT 5 TIME 1000 ms POSITIONING END REPEAT REPEAT 10 REPEAT 8 POSITIONING END REPEAT REPEAT 3 OUT TIME 500 ms OUT NOT END REPEAT IN TIME END REPEAT Repeat 5 times Repeat 8 times Pi Repeat 10 times XREPEAT END REPEAT is a set and it can not insert the other REPEAT before this loop finished P602C PI VO2E P602C Stepping Servo Motor Double Axes Controller User s Manual TROY CALL RETURN description STEP 13 OUT STEP 14 TIME 1000ms STEP 15 OUT NOT STEP 16 RETURN STEP 30 CALL STEP 13 STEP 31 POSITIONING STEP 10 CALL STEP 20 STEP 11 OUT NOT STEP 20 POSITIONING STEP 21 TIME 1000 ms STEP 22 OUT STEP 23 RETURN 11 P602C PI V02E P602C Stepping Servo Motor Double Axes Controller User s Manual TROY 10 External operation control a Switching the slide s2. 1 KEEP 2 CLEAR Pressing the lt or to select the keep clear 3 Pressing ENT entering the PROGRAM and the monitor indicated the step numbers STEP XX for input 4 Pressing ENT entering the STEP XX or pressing the A or y to select the step numbers which edited already and do the following functions a gt Entering the new step numbers STEP XX Indicates1 POSITIONING 2 TIME 3 INPUT 4 OUTPUT 5 REPEAT 6 END REPEAT 7 CALL 8 RETURN PROGRAM CONNECT lt BACK gt Pressing A or W f to select the option and pressing ENT entering then edit the data as b EDIT procedure b gt Entering the edited step numbers STEP XX Indicates STEP XX View indicates Glance Ins indicats Insert a step Del indicates Delete a step c gt Function description Name Description POSITIONING Setting motor operation data Vs VR Acc Dec time PULSE TIME TIMER setting Unit 10ms INPUT Input START START NOT signal then execute the next step STEP OUTPUT Execute this step and output the READY READT NOT signal REPEAT Execute the times of the LOOP END REPEAT REPEAT is a set END REPEAT It is the end of LOOP END REPEAT REPEAT is a set CALL Jumping to the XX step and execute it CALL RETURN is a set RETURN It is the end of CALL Next step before back to the CALL PROGRAM CONNECT The connecti
3. Counterclockwise rotation deceleration then stop 14 Input ORG Detection signal input Mechanical home position 15 Input FL Detection signal input Clockwise rotation limitation 16 Input FHL Detection signal input Clockwise rotation deceleration then stop 17 Output CW CW pulse output Connect with driver CW 18 Output CW CW pulse output Connect with driver CW 19 Output CCW CCW pulse output Connect with driver CCW 20 Output CW CCW pulse output Connect with driver CCW Please do not turn on the power when installed the L Terminal connected with OV 20 pins connector Do not work under live H Terminal OPEN 1 P602C PI V02E 3 10 pins connector signal P602C Stepping Servo Motor Double Axes Controller User s Manual TROY 1 Input S L H S shape line acceleration L Liner acceleration 2 Input YBL Detection signal input Y axis counterclockwise rotation limitation 3 Input YBHL Detection signal input Y axis counterclockwise rotation deceleration then stop 4 Input YORG Detection signal input Y axis mechanical home position 5 Input YFHL Detection signal input Y axis clockwise rotation deceleration then stop 6 Input YFL Detection signal input Y axis clockwise rotation limitation T Output YCW Y axis CW pulse output Connecting driver CW 8 Output YCW Y axis CW pulse output Connecting driver CW 9 Output YCCW Y axis CCW pulse output Connecting driver CCW 10 Output
4. PINS connected to the OV and motor stops operation at Continuous operation SCAN MODE Zero return or Positioning operation RUN MODE f BUSV When operation pulse outputs the Pins No 6 BUSY of 20 PINS is Low outputs and the BUSY indicator Red will lit up until operation pulse stopped output Pin No 6 BUSY changed to Hi the BUSY indicator Red goes off g READY When executed the OUT order of OUTPUT function the Pin No 7 READY of 20 PINS connector outputs L signal If executed the OUT NOT order function the Pin No 7 READY of 20 PINS connector back to H level 14 P602C PI VO2E P602C Stepping Servo Motor Double Axes Controller User s Manual TROY 11 TEST mode a Functions Executing the Continuous operation Zero return or Positioning operation function on the panel b Setting Switching the slide switch to the RUN and switch the first PIN 6 PIN tip switch to the ON c Execution When the monitor indicated S TEST MODE gt Origin Search It indicated Zero return waiting for execute and pressed the following buttons Pressing A Forward to searching the other operation function as below Search HOME SCAN PROGRAM 1 PROGRAM 2 PROGRAM 8 SCAN Search HOME e Pressing _ Backward to searching the other operation function as below Search HOME SCAN PROGRAM 8 PROGRAM 7 5PROGRAM 1 Search HOME Pressing ENT Executing the func
5. YCCW Y axis CCW pulse output Connecting driver CCW Please do not turn on the power when L Terminal connected with OV installed the 20 pins connector Do not H Terminal OPEN work under live 4 6 pins tip switch Pin e Name Function Description 4 TEST TESTMODE OFF Operation mode ON Test mode 2 XFHL Detection mode X axis clockwise 1 OFF Normal close detection mode rotation deceleration then stop 2 ON Normal open detection mode 3 XFL Detection mode X axis clockwise 3 If there is no need 2 6 functions rotation limitation Please switch the tip switch to the ON Detection mode X axis mechanical side 4 XORG ae home position Detection mode X axis 5 XBHL counterclockwise rotation deceleration then stop Detection mode X axis 6 XBL rer ae counterclockwise limitation P602C PI V02E P602C Stepping Servo Motor Double Axes Controller User s Manual TROY 5 5 pins tip switch Pin No Name Function Description l l l l OFF Operation mode 1 YFL Detection mode Y axis clockwise rotation ON Testmode XEHL Detection mode Y axis clockwise rotation 1 OFF Normal close detection deceleration then stop mode Detection mode Y axis mechanical home 2 ON Normal open detection mode 3 YORG f i position 3 If there is no need 2 6 functions rae or Detection mode Y axis counterclockwise Please switch the tip switch to the rotation deceleration then
6. download the user s manual directly from SUNHOLY website http www sunholy com tw Our constant aim Demand for professionalism Our belief Commitment to every detail Our innovation Introduction of cutting edge eguipments Our pride Pursuit of superior products We are confident that each SUNHOLY products bears tests For we are highly motivated Complete SUNHOLY service system We offer our customers a complete service package B 0800 450 168 technical hotline service B T Periodical motor E newspaper p Motor selection and calculation service y Professional on site service p T On site motor technical seminar service y Total motor solution amp after sales service Ready for reguest H LY SUNHOLY TRADING CO LTD Professional agencv 3F No78 Sec2 Chang An E RD Taipei Taiwan TEL 886 2 2516 6060 http www sunholv com tw FAX 886 2 2508 0323 E mail sales sunholy com tw P602C PI VO2E
7. stop ON side 5 YBL Y axis counterclockwise rotation limitation 6 Specs 8 sets programs and saved by EEPROM Each function capacity as below POSITIONING 29Bytes TIME 3Bytes NS INPUT 2Bytes Positioning data OUTPUT 2Bytes REPEAT 3Bytes END REAPEAT 1Bytes CALL 2Bvtes RETURN 1Bvtes Positioning control Per programs 9999999 PULSE Operation pulse speed 35 59995 PPS Start pulse speed 35 9995 PPS Acceleration deceleration time 1 9999 ms Control mode Operation mode External control mode RUN MODE Data input mode EDIT MODE Test mode TEST MODE Positioning operation INDEX Mechanical zero return mode HOME Continuous operation SCAN DC 24 V photocoupler input input impendence 4 7KQ inpeilsignal DC 24 V photocoupler ombined with transistor output output current 25mA Output signal DC 24 V photocoupler combined with transistor output output current 25mA Power input DC 24V 100 mA Ambient o o temperature SEE 3 P602C PI V02E P602C Stepping Servo Motor Double Axes Controller User s Manual TROY 7 Internal output circuit gt XCW YCW XCCW YCCW L gt xcw YCCW XCCW YCCW 24V BUSY READY TLP 121A 4 P602C PI V02E P602C Stepping Servo Motor Double Axes Controller User s Manual TROY 8 Internal input circuit WoC 10K RR 680 SELZ IN 145 TLP 121 9 Operation data setting Before data setting please switch the slide s
8. P602C Stepping Servo Motor Double Axes Controller User s Manual TROY P602C stepping Servo Motor Double Axes Controller User s Manual A ma Seuncunctus TUV TUV Anlagentechnik GmbH TROY Made by TROY Enterprise Co Ltd EA Din e110 5020 Environment Responsibility e TROY is always committed to environment protection All packaging material is recyclable and reusable e If disposing of used product please recycle by type as per waste disposal procedures X The product is subject to design modification for performance improvement without prior notice For more details please contact with your local seller P602C PI V02E P602C Stepping Servo Motor Double Axes Controller User s Manual TROY Precautions Precautions for using 1 Thank you for purchasing TROY products Please read this user s manual thoroughly before installing and operating the driver and always keep the manual where it is readily available 2 The products described in this manual has been designed and manufactured for use in industrial machinery and must not be used for any other purpose We are not responsible for any damage caused through failure to observe this warning 3 Check that the motor driver and any accessories are all present If an accessory is missing or damaged contact the nearest our branches 4 Never disassemble the motor and driver Damage or performance impairment may result Disassembly voids all warranties Precautions for ma
9. art at the same time xX or Y axis return to the zero and stop Both of X Y axis stop xX axis final zero return Y axis final zero return Zero return finished d Positioning operation Step1 Pin No 4 S R no connection RUN MODE Step2 Selecting liner acceleration or S curve line acceleration Pin No 11 L S connected to the OV Line acceleration No connection S curve line acceleration Step3 Selecting one of 1 8 set programs 13 P602C PI VO2E P602C Stepping Servo Motor Double Axes Controller User s Manual TROY SEL1 SEL2 SEL3 PROGRAM 1 No connection No connection No connection PROGRAM 2 L OV No connection No connection PROGRAM 3 No connection L OV No connection PROGRAM 4 L OV L OV No connection PROGRAM 5 No connection No connection L OV PROGRAM 6 L OV No connection L OV PROGRAM 7 No connection L OV L OV PROGRAM 8 L OV L OV L OV Step4 Pin No 3 START connected to the OV Execute the selected program Pin No 5 STOP connected to the OV Emergencv stop P602C each set can edit max 80 STEPS Executing mode is Step by Step continuously STEP01 STEP02 STEP03 END When meet the REPEAT END REPEAT it will repeat the STEP between the REPEAT and END REPEAT When meet the jumped STEP from CALL RETURN during execution until meet the RETURN and back to the next STEP before CALL e Emergency stop Pin No 5 STOP of 20
10. intenance Check the ambient environments clean the system eguipment to remove dust and tighten the screws periodically Also pay attention to the followings 1 Contact us when repairs become necessary 2 Since the temperature of the frame of the driver can rise high be careful when conducting maintenance work or inspection work Precautions for warranty period Within the period of one year after delivery of the system eguipment when failures occurring from design error or fabrication error attributable to the manufacture side occur we will be repairing the failure free of charge within the reparable range or will replace with substitute We cannot hold ourselves responsible for breakage and accidents occurring from your use beyond the specified range described in this document Precautions for disposal When disposing of the driver and the motor treat them as ordinary industrial waste P602C PI V02E P602C Stepping Servo Motor Double Axes Controller User s Manual TROY Contents 1 Name of controller parts ss see eennnennnnnnznnnznnzzznnnza 1 2 20 pins connector SIGNAL ko mann a la 1 3 10 pins connector signal L nennennnnennnenn nn nn 2 A6 DIAS UP SWI costais it irid rin eh AA a Se tama Ba 2 5 5 pins TIP SWIG i ii i a 3 O DO S A AE DEDOS 3 7 Internal output circuit iii e 4 8 Internal 0 e 0 me el nee een ers aa 5 9 Operation data setting ooooooooWo aa ea nn 5 10 External operation CoOn
11. ng The functions indicated in the monitor 4 A 1 Y axis clockwise rotation TEST SCAN mode i 2 Increasing the value indicated in the monitor or modified the content 3 Upward to TEST SCAN mode W 1 Y axis counterclockwise rotation TEST SCAN mode 2 Decreasing the value indicated in the monitor or modified the content 3 Downward TEST SCAN mode or EDIT mode SEL lt Switching to modified the TEACH data EDIT mode 3 6 P602C PI V02E P602C Stepping Servo Motor Double Axes Controller User s Manual TROY Program editing procedure lt EDIT MODE PROGRAM 1 Zero point and common data entering steps ORIGINAL DATA cED TOD Vs setting PROGRAM 2 ORIGINAL DATA ORG VR setting lt EDIT MODE gt ORIGINAL DATA PROGRAM 7 tAcc Dec time lt EDIT MOLE ORIGINAL DATA PROGRAM COP ORG motion set XORIGINAL DATA Common data setting 1 Pressing SEL to switch with the Program edit 2 Pressing A for TW to select the Vs ORG VR Acc Dec time ORG motion 3 Pressing ENT and entering the option then repeat the b EDIT procedure to edit the data 7 P602C PI V02E P602C Stepping Servo Motor Double Axes Controller User s Manual TROY Program edit 1 Pressing A for IV f to select the 6 PROGRAM 2 Pressing ENT and entering the option then indicated the Have data Clear
12. on of edit the program Finish this set then execute the 8 P602C PI V02E P602C Stepping Servo Motor Double Axes Controller User s Manual TROY other set BACK gt Back to the status STEP XX before select the function 5 Pressing SEL when the monitor indicated STEP XX The monitor indicates PROGRAM END 1 Yes 2 Back Yes Exit the PROGRAM edit Back Back to the PRORAM edit STEP XX 6 Entering PROGRAM COPY and pressing lt or gt to select PROGRAM PROGRAM FROM Xs TO Xd Xs Source of copy Xd Destination of copy 7 Function description PULSE of POSITIONING The monitor indicated 3 kinds of input mode 1 KE 2 TH 3 PS after input the Vs VR Acc Dec time a gt 1 KE 2 TH are absolute coordinate 3 PS is opposite coordinate b gt Absolute coordinate type Positioning point moved by O which in opposite coordinate c gt Opposite coordinate type Positioning point moved by pre point which in opposite coordinate d gt KE Input the data as ta Iv PO e TH As SCAN mode moved the position to the expected position then press ENT which can input the position at present f gt PS Input the data as a IV aj TIME a Input the data as Ja Iv UPN b gt Executing this function has to wait the TIME countdown to the O then execute the next STEP INPUTI
13. tion which indicated in the monitor Such as Search HOME Executing the Zero ruturn PROGRAM 1 Executing the first set of operation pulse outputs SCAN Entering the continuous operation SCAN MODE Pressing gt X axis clockwise rotation CW 4 Y axis counterclockwise rotation CCW A Y axis clockwise rotation CW Yy Y axis counterclockwise rotation CCW IV Exit the SCAN mode Acceleration Deceleration of pulse output in the TEST MODE which is S curve line acceleration deceleration and can not set via external d Exit the TEST MODE Switching the first PIN 6 PIN tip switch to OFF 15 P602C PI VO2E P602C Stepping Servo Motor Double Axes Controller User s Manual TROY 12 Dimension 13 P602C mounting diagram _ 4 Unitimm 16 P602C PI VO2E P602C Stepping Servo Motor Double Axes Controller User s Manual TROY 14 Wiring External controller DC24V POWER F 20 pins connector ff TO AA 4 bf KN ff KN RR RR SEL4 X axis motor driver l AE 4 ied LA AK Ab 44 Hb eq BRE Er fbf S L F 7 8 Yccw 10 17 P602C PI VO2E P602C Stepping Servo Motor Double Axes Controller User s Manual TROY x For environment protection paper saving and resources preservation please
14. trol ea 11 Tl EST 9 61a tit ia a a ra 14 12 DIM ENSIO asocads nected nance esa bee ink Os on dA konta ba 15 13 P602C mounting diagram ccceceeee eee nnnn nn n nn nn 15 LA a TA A IR A 16 For any operational or technical question with the product please contact us for professional service 0800 450 168 during our business hours P602C PI V02E P602C Stepping Servo Motor Double Axes Controller User s Manual TROY 1 Name of controller parts 10 20 PIN connector 4 5 6 PIN tip switch 5 TROY LCD monitor Power indicator Home position ry Slide switch indicator EDIT BUSY indicator A ENT SEL B Button 4 2 20 pins connector signal Pin No Input Output Name Function 1 Input OV Power input OV 2 Input 24V Power input 24V 3 Input START Start signal 4 Input R S L SCAN Continuous operation H RUN Positioning operation 5 Input STOP Emergency stop L Operation stop H Operation permissible 6 Output BUSY Output signal during pulse generated L output 7 Output READY Output signal during pulse ended H L H 8 Input SELI Positioning option Continuous operation 9 Input SEL2 Positioning option Continuous operation 10 Input SEL3 Positioning option 11 Input S L H S curve acceleration L Linear acceleration 12 Input BL Detection signal input Counterclockwise rotation limitation 13 Input BHL Detection signal input
15. witch to the EDIT a Intialize Default value The controller has defaulted before shipping After power OFF switch the slide switch to the EDIT then press the button ENT and turn the power ON The LED indicated DATA initial Please wait then let the button EDIT off all data initialized and enter intothe EDIT mode Initialize data as below Common using data Vs Initial speed 130 pps Tacc dec Acceleration deceleration time 30 ms ORG VR Zero point end speed 1030 pps Clockwise rotation to the zero point Counterclockwise rotation to the zero point Searching the zero point Setting ORG motion set ORG motion YES YES Back to the zero point under SCAN mode NO Position indicats 0000000 and without back to the zero point under SCAN mode 5 P602C PI V02E P602C Stepping Servo Motor Double Axes Controller User s Manual TROY b EDIT procedures ix Description of each button gt 1 X axis clockwise rotation TEST SCAN mode TEACH mode 2 Cursor move to the right EDIT mode lt 1 X axis counterclockwise TEST SCAN mode i 2 Cursor move to the left EDIT mode SEL 1 Cursor switch from X to Y axis or from Y to X axis Value editing 4 2 Functions switching ORIGINAL DATA of EDIT mode 4 s Program edit 3 Data switching IN4 IN OUT and OUT lt OUT NOT of EDIT mode 4 Finish edit ENT Entering Executing Confirmi
16. witch to the RUN and control signal input via 20 pins 10 pins connector b Continuous operation Step1 Pin No 4 R S of 20 PINS connected o the OV SCAN MODE Step2 Selecting the liner acceleration or S curve line acceleration Pin No 1 L S of 10 PINS connected to the OV Liner acceleration No connection S curve line acceleration Step3 Pin No 8 SEL1 of 20 PINS connected to the OV X axis continuous clockwise rotation Pin No 9 SEL2 of 20 PINS connected to the OV X axis continuous counterclockwise rotation Pin No 10 SEL1 of 20 PINS connected to the OV Y axis continuous clockwise rotation Pin No 11 SEL2 connected to the OV Y axis continuous counterclockwise rotation No connection of each pin Stop operation c Zero return Step1 Pin No 4 S R of 20 PINS connected to the OV SCAN MODE Step2 Selecting the liner acceleration or S curve line acceleration Pin No 1 L S of 10 PINS connected to the OV Liner acceleration No connection S curve line acceleration Step3 Pin No 3 START of 20 PINS connected to the OV Execute the zero return Pin No 5 STOP of 20 PINS connected to the OV Emergency stop 12 P602C PI VO2E P602C Stepping Servo Motor Double Axes Controller User s Manual TROY Counterclockwise rotation to the zero Clockwise rotation to zero ccw limit ORG ccw limit ORG cw limit ccw limit ORG ORG cw limit ccw limit ORG ORG cw limit Zero return procedure Input START command X Y axis st
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