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深圳华成工业控制股份有限公司Shenzhen Huacheng Industrial Control Co., Ltd.
ECTC Series Product User Manual
Drive Control Multi Axis Standard Universal
ECTC product series function specification v4.0
Introduction
First of all, thank you very much for choosing the universal control system
produced by Shenzhen Huacheng Industrial Control Co.,Ltd.
This manual is the manual of the universal control system, it will provide you withtheinstallation, wiring, system operation, alarm and handling of the universal control systemand other related details and precautions.
In order to use the system correctly, give full play to the excellent performanceofthe system and ensure the safety of the user and the equipment, please make sure youreadthis manual in detail before using the system. Incorrect operation and use may causeabnormal operation of the universal control system and even equipment damage, personalinjury or death!
Since we are committed to the continuous improvement of our products, the informationprovided by us is subject to change without notice.
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Contents
Introduction.........................................................................................................1Chapter 1. System configuration and installation Matters.............11.1 System Basic Con Configuration.................................................................................................................... 11.2 Security Alerts and System Installation.................................................................................................. 11.2.1 Precautions for Storage and Handling.................................................................................................... 11.2.2 General Precautions...................................................................................................................................... 11.2.3 Prohibited Matters........................................................................................................................................ 21.2.4 Precautions for Disposal............................................................................................................................ 21.2.5 System Installation Matters...................................................................................................................... 21.2.6 Security Precautions.................................................................................................................................. 31.3 Installation and External Wiring Requirements....................................................................................51.3.1 Installation Direction and Space Requirements..................................................................................51.3.2 Cable requirements and Wiring.................................................................................................................. 61.3.2.1 Shielded Cable............................................................................................................................................ 61.3.2.2 Cable Routing Requirements.................................................................................................................... 71.3.2.3 Common EMC Interference Problems and Solutions............................................................................8Chapter 2 System Installation and Wiring Instructions.............92.1 System Wiring Diagram...................................................................................................................................... 92.1.1 ECTC Whole Machine Wiring Diagram.......................................................................................................... 92.1.2 Dimension Drawing........................................................................................................................................ 102.1.2.1 Machine Wiring Diagram.......................................................................................................................... 102.1.2.1 ECTC 2 Master Control Dimension Drawing........................................................................................112.1.2.7Supporting Cable and Model...........................................................................................................212.2 Power Input Definition.................................................................................................................................. 222.3 I / O Port Wiring Diagram............................................................................................................................ 232.4 Servo Motor Wiring Definition.................................................................................................................. 242.4.2 Encoder Line Definition............................................................................................................................ 252.4.3 Motor Band Brake Wiring Diagram............................................................................................................ 252.4.4 System Communication Port Definition Diagram..................................................................................26Chapter 3 Tuning and Operation Mode...............................................273.1 Appearance and Description.......................................................................................................................... 273.2 Key Function Description.............................................................................................................................. 283.2.1 Status Selector Switch.............................................................................................................................. 283.2.2 Function Button............................................................................................................................................ 283.2.3 Enable Switch Button.................................................................................................................................. 303.2.4 Trim Knob.........................................................................................................................................................313.3 Main Screen Description................................................................................................................................ 333.3.1 Log in...............................................................................................................................................................333.3.2 Alarm Record...................................................................................................................................................343.3.3 Module Number................................................................................................................................................ 353.3.4 I / O Monitoring.......................................................................................................................................... 373.3.5 Calculator.......................................................................................................................................................383.4 Operation mode................................................................................................................................................ 383.4.1 Pre-running Inspection.............................................................................................................................. 383.4.2 Servo Axis Trial Run.................................................................................................................................. 39
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3.4.3 Origin Setting............................................................................................................................................ 403.4.4 Origin Reversion.......................................................................................................................................... 403.4.5 Manual Mode.....................................................................................................................................................403.4.6 Automatic Mode.............................................................................................................................................. 44Chapter 4 Manual State..........................................................................484.1 Manual Operation.............................................................................................................................................. 484.1.1 Signal Output................................................................................................................................................ 484.1.2 Programmable Keys........................................................................................................................................ 494.1.3 Bench Calibration........................................................................................................................................ 504.1.4 Address Data Monitor.................................................................................................................................. 514.1.5 Operating Instruction................................................................................................................................ 524.2 Shortcut Button................................................................................................................................................ 524.2.1 Citation Point.............................................................................................................................................. 524.2.2 Counter.............................................................................................................................................................534.2.3 Time...................................................................................................................................................................534.2.4 Setting.............................................................................................................................................................544.2.5 Homepage...........................................................................................................................................................544.3 High program.......................................................................................................................................................564.3.1 Reference point............................................................................................................................................ 584.3.2 Search...............................................................................................................................................................584.3.3 New module.......................................................................................................................................................604.3.4 Programmable keys........................................................................................................................................ 604.3.5 DXF.....................................................................................................................................................................614.3.6 active menu.....................................................................................................................................................63Chapter 5 Stop State............................................................................1205.1 Diagnostic Information................................................................................................................................ 1205.2 Product Setting.............................................................................................................................................. 1215.2.1 Product Settings........................................................................................................................................ 1215.2.2 Valve Setting.............................................................................................................................................. 1215.2.3 IO Setting.....................................................................................................................................................1235.2.4Keys and Indicators.................................................................................................................................... 1285.2.5 Multiplex IO................................................................................................................................................ 1295.3 Structure Setting.......................................................................................................................................... 1315.3.1 Operating parameters................................................................................................................................ 1315.3.2 Motor Parameter.......................................................................................................................................... 1335.3.5 Security Zone Parameter.......................................................................................................................... 1405.3.6 Origin Setting............................................................................................................................................ 1445.3.7 Gantry Setting............................................................................................................................................ 1455.3.8 Servo Parameter.......................................................................................................................................... 1465.4 Hand Control Setting.................................................................................................................................... 1475.4.1 Hand Control Setting................................................................................................................................ 1475.4.2 Network Configuration.............................................................................................................................. 1485.4.3 Image Setting.............................................................................................................................................. 1485.4.4 Log In.............................................................................................................................................................1495.4.5 Word Changing Tool.................................................................................................................................... 1505.4.6 Maintain.........................................................................................................................................................1515.4.7 User Management.......................................................................................................................................... 153Chapter 6 Automatic Status................................................................155
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Chapter 7 Alarm Content and Handling Plan................................. 1577.1 Alarm Clear Operation.................................................................................................................................. 1577.2 Alarm Content and Response........................................................................................................................ 158
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Chapter 1. System configuration and InstallationMatters1.1 System Basic Con Configuration
（1）8-inch color display operation panel
(adapter length optional, standard configuration1m). （2）Drive control integrated control box. （3）Servo motor (conventional 100w-1800w). （4）Brake resistance. （5）Power supply (optional). （6）UVW power cable, encoder cable (optional, length optional). 1.2 Security Alerts and System Installation
The following signs are used for the safety contents of this manual. The descriptionofthesafety signs of the operation is very important and must be observed.
Attention!
Danger caused by failure to operate as required, which may lead to
moderate or minor injury and equipment damage. 1.2.1 Precautions for Storage and Handling
*Note: Do not store or place in the following environment, otherwise it may cause
fire, electric shock or machine damage. （1）Places with direct sunlight, places where the ambient temperature exceeds the
storage temperature, places where the relative humidity exceeds the storage
humidity, places with large temperature difference and condensation. （2）Places close to corrosive gas and combustible gas, places with more dust, dust,
salt and metal dust, places with water, oil and medicine dripping, and places
where vibration or impact can be transmitted to the main body. （3）Do not handle the cable, otherwise it may cause damage or failure of the machine. 1.2.2 General Precautions
（1) Do not put too many overlaps of this product together, otherwise it will cause damageorfailure during use. （2） This product is a general industrial product and is not intended to harm any lifeand health. （3）If it is applied to devices that may cause major accidents or damage due to the failureofthis product, please provide safety devices. （4）If it is used in the environment with high concentration of sulfur or sulfurized gas,pleasenote that the chip resistance may be disconnected or have poor point contact due tosulfurization reaction. （5）If the input voltage far exceeds the rated range of the power supply of this product,smokeand fire may occur due to the damage of internal components. Please pay full attentiontotheinput voltage. （6）Please note that this product cannot be used beyond the scope of product specifications.（7）The company is committed to the continuous improvement of products, and some partsmaybechanged.
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1.2.3 Prohibited Matters
Except for the staff of the company, do not carry out disassembly and repair. 1.2.4 Precautions for Disposal
Attention!
When the product needs to be treated as waste after normal use, please comply withthelaws and regulations of relevant departments on the recycling and reuse of electronicinformation products. 1.2.5 System Installation Matters
（1）Wiring must be carried out by professional electricians. （2）Confirm that the power supply is disconnected before starting the operation. （3）Please install on metal and other flame retardants and keep away from combustibles.（3）It must be safely grounded during use. （4）If the external power supply is abnormal, the control system will fail. In
order to make the whole system work safely, please be sure to set a safety
circuit outside the control system. （5）Be familiar with the contents of this manual before installation, wiring,
operation and maintenance; When using, you must also be familiar with relevant
mechanical and electronic knowledge and all relevant safety precautions. （6）The electric box installed with the controller shall have the conditions of
good ventilation, oil prevention and dust prevention. If the electric cabinet
is closed, it is easy to make the temperature of the controller too high and
affect the normal operation. An extraction fan must be installed. The
appropriate temperature in the electric cabinet is below 50 ℃. It should not
be used in places with condensation and freezing. （7）The controller shall be installed as close as possible to the contactor, transformerandother accessories to avoid unnecessary surge interference.
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1.2.6 Security Precautions
ATTENTION
The encoder must use shielded wire, and the shielding layer must ensurereliable grounding at one end!
Do not install transformers and other equipment that generate
electromagnetic waves or interference around the servo driver, otherwiseitwill cause false operation of the servo driver. If such equipment needstobe installed, a shielding plate shall be set between it and the servo
driver.
When operating the servo driver, please follow the steps specified in
electrostatic prevention measures (ESD), otherwise the internal circuitofthe servo driver will be damaged by static electricity.
Please protect the branch and short circuit circuit circuit in accordancewith local standards. If the protection measures of branch and short
circuit circuit circuit are improper, the servo driver may be damaged.
Do not share the grounding wire with the welding machine or the power
machine requiring high current, otherwise it will cause poor action of theservo driver or the machine.
When using multiple servo drivers, please operate according to the
contents of this manual. Be careful not to wind the grounding wire intoaring, otherwise it will cause poor action of the servo driver or the
machine.
Do not connect or operate the machine if there is obvious damage or
missing parts. Wiring and inspection shall be carried out by professionalsThe operator carries out.
The rotating motor will feed electric energy to the servo driver, whichwill cause the servo driver to be charged even when the motor stopsandcuts off the power supply. Before carrying out maintenance work ontheservo drive, make sure that the motor servo drive is safely disconnected.DANGER !
Do not conduct wiring operation when the power supply is powered on,otherwise there will be a risk of electric shock. Please cut off the powersupply of all equipment before inspection. Even if the power supply iscutoff, there is residual voltage in the internal capacitor. Please waitatleast 10 minutes after cutting off the power supply.The contact currentofthe servo driver is greater than 3.5ma. Please ensure that the servodriver is well grounded, otherwise there will be electric shock DANGER.After
power on
Do not open the cover plate after power on, otherwise there is a risk ofelectric shock!
Do not touch any input and output terminals of the servo driver, otherwisethere is a risk of electric shock!
Do not remove the cover plate of the servo driver or touch the printed
circuit board when it is powered on, otherwise there will be a risk of
electric shock.
Do not change the parameters of the servo driver manufacturer at will,
otherwise the equipment may be damaged!
During
operation
Non professional technicians are not allowed to detect signals
during operation, otherwise personal injury or equipment damage may
be caused! Do not touch the cooling fan and discharge resistance to
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Note: Improper handling may cause hazards, including personal injury or equipment accident.test the temperature, otherwise it may cause burns!When the servo
driver is running, something should be avoided falling into the
equipment, otherwise the equipment will be damaged!
During
maintenance
Do not repair and maintain the servo driver without professional training,otherwise personal injury or equipment damage will be caused!
Do not repair and maintain the equipment with electricity, otherwise thereis a risk of electric shock!
Confirm that the servo driver can be maintained and repaired only afterthe input power of the servo driver is cut off for 10 minutes, otherwisethe residual charge on the capacitor will cause harm to people!Before
carrying out maintenance work on the servo drive, ensure that the servodrive is safely disconnected from all power supplies.
All pluggable plug-ins must be pluggable in case of power failure!
After replacing the servo driver, the parameters must be set and checked.Do not power on the damaged machine, otherwise it will expand the damageof the machine.
Warning !
Ensure that the phase sequence of motor terminal and servo driver terminalis consistent. If the phase sequence is inconsistent, the motor will
rotate in reverse.
Do not connect the power supply to the output terminal of the servo
driver, otherwise the servo driver will be damaged and even cause fire.When some systems are powered on, the machinery may act by itself. Pleasebe careful, otherwise it may cause death or serious injury.
Before turning on the servo driver, please make sure that the servo drivercover plate is firmly installed and the motor is allowed to restart.
Before connecting the power supply of the servo driver, please confirmwhether the rated voltage of the servo driver is consistent with the powersupply voltage.
If the power supply voltage of the main circuit is used incorrectly, thereis a risk of fire.
Do not connect the input power supply to the output terminals (U, V, W)ofthe servo driver, otherwise the servo driver will be damaged!
Non electrical construction professionals are not allowed to install,
maintain, inspect or replace components, otherwise there will be a riskofelectric shock.
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1.3 Installation and External Wiring Requirements
1.3.1 Installation Direction and Space Requirements
Installation direction: the normal installation direction of servo driver is vertical.The installation interval between the servo drive and the chassis space and other equipmentmust be ≥ 10cm. Please refer to the following figure. Note that the minimum size isindicated on the figure. In order to ensure the service performance and service lifeofthedrive, please reserve sufficient installation interval as far as possible.
*Note: The installation requirements of drive control three axis and drive control fiveaxis are consistent.
Heat dissipation: The servo driver adopts its own fan heat dissipation and
cooling mode. It is best to have a ventilation slot or install a heat
dissipation fan in the electrical control cabinet to ensure that the drive
control integrated machine has good natural convection ventilation and heat
dissipation in the chassis.
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1.3.2 Cable requirements and Wiring
1.3.2.1 Shielded Cable
In order to meet the requirements of EMC, the encoder line must adopt the shieldedcable with shielding layer, and the power line is also recommended to adopt the shieldedcable with shielding layer. The shielded cable includes three phase conductor shieldedcables and four phase conductor shielded cables, one of which is PE wire, as showninthefigure below
Shielded Cable Requirements
In order to effectively suppress RFI emission and conduction, the shielding
layer of the shielding wire consists of a coaxial copper braid. In order to
increase the shielding efficiency and conductivity, the braiding density of
the shielding layer should be greater than 90%. As shown in the figure below:
Braid Density of Shielding Layer
Installation Precautions:
1.Shielded symmetrical cables are recommended for all shielded cables, and four
core cables can also be used for input cables;
2.The motor cable and its PE shielded conductor (stranded shield) shall be as
short as possible to reduce electromagnetic radiation and stray current and
capacitive current outside the cable;
3.It is recommended that shielded cables be used for all control cables;
4.The output power line of the driver is recommended to use shielded cable
or steel pipe to shield the power line, and the shielding layer shall be
reliably grounded. For the lead of the disturbed equipment, it is
recommended to use twisted pair shielded control wire, and the shielding
layer shall be reliably grounded.
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1.3.2.2 Cable Routing Requirements
（1）The routing of motor cables must be far away from the routing of other cables.
The motor cables of several drives can be routed side by side. （2）It is recommended to lay motor cables, input power cables and control
cables in different trunking. In order to avoid the electromagnetic
interference caused by the rapid change of driver output voltage, the
long-distance side-by-side wiring of motor cables and other cables should
be avoided. （3）When the control cable must pass through the power cable, ensure that the
included angle between the two cables is maintained at 90 degrees as far
as possible, and do not pass other cables through the driver. （4）The power input and output lines and weak signal lines (such as control
lines) of the driver shall not be arranged in parallel as far as possible,
and shall be arranged vertically if possible. （5）The cable trays must be well connected and grounded. Aluminum trunking can
be used to improve equipotential. （6）Ensure that the filter, driver and motor shall be well overlapped with the system(machinery or device), and the installed part shall be protected by spraying, andtheconductive metal shall be in full contact. （7）See the following figure for cable wiring diagram:
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1.3.2.3 Common EMC Interference Problems and Solutions
The driver product belongs to strong interference equipment. When there
are problems in wiring and grounding during use, interference may still occur.
When there is interference with other equipment, the following methods can
also be used for rectification.
Common EMC Interference Problems and Solutions
Interference
Type
Rectification Measures
Leakage
protection
circuit breaker
switch trips
Reduce carrier frequency;
Reduce the length of driving line;
Magnetic ring is wound on the input drive line (PE line is not
wound);
In case of tripping at the moment of power on, it is necessary todisconnect the large ground capacitance at the input end; (disconnectthe grounding terminal of external or built-in filter and the
grounding terminal of input port to ground y capacitance)
In case of operation or tripping, leakage current suppression
measures (leakage current filter and safety regulation capacitor)shall be added at the input end+wound magnetic ring, wound magneticring)
Interference
caused by drive
operation
The motor housing is connected to the PE end of the driver;
The PE end of the driver is connected to the power grid PE;
The input power line is wound with a magnetic ring;
Adding capacitance or winding magnetic ring to the disturbed signalport;
Add additional common ground connection between equipment;
Communication
interference
The motor housing is connected to the PE end of the driver;
The PE end of the driver is connected to the power grid PE;
Add a magnetic ring around the input power line;
Matching resistance shall be added at the source of communicationlineand load end;
Communication line differential line plus external communication
public ground wire;
Shielded wire is used for communication line, and the shielding layeris connected with communication public ground wire;
Communication wiring shall be twisted pair;
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Chapter 2 System Installation and Wiring Instructions2.1 System Wiring Diagram
2.1.1 ECTC Whole Machine Wiring Diagram
*Note:
（1）Users need to evaluate whether the IO power supply exceeds the standard 50W. Ifitexceeds the standard 50W, they need to replace the high-power power supply by
themselves. （2）After wiring, the alarm on the manual controller shall be handled according to \"8.4alarm and its solutions\" in the user manual. （3）The unit modules at the ellipsis are the same, and the number of system
axis can be 2 axis,3 axis, 4 axis, 5 axis, 6 axis, 7 axis and 8 axis.
The port connection mode is the same.
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2.1.2 Dimension Drawing
2.1.2.1 Machine Wiring Diagram
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2.1.2.1 ECTC 2 Master Control Dimension Drawing
Installation mode Screw
specification
Length
Code (max)
Installation
torque
(max)
Screw fixing M5 12mm 7.5kgf.cm
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2.1.2.1 Main Control Dimension Drawing of ECTC3 & ECTC4
Installation mode
Screw specification Screw length
(max)
Installation
torque (max)
Screw fixing M5 12mm 7.5kgf.cm
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2.1.2.1 Dimensional Drawing of ECTC5 & ECTC6 Main Control
Installation mode Screw specification
Length Code
(max)
Installation
torque(max)
Screw fixing M5 12mm 7.5kgf.cm
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2.1.2.11ECTC7 & ECTC8 Master Control Dimension Drawing
Installation mode Screw
specification
Length Code
(max)
Installation
torque(max)
Screw fixing M5 12mm 7.5kgf.cm
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2.1.2.2 Single Circuit Switching Power Supply Diagram
*Note: The injection molding industry is equipped with 50W power
supply as standard, and other industries are equipped with 100W
power supply as standard or optional according to the demand
(according to the finished product configuration list). The
customer is requested to evaluate whether the holding brake power
is appropriate and whether it is necessary to increase the power
supply power by himself.
Installation
mode
Installation
tag number
Screw
specificat
ion
Length code
(max)
Installation
torque(max)
Screw fixing
①--② ⑦--⑨ M3 5mm 6.5kgf.cm ③--⑥ ⑩--⑫ M3 3mm 7kgf.cm
Power size 50W 100W 150W
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2.1.2.3 Dual switching power supply diagram
Installation
mode
Installation
tag number
Screw
specification
Length
code
(max)
Installation
torque (max)
Screw fixing
①--② ⑦--⑨ M3 5mm 6.5kgf.cm
③--⑥ ⑩--⑫ M3 3mm 7kgf.cm
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2.1.2.4 Dimension Drawing of Braking Resistance
Installation
mode
Screw
specificatio
n
Lengt
h
code
(max)
Installationtorque(max)Screw fixing M5 8mm
7.5kgf.cmMode
25℃-40℃
Rated
power
(W)
Overall
Dimensio
n (mm)
ResistanceRange
Resistor
A±
1.0
B±
1.0
C±
1.0
D±
1.0
E±
0.5
F G±1.0
0.1～20KRXLG 200 165 147 30 60 5.6 45°119
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2.1.2.5 Motor Parameters and Overall Dimension Drawing
Parameters and dimensions of 400W motor:
(Dimension Drawing of 400W Motor)
400W
Motor Parameters
Specification
Model
LL LC LR LA LZ LH LG LE LJ
400W with
brake
<180 60 30 70 4- φ
five
point
five
≤50 NA 3±0.5 1±0.35
400W without
brake
<130 60 30 70 4- φ
five
point
five
≤50 NA 3±0.5 1±0.35
Specification
Model
S LB TP LK KH KW W T Weight (kg)400W with
brake
14 50 M5*10 ≤23 11 5 5 5 NA
400W without
brake
14 50 M5*10 ≤23 11 5 5 5 NA
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Parameters and dimensions of 750W motor:
(80 flange motor dimension drawing)
700W motor
parameters
Specifications
Model
LL LC LR LA LZ LH LG LE LJ750W with brake <190 80 35 90 4- φ
seven ≤55 NA 3±0.5 1±0.35750W without brake <140 80 35 90 4- φ
seven ≤55 NA 3±0.5 1±0.35Specifications
Model
S LB TP LK KH KW W T Weight(kg)750W with brake 19 70 M6*12 25 16.5 6 6 6 NA750W without brake 19 70 M6*12 25 16.5 6 6 6 NA
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2.1.2.6 Dimension Drawing of Manual Controller
*Note: The dimensions of the two axis, three axis, four axis, five axis, six axis,seven axis and eight axis manual controllers driven and controlled by themanipulator are the same
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2.1.2.7Supporting Cable and Model
Cable
Name
Cable Model L Cable
Length
Cable Appearance
Drawing
Encoder
Line
(4 *
0.25)
PMXB1-5610054 0.5M
PMXB1-5610254 2.5M
PMXB1-5610304 3 M
PMXB1-5610454 4.5M
PMXB1-5610554 5.5M
PMXB1-5610604 6 M
PMXB1-5610704 7 M
PMXB1-5610104 10 M
Power
Line
(4 *
0.75)
PMXB1-5640051 0.5M
PMXB1-5640091 0.9M
PMXB1-5640301 3 M
PMXB1-5640451 4.5M
PMXB1-5640551
5.5M
Power
Brake
Line (4
* 0.75 +
2 * 0.3)
PMXB1-6640251 2.5M
PMXB1-6640451 4.5M
PMXB1-6640551 5.5M
PMXB1-6640601 6M
PMXB1-6640701 7M
PMXB1-6640101 10M
Manual
Controlle
r Line
PMXB1-1301051 0.5M
PMXB1-1301101 1M
Drag
Chain
Manual
Controlle
r Line
PMXB1-430225 2.5M
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2.2 Power Input Definition
Single phase 220V power connection
L1 Empty L1C 220V-L
L2 220V-L L2C 220V-N
L3 220V-N
Terminal
Label
Terminal name Function
Description Remarks
L1C
Auxiliary power
terminal
AC single phase
220V50 / 60Hz /
power supply
voltage range
200VAC ~ 240VAC
The auxiliary power supplyisthe power supply of the
internal control circuit.Theincoming main power line uses3-core multi strand coppercable wire, single core,
cross-sectional area 2.5 mm²,insulation withstand
voltage > = 600V
L2C
BP Brake resistance
terminal
External braking
resistance
connection spot
External resistance (33 Ω200W).
L1
Main circuit
power terminal
AC single-phase /
three-phase 220V50
/ 60Hz / power
supply voltage
range 200VAC ~
240VAC
The main circuit power supplyis the internal power highvoltage power supply. Theincoming main power line uses3-core multi strand copperpower cable, single core,cross-sectional area 2.5 mm²,insulation withstand voltage>= 600V
L2
L3
U
Servo motor
access terminal
1-2
Connect the three
phase servo motor
Connect according to UVW,otherwise the motor will notrotate or run fast.
V
W
PE Geodetic
connection point
Safeguard access
point
This access point must beconnect to the earth.
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2.3 I / O Port Wiring Diagram
The wiring mode of other input signals X20 ~ X27, X30 ~ X37 and X40 ~ X47isthe same as figure X10 ~ X17.
The wiring mode of other output signals Y20 ~ Y27, Y30 ~ Y37 and Y40 ~ Y47isthe same as figure Y10 ~ Y17.
Interface Definition Explain Remarks
24V power port
24V 24V power supply
Generally used as digital inputworkingpower supply, 24V ±10%, maximumoutputcurrent100mA。0V
Digital input
light Coupling
common terminal
X10-X47 input optocoupler commonterminalInput terminal X10-X47 Turn on
optocoupler
Connect the negative pole of 24Vpowersupply (0V).
Output terminal Y10-Y47
MOS tube open
drain output
Connected to 24V power supply throughload,single channel output protectioncurrent350mA, withstand voltage65V。Largercurrent loads require relay isolationcontrol
Injection molding
output port
Relay
output
Normally open
relay
5A/250VAC/30VDC
Communication port
(Model
configuration)
CAN port Reserve
USB monitoring port DP/DM
USB monitoring,
debugging port
Please use the manufacturer's specialcable and USB electrical interfaceforhigh-performance debugging and monitoringof servo system.
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2.4 Servo Motor Wiring Definition
2.4.1 Power Line Definition
Motor power line below 750W - without brake Motor power line below 750W - with brake
View direction
View direction
Motor power line above 850W without brake Motor power line above 850W with brakePlug: molex-50361672 pin: molex-39000059
Needle
number
1 2 4 5 3 6
defini
tion
U V W PE
earth
Br
brake
Br
brake
colour red blue black Yellow
green
Brown white
Plug: molex-50361672 pin: molex-39000059
Needle
number
1 2 4 5 3 6
defini
tion
U V W PE
earth
NC
empty
NC
empty
colour red blue black Yellow
green
Socket
model
Ms3102a 20-18p / 9 core
Needle
number
B I F G C E
definit
ion
U V W FG
earth
Brake+ BrakeSocket model Ms3102a 20-18p / 9 core
Needle
number
B I F G
definiti
on
U V W FG
earth
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*Note: 95, 84 twisted pair
Encoder line of motor below 750W
View direction
*Note: 95, 84 twisted pair
Encoder line of motor above 850W
ove 850W
2.4.2 Encoder Line Definition
2.4.3 Motor Band Brake Wiring Diagram
*Note:The band brake port must control the operation of the band brake through an
external relay.
Host encoder DB9 interface
Motor encoder AMP-TE /
Female terminal/170361-1
Pin number Signal description Pin number Signal
description
8 SD+ 3 SD+
4 SD- 6 SD9 5V 9 5V
5 0V 8 0V
7 FG
1 Battery+
4 BatteryHost encoder DB9 interface
Motor encoder 17
core aircraft head
interface
Pin number Signal description Socket pin
number
Signal description
8 SD+ A SD+
4 SD- B SD9 5V G 5V
5 0V H 0V
J FG
E Battery+
F Battery-
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2.4.4 System Communication Port Definition Diagram
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Chapter 3 Tuning and Operation Mode
3.1 Appearance and Description
New Version of the Hand
Controller Appearance (Front)
Appearance of the new manual control (Back)
Appearance of Old manual controller
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3.2 Key Function Description
3.2.1 Status Selector Switch
The system has three operation states: manual, stop and automatic. Turning
the state selection switch to the right gear is the manual state. In this
state, the manipulator can be operated manually; Turn the status selection
switch to the middle gear to stop. In this state, the manipulator stops all
actions, can reset the origin of the manipulator, and can also set
parameters. Turn the status selection switch to the left gear and press the
\"start\" key once, and the manipulator will enter the automatic operation
state.The states of the manual controller are divided into three types:
manual, stop and automatic.
Manual: Turn the state selection switch to the right to enter the manual
state. In this state, manual operation can be carried out.
Stop: Turn the state selection switch to the middle to enter the stop state.
In this state, parameters can be set.
Auto: Turn the state selection switch to the left to enter the automatic
state. In this state, full-automatic operation can be carried out. 3.2.2 Function Button
Start: Function 1: Press the \"start\" button in the automatic state, and the
manipulator will enter the automatic operation state;
Function 2: In the stop or manual state, press the \"reset\" key first, andthenpress the \"start\" key, then the manipulator will reset the origin.
Function 3: in the stop state, press the \"origin\" key first, and then pressthe\"start\" key, and the axis will enter the origin finding mode.
Stop: Function 1: In the fully automatic state, press this key, the system willenterthe single cycle mode, and the program will stop after the end of the module.If you press the \"stop\" key again (twice in a row), the manipulator willstopmoving immediately.
Function 2: When an alarm occurs, press this key in the stop state to clearthe solved alarm display.
Origin: In the stop state, press this key, and then press the \"start\" key to starttheorigin reset action. See \"5.3.6 origin setting\" for details.
*Note: You can select the method of returning to the origin and the order of returningto the origin in this key; The origin command cannot be modified in the\"programmable key\".
Reset: Press the \"reset\" key once, and then press the \"start\" key. All axes returntothe origin position in turn.See \"5.3.6 origin setting\" for details.
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*Note: Other commands can also be added to this key, such as disconnecting an outputpoint when pressing reset to the origin; Reversion can be made in defined\"programmable keys\".
Acceleration / Deceleration: These two keys can be used to adjust the global speedinmanual and automatic.
Emergency stop button: In case of emergency, pressing the emergency stop buttonwillbreak the enabling of all axes, and the system will alarm\"emergency stop\". After turning out the knob, press the\"stop\"key to eliminate the alarm.
*Note: Please press the emergency stop button in the state of shutdown or upgradetoavoid special circumstances.
Custom key: See \"5.2.4 keys and indicators\" for details.Status light: See \"5.2.4keysand indicators\" for details.
Axis action key: The key to control the movement of each axis. See \"3.4.5.1 axisoperation under manual gear\" for details.
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3.2.3 Enable Switch Button
There is an enable switch button on the right side of the back of the
manual controller. When operating each axis action button or resetting
under the manual page or stop page, it needs to be pressed for a long time
to enable each axis. Otherwise, if the axis is not enabled, the
manipulator will not move.
*Note: The enable switch button has two functional states: enable and
disable; There are three use states: not press, lightly press
and heavily press. The function status corresponds to the use
status, as follows:
Functional
status
Use status
Enable Lightly press
Do not enable
Not press
Heavily press
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3.2.4 Trim Knob
Function: This knob can be used to accurately move the shaft when the positionisaccurately adjusted in the manual state.
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Operation method: Click to open the \"virtual keyboard button\", click to
tick the \"handwheel selection\" option. Select the handwheel
speed, select the axis to be fine-tuned in the left option
box or press the axis button (on the hand control) and roll
the fine-tuning knob to move the axis to the target point
little by little.
Handwheel speed Description:
× 1: Move one grid, shift the axis by 0.01mm or rotate the axis by 0.01 degrees.× 5: Move one grid, shift the axis by 0.05mm or rotate the axis by 0.05 degrees.× 10: Move one grid, shift the axis by 0.1mm or rotate the axis by 0.1 degrees.× 50: move one grid, shift the axis by 0.5mm or rotate the axis by 0.5 degrees.World coordinate: The position and attitude of the tool end point with the center of the manipulator baseas the origin.
Joint coordinate: The coordinate value of the motor coordinate after being converted through the mechanismcoupling relationship.
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3.3 Main Screen Description
3.3.1 Log in
Permission log in: click \"log in\" to enter the login interface. First
select the user type, enter the password, and then
click \"log in\". If you need to exit to the lowest
permission, directly click \"log out\", and the
operation diagram is as follows
*Note: Please log in before setting the system, because different user
names have different management permissions.
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Operator (OP): This authority can only move the axis in the manual state and
cannot enter the teaching page for teaching. It can start
the manipulator and adjust the speed in the automatic state,
and reset the origin in the stop or manual state.
Administrator (admin): This permission can only move the axis in the manual
state and cannot enter the teaching page for teaching. In
the automatic state, it can start the manipulator and
adjust the speed, and can reset the origin in other states.
Super administrator: All operations except user management can be performed
under this permission.
Super administrator (root): Users can perform all operations under this
permission.
Permission size: operator < administrator < senior administrator < super
administrator. 3.3.2 Alarm Record
Alarm Record: Click the \"Alarm record\" button to view the alarm record,
and check the operation record and key record to view the
relevant contents.
Alarm record page:
*Note: Drag up and down to see more.
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Operation record page:
*Note: Drag up and down to see more. 3.3.3 Module Number
Mold number: Display the mold number established according to different processes.Click the mold number to enter the mold number management page to \"create\",\"load\", \"copy\" and \"delete\", the module number page is as follows:
*Note: The module number page can only be opened with the permission of
\"Administrator\" or above.
New: Enter the module number name to be created in the new file name
text box, and then click the \"new\" button to create a blank module
number program. The module number name can be entered in Chinese,
English or numbers.
Search button: Open this button to search instructions in the page.
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Copy: After entering a new name in the new mold number name text box,
click the stored mold number name, and then click the \"copy\" button,
the mold number naming box will pop up. Enter the new mold number
name and click the \"OK\" button to copy the stored mold number
program to the new mold number program.
Load: Click the stored module number, and then click the \"load\" button to
load the selected module number. The program will run when it runs
automatically.
Delete: Click the stored module number, and then click the \"delete\" button
to delete the module number. The currently loaded module number
cannot be deleted.
Export program: Click the stored module number, and then click the \"export
to USB flash disk\" button to export the selected module
number.
(* Note: the exported module number will be stored in the USB flash disk
in the compressed package file named by time, for example, the
compressed package name is HC Backup Robot_20190329183021. zip)
Import program: Insert the USB flash disk into the USB port of the manual controller,click the import from USB flash disk\" button, select the module numbertobe imported, and Click \"open\" and then click \"load\" to import themodulenumber.
Search: Enter the module number name in the edit box and click
the \"search\" button to search for the existing module
number.
Clear search: Click once to clear the search record.
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3.3.4 I / O Monitoring
Click once to view inputs, outputs, intermediate variables, EU inputs,
EU outputs, servo monitoring status, and memory data. Click second page
retract.
*Note: Users can define the IO name by themselves. If you need to modify
the IO name, please contact our sales or technical personnel. We
will provide a word modification software for users to modify the
IO name by themselves.
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3.3.5 Calculator
Perform basic operations on data.
3.4 Operation mode
3.4.1 Pre-running Inspection
To ensure safe and correct operation, please confirm and check thefollowing items before operation.
3.4.1.1 Inspection of Control Host
1. Check each connecting terminal of the host to ensure correct wiring andfirmconnection.
2. Check the external power supply of the host, such as incoming voltage, switchingpower supply output voltage, and ensure that the voltage is within the normalrange.3. Check the power line, encoder line and band brake line between the host andservomotor to ensure correct wiring and firm connection.
3.4.1.2 Inspection of Servo Motor
1.Check the fixed parts of the servo motor to ensure that they are firmly connected.2.Check the servo motor shaft to ensure smooth rotation (servo motor with oilseal,shaft tightness is normal).
3.Check the power line, encoder line and band brake line between the host andservomotor to ensure correct wiring and firm connection.
3.4.1.3 Inspection of Input and Output Connection Lines
1.Check the connecting wires of input and output terminals to ensure correct wiringandfirm connection.220V is strictly prohibited to be connected to 24V terminal orIOterminal.
2.Check the power on and connect the host power. After entering the system,
observe that there is no alarm on the manual controller. If there is an
alarm, please troubleshoot according to the alarm content. If the fault
is not eliminated, it will not continue to run. For the servo motor with
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holding brake, in order to prevent the wrong action caused by gravity or
external force (such as the drop of vertical axis), please power on and
confirm when the servo motor and machinery are separated.
3. Check the band brake output signal and turn on the host power. After
entering the system, press the emergency stop button on the manual
controller to confirm that the band brake output signal on the host is
disconnected. Turn up the emergency stop button on the manual controller,
press the stop key to eliminate the alarm, and confirm again that the band
brake output signal on the host is connected. After the holding brake
operates normally, connect the servo motor to the machine and continue to
operate. 3.4.2 Servo Axis Trial Run
In order to make the manipulator operate correctly, it is necessary to
confirm whether each servo shaft can operate normally after the first power on.
Please do the following to test.
Step 1: Please point the status selection switch to \"STOP\" and press the
emergency stop switch. After power on, pull up the emergency stop switch to
eliminate the alarm and observe whether the machine will move downward. If
there is no downward movement, continue to step 2.
Step 2: In the \"STOP\" state, click the \"Parameter Setting\" option to enter
the \"Parameter Setting\" page, then click \"Machine Setting\", click the \"Motor
Parameter\" button in the \"Machine Setting\" page to enter the setting page of
machine parameter, on which the parameters of each axis can be set. After
entering the page, directly enter the parameter setting of X axis, as shown in
the following figure:
Step 3: Carry out \"motor forward and reverse rotation\" test on this page.
Motor forward and reverse rotation test: Gently press the enable switch to
enable the motor, click \"motor forward rotation\", and the motor will
rotate one circle in the positive direction. After rotation, the sending
pulse and receiving pulse in the current page are consistent with the set
number of test pulses; Click \"motor reverse\", the motor will rotate in the
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opposite direction. After rotation, the sending pulse and receiving pulse
in the current page are consistent with the negative number of set test
pulses.
*Note: The number of pulses sent is not necessarily determined according
to the setting, and several may be lost. For example, if the set
number of test pulses is 10000, the motor test page displays send
pulse 9994 and receive pulse 9994 after forward rotation; After
reversing, the motor test page displays send pulse - 9994 and
receive pulse - 9994, which is normal
3.4.3 Origin Setting
1. In the manual state, move each axis to a safe position (the position
to be set as the origin) through the axis action button. See \"3.3.5
manual mode\" for the method of moving the axis in the manual state.
2. Enter the open parameter page in the stopped state, select
mechanical setting, open the motor parameter page, and the parameter
setting page of each axis will be displayed. There is the option of
\"set all as origin\" in the lower right corner. Click set all as
origin to set the current coordinates of each axis as the origin.
3. In the manual state, check the joint coordinates of each axis.
After setting the origin, the current joint coordinates of each axis
are 0.
4. Open the subroutine in programming, select the \"programmable button:
Origin\" subroutine, and check whether the program inside is correct.
5. After the above steps are completed, press the origin key and then
press the start key to reset the origin. 3.4.4 Origin Reversion
In order to enable the manipulator to operate automatically
correctly, after turning on the power every time, reset the origin in
the stopped or manual state. The origin reset action will reset each
axis of the driving manipulator to the origin position.
Operation method of origin reset: In the stop state, press the
\"reset\" key once, and then press the \"start\" key to reset the origin.
*Note: When the origin is reset, the user cannot perform manual and automatic operationand parameter setting on the manipulator. In case of emergency, press \"Stop\"keyto stop origin reset or press \"emergency stop button\" 3.4.5 Manual Mode
After confirming that the servo axis operates correctly, we need to
test whether the manual operation is normal. Please test according to the
following operations. Point the status selection switch to \"MANUAL\", the
robot enters the manual page for manual operation, press the axis action
key of each axis, and check whether each axis moves normally according to
the instructions of \"3.4.5.1 axis operation under manual status\".
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Turn the third gear knob on the handle controller to \"manual\" to
enter the manual state. In this state, the manipulator can be taught. As
shown in the figure below:
Virtual keyboard button: Use this button to adjust the axis action. Click the \"virtualkeyboard\" button to pop up the following page:
World coordinate: When checked, use the world coordinate mode to run manual action.
Joint coordinate: When checked, use single axis mode to run manual action.
Hand wheel enable: When checked, start the hand wheel fine adjustment function.
Hand wheel shaft selection: After checking, you can select the shaft in the shaft selectionarea and fine tune the shaft through the fine tuning knob.Hand wheel speed:
X1: operate according to 1 time of the minimum unit.
X5: operate according to 5 time of the minimum unit.
X10: operate at 10 times the minimum unit.
X50: operate at 50 times the minimum unit.
Note: (the minimum unit is that when the hand wheel moves one grid,
the shaft moves 0.01mm.)
Workbench selection: Select the workbench coordinate system to use.
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3.4.5.1 Axis Operation in Manual Stat
X+ Press this key to move the axis to the positive x
direction at the current speed;
X- Press this key to move the axis to the negative X
direction at the current speed;
Y+ Press this key to move the axis to the positive Y
direction at the current speed;
Y- Press this key to move the axis to the Y negative
direction at the current speed;
Z+ Press this key to move the axis to the positive Z
direction at the current speed;
Z- Press this key to move the axis to the negative Z
direction at the current speed;
U+ Press this key to move the axis in the positive direction
of u at the current speed;
U- Press this key to move the axis in the negative direction
of u at the current speed;
V+ Press this key to move the axis to the positive V
direction at the current speed;
V- Press this key to move the axis in the negative direction
of V at the current speed;
W+ Press this key to move the axis in the positive direction
of W at the current speed;
W- Press this key to move the axis in the negative direction
of W at the current speed;
M7+ Press this key to move the axis in the positive direction
of M7 at the current speed;
M7- Press this key to move the axis to the negative direction
of M7 at the current speed;
M8+ Press this key to move the shaft in the positive direction
of M8 at the current speed;
M8- Press this key to move the shaft to the negative direction
of M8 at the current speed;
