Balance wheel module

User’s Manual. Please read this manual carefully before using the product

NOTICE

This turntable controller uses an embedded microcomputer as the

control core, which has the advantages of small size, multiple functions, stable performance, safe use and convenience.

In order to ensure the safe use of this product and prolong its service

life , please read this manual thoroughly before operation to understand the

relevant product information. Some pictures in this document are only schematic diagrams and are for

reference only. If the pictures do not match the actual objects, please refer to

the actual objects. The company has the final right to interpret this

information, and we thank you for your understanding. Must-read before installation

1.It is recommended to use a low baud rate for communication and send a

single signal twice in succession. It is recommended that the communication

distance at a baud rate of 38400 should not exceed 5m, and the

communication distance at a baud rate of 9600 should not exceed 15m

(except in strict accordance with RS485 specifications). 2. It is recommended to clean the dust regularly according to the environment

of operation. 3. In order to ensure the life of the product, the rack must be equipped with a

cooling fan, which should be facing outside. 4. In order to ensure synchronization of communication between controllers,

the negative pole of the controller power supply in the same rack must be

connected and connected to the negative pole (0V) of the PLC power supply. 5. In order to improve the stability of the sorting module, four screws must be

installed on the base.

6. The installed sorting module should not have any other objects to block its

rotation. 7. The diameter of the opening of the turntable cover shall not be less than

202mm, and 203mm is recommended.

Table of contents

Controller

I. Functions and Features………………………………………………………….1

II. Technical parameters……………………………………………………………1

III. Diagram of structure……………………………………………………………1

IV. Diagram of wiring…………………………………………………………….…2

V. Function application and parameter setting………………………………..…3

VI. Safety issues ……….…………….…………….…………….……………..10

VII. Packing and transportation......................................................................11

Sorting Module

I. Basic introduction…………………………………………………………….....12

II. Scope of application……………………………………………………….……12

III. Technical parameters………………………………………………………..…12

IV. Diagram of external dimension………………………………………....…….13

V. Installation requirements……………………………………………………….13

VI. Solution to common faults.................................................................................13

VII.Schematic diagram of the sheet metal opening of the sorting module......14

VIII Wiring diagram of sorting module16

1

Controller

I. Functions and Features

(1) Setting method: LCD menu setting

(2)Protection function: motor over-current protection/overload protection/Overheating

protection. (3) Human-computer interaction: The control panel provides an OLED display screen in

Chinese for displaying information. Customers can set the functions of the control panel

according to the relevant operating instructions. （4）Control mode: 1. I/O control 2. 485 control

I/O control: control forward rotationand reverserotation, run and stop, running speed,Motor

reversal,Correction delay. 485 Control: control forward rotationand reverserotation, run and stop, running

speed,Motor reversal,Correction delay.

II. Technical parameters

(1) Working voltage:DC48V±5V. (2) Motherboard static power consumption:<60mA

(3) Ambient temperature for operation: -20℃～50℃, waterproof grade IP40

(4) Rated current: 18A; Instantaneous current: 25A

III. Diagram of structure

2

IV. Diagram of wiring.

Note 1. The direction of operation is reverse when SP connected to VCC, and this function is only

available in versions V1.9 or above. Note 2 STOP is connected to IO signal to control the start and stop of the drum, and this function

is only available in versions V2.3 or above. Notice for wiring

1.To communicate with the controller RS485 using the PLC's RS485 interface, the controller's

GND and the negative pole (0V) of the PLC power supply must be connected together. 2. When multiple controllers are used, the negative poles of the power supplies (GND) can be

connected in parallel, but the VCC of the controllers cannot be connected in parallel.

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3. ERR is NPN output with a withstand voltage of 100V and a maximum current of 50mA. 4. The switching power supply should be as close to the controller as possible to reduce line

losses. 5. For users not familiar with PLC programming technology, it is recommended to use I/O control

as the first choice. 6. VCC can provide a maximum of 15V/150mA to supply power to other components. (Example:

cooling fan, infrared sensor, etc.). 7. All empty sockets must be inserted with terminal resistors to reduce communication interference. 8.Recommended power cord specifications: for <50cm use 1.5mm², for >50cm use 2.5mm² or

above. 9. RS485 communication line uses RS485 special twisted pair. 10.Both NPN and PNP methods can be used for I/O control of the balance wheel controller. The

voltage range used by NPN is 0-3V, the voltage range used by PNP is 12-24V. V. Function application and parameter setting

1. Menu settings

The system provides a Chinese setting interface. When adjusting parameters, make sure that

the control system is in a static state to ensure safe use during operation. The detailed parameter

description is shown in Table 1. The specific setting method is as follows:

TABLE 1.List of functions and parameters. Function Description of parameters Default values

Main motor type High speed motor , low speed motor High speed motor

Rotation angle 5°-90° 90° Linear running

speed

200-750 rpm

300 rpm

steering speed 200-750 rpm 300 rpm

Delayed

Correction

10-1270ms

20ms

Rotation delay 10-2000ms 20ms

Rotating speed Fast（370ms）, slow（560ms） Fast

IO port function Rotation direction control, IO status

detection，Rotational anti-control

Rotation direction

control

Protocol Type Default, Modbus Default

Physical address 1-32 1

Communication

baud rate

38400、19200、14400、9600

38400

4

Language setting Chinese, English ( Language) Chinese

Reset ex-factory

status

Yes / No

No

(1) Tap the \"Settings\" button to enter the Chinese menu page and display the words \"Rotation

Angle\". (2) Select different menu items through the \"+\" or \"-\" key operation, and the OLED screen displays

the name of the current menu item. (3) Press the \"OK\" key to enter the corresponding menu item, and display the parameter value in

the corresponding menu at the same time. (4) The \"+\" or \"-\" key can be used to \"increase\" and \"decrease\" the content of the parameter value. You can long press the \"+\" or \"-\" key to achieve rapid \"increase\" and \"decrease\" operations. (5) Press the \"OK\" key to save the modified menu content, and the display screen will restore the

current menu name. (6) If you need to modify other menu contents, you can repeat steps (2) to (5). (7) After finishing the setting, tap \"Settings\" to exit the setting mode. Note:

High-heavy version’s straight-line speed and steering speed are 30 to 300rpm, and default

value is 300rpm; the default rotating speed is slow. 2、Function control

I/O control

(1) When R. is connected to GND or VCC, the roller will rotate to the right, and when not

connected, it will rotate to the origin position. (2) When L. is connected to GND or VCC, the roller will rotate to the left, and when not connected,

it will rotate to the origin position. (3) When STOP. is connected to GND or VCC, the drum of the balance wheel will enter standby

mode. (4) When SP and VCC are connected, the direction of the drum operation is reversed. (5)ERR is connected to the host computer port which detects the high and low electrical level to

obtain the status of ERR port; or connect the LED light to observe the status of LED light.

5

485 control. (1) Connect to RS485 host computer. (2) The 485 communication address needs to be configured before use

(3) 485 direct controlling roller running stop, speed, steering direction

3、 Definition of communication and protocol

Default communication parameters

communication protocol-Running parameter setting frame. No Item parameter remarks

1

The parameter

setting device

receives the

start symbol

byte

85H ： with return

code single

device. Or, 95H：without

return code single

device. Or, FFH ：

without return

code broadcast. When the start byte is 95H, the running

parameters of the responding framewill

not be returned. When the start byte is

FFH, all devices on the bus will respond

to the command, regardless of the

address setting. 2

Running

direction bytes, device ID bytes

B7=0 ，

B6=Running

direction, B5-B0=ID

The address is set by the On-screen

menu, the maximum number is 32

3

Linear speed

byte

B7=0，

B6-B0=0~127

Speed=(B6~B0)*8, the minimum value

is 200RPM, the maximum value is

750RPM; when the running speed and

steering speed bytes are 0 at the same

time, the turntable is in standby. 4 Steering speed

byte

B7=0，

B6-B0=0~127

Speed=(B6~B0)*8, the minimum value

is 200RPM, the maximum value is

750RPM; when the byte is equal to 0, it

runs at the original speed

No item parameters remarks

1 Device ID 32 The Device ID is selected via the

display buttons

2 Communication

format 38400,N,8,1 Controller adjustable baud rate, power

dial adjustable

3 Checking

method

frame check

4 Terminal

resistor

120Ω

Use the 485R switch to select whether

to use a Terminal resistor or insert a

Terminal resistor

6

5 Steering angle

bytes

B7=0 ，

B6=speed ，

B5=direction, B4-B0=0~18

Angle=(B4~B0)*5, B6=speed (1 low

speed, 0 high speed), B5=steering

direction (1 left turn, 0 right turn), the

angle is equal to 0,return to normal. 6

delayed

correction bytes

B7=0，

B6-B0=0~127

Time=(byte6.B1, B6-B0)*0.01S; when it

is equal to 0, steering in place and wait. 7 Reserved bits B7=0， B6-B0=0

8

check character

byte Byte 2-7 XOR

Responding frame. No frame parameters remarks

1 Device sends

start byte

99H

2

Byte of the

responding

device number

B7=0，

B6=0，

B5-B0=device number

3 Responding

content byte

B7= 0

B6= 0

B5=over-heat fault

B4=stall failure, B3=over-current fault

B2= L input status

B1= R input status

B0= 0

4

check character

byte

Byte 2-3 XOR check character

Modbus Communication Parameters

06 Function codes

NO. Item Parameters Remarks

1 Device ID 1-32 The device ID is selected by

pressing the buttons on the display

2 Communication

format

38400,N,8,1 Controller can adjust the baud

rate; power dial is adjustable

3 Verification

method

Frame check

4 Terminal

resistance

120 Ω Use the 485R switch to select

whether to use a terminal resistor or

7

insert a terminal resistor

Communication protocol:

Operation parameter setting frame

NO. Item Parameters Remarks

1 Device ID bytes

B7-B0=ID

This byte is the address of the

controller, the maximum is 32, 00 is the

broadcast address

2 Function code

bytes

B7-B0=0x06

This byte is the function code, 06 is

the 06 function code of MODBUS

3-4 Register address

B7-B0=Register

address

B8-B15=0x00

0x01：direction of main motor

0x02：linear speed of main motor

0x03：Steering speed of main motor

0x04：Stepper motor steering angle

0x05：Stepper motor steering direction

0x06：Stepper motor steering speed

0x07：delayed correction

5-6 Data bytes B7-B0=Data

B8-B15=0x00

Two 8-bit data

7-8 Check character

byte CRC16（two bytes）

CRC16 can be recognized

regardless of whether the high 8 bits or

the low 8 bits are in front. 10 function codes

NO. Item Parameters Remarks

1 Device ID 1-32 The device ID is selected by

pressing the buttons on the display

2 Communication

format

38400,N,8,1 Controller can adjust the baud

rate; power dial is adjustable

3 Verification

method

Frame check

4 Terminal

resistance

120 Ω Use the 485R switch to select

whether to use a terminal resistor or

insert a terminal resistor

8

Communication protocol:

Operation parameter setting frame

NO. Item Parameters Remarks

1 Device ID bytes

B7-B0=ID

This byte is the address of the

controller ; the maximum is 32, and 00 is the

broadcast address

2 Function code bytes

B7-B0=0x10

This byte is the function code, 10 is the

10 function code of MODBUS

3-4 Register address

bytes

B7-B0=Register

address

B8-B15=0x00

0x01：direction of main motor

0x02：linear speed of main motor

0x03：Steering speed of main motor

0x04：Stepper motor steering angle

0x05：Stepper motor steering direction

0x06：Stepper motor steering speed

0x07：delayed correction

5-6 Register Quantity

Bytes B7-B0= Quantity

B8-B15=0x00

These two bytes are the register

quantity bytes, and the quantity range is

0x01-0x07. 7 Data length byte

B7-B0=0x02~0x12

This byte is the data length byte, ranging from 0x02 to 0x0E

8 Data byte

B7-B0= Data

B8-B15=0x00

Send the corresponding amount of data

according to the number quantity of register

addresses. 9 Check character

byte CRC16(two Bytes）

CRC16 can be recognized regardless of

whether the high 8 bits or the low 8 bits are

in front. Register address function table：

Register address Data Description Remarks

00 01 Main motor rotation

direction

00 01 Forward, 00 00 Reverse Default forward rotation. 00 02 Main motor linear

speed

The range is 00 C8~02 EE High-heavy version’s range is 00 1E

9

~ 01 2C，

Speed is a multiple of 10. 00 03 Main motor steering

speed

The range is 00 C8~02 EE High-heavy version’s range is 00 1E

~ 01 2C，

Speed is a multiple of 10

00 04 Stepper motor

steering angle

The range is 00 00~00 5A Angle is a multiple of 5. 00 04 Stepper motor

steering direction

00 01 turn left，00 00 turn right

00 06 Stepper motor

steering speed

00 01 low speed，00 00 high

speed

Default high speed. 00 07 Delayed correction /

reset

The range is 00 01~00 7F *0.01s

Note:

1. When the balance wheel is at any angle (excluding 0°), if you want to stop the main motor, you need to write 00 00 to both the main motor linear speed register and the main motor steering

speed register. 2. Before using the MODBUS protocal, it is necessary to set all register statuses by using 10

function codes. 3. When multiple controllers are connected to the same serial port of host computer, if they

simultaneously send back code, the host computer will receive garbled text. 4、Fault information comparison

During normal use, when the display screen is in different status, the displayed contents are

different. These contents can indicate some current states of the system, so that the installation

and maintenance personnel can understand the system information. Details can be found in the

table below. List of status information

Content of display

screen

remarks

Version:01 Current system software version

Abnormal power supply Voltage too high or too low

Other faults Contact the factory

Status by indicator

light

remarks

indicator light off No power supply

indicator light

respiratory-style

Normal operation

10

flickering

indicator light red Blown fuse

Specific faults Possible reasons

blown fuse (1) Power reverse connection (2) Circuit board

problem (3) Other reasons

Voltage too low (1) The voltage of the switching power supply is lower

than 30V. (2) The power cord is too long or too thin

(3) Poor contact of the power cord

Voltage too high (1) The voltage of the switching power supply is

higher than 60V

In case of other faults, please contact the manufacturer, do not disassemble and repair without

permission. Abnormal use, man-made damage or disassembly are not covered by the warranty. 5、Details of some functions. (1) Low voltage protection function: the Balance Wheel Module restarts when the working voltage

is lower than 25V, and enters the self-check mode when the working voltage is higher than 35V. (2) Overload protection function: In a 48V voltage environment, a single sorting module will restart

when the current exceeds 2A for 3s; the over-current protection will be turned off for 5 minutes

when the ambient temperature is below 10°. (3) I/O control start-stop function: left and right of the I/O control are pressed at the same time to

enter standby, it takes 1 second to restart within 0.5 second of standby, and restarts immediately if

the standby time exceeds 0.5 second. (4) Low-temperature startup preheating function: After the controller is powered on, and the

ambient temperature is less than -10°C, the preheating function is activated, The balance wheel

module will only start at 200rpm, and the acceleration rate is about 100rpm per minute, and the

maximum speed does not exceed the set speed. Continue for five minutes to deactivate the

warm-up function. During this period, the 485 communication and the start/stop signal of I/O

control cannot be received, and the steering signal can be received normally. VI. Safety issues. Caution: To prevent fire or electric shock, do not expose this unit to rain or moisture. Warning:

●It is strictly forbidden to use hard objects to strike, file and drill this product. ● Operation should be done with careto avoid strong collision with hard objects.

11

●The product should not be exposed to water or corrosive liquid, and should be in a non-humid

environment. ●Avoid exposure to sunlight and high temperature baking when using in hot weather. ●If you find that the product emits smoke or peculiar smell, you should shut down the power

immediately. ●If the product is in abnormal condition , please contact the manufacturer. Don’t try to repair by

yourselves. The company will not be responsible for any damage, if you try to repair it yourself. . ●When installing the machine, pay attention to the air circulation, and keep sufficient clearance

around the machine, and do not block the ventilation holes to affect the heat dissipation. ●Do not use the machine in a humid environment. ●Do not place items filled with water or liquids (eg. cosmetics and medicines, flower jars, potted

plants, cups, etc.) on top of the machine. VII . Packing and transportation. 1. The product should be handled with care when loading and unloading. 2. Packaged products can be transported by conventional means of transport. 3. The product should be placed and fixed firmly on the transportation vehicle according to the

actual working state of the product, and protective measures should be taken. 4. The packaged product should be stored according to the actual working state of the product, in

a dry place ,the surrounding air without corrosive or explosive gases, and measures such as

moisture-proof, rain-proof, sun-proof and anti-corrosion should be taken.

12

Sorting Module

I. Basic introduction

This product adopts the whole machine independent type, the whole machine structure is

simple, the installation convenient, and having the multi-directional rotation angle.

II. Scope of application

This product is mainly used for sorting small and mediumlight load goods.

III.Technical parameters

Power input: DC48V±5V

Operational Ambient temperature: -20°～50° Thermal balance power consumption: about 10W at 200rpm, about 25W at 750rpm

The parameters of each sorting module are as follows

NO ITEM Fast version High speed

version

High linear

version

Heavy duty

version

１ Product model SKB2-03 SKB2--05 SKB2-15 SKB2-14

２ No-load current Appr. 0.5A

（25°C）

Appr. 0.5A

（25°C）

Appr. 0.5A

（25°C）

Appr. 0.5A

（25°C）

３ Maximum current 8A 8A 8A 4A

４ Rated output

power

50W 50W 50W 30W

５ Maximum output

power

100W 100W 100W 95W

６ Steering angle 5-90° 5-90° 5-90° 5-90° ７ control mode IO or RS485 IO or RS485 IO or RS485 IO or RS485

８ Steering speed 420ms/90° 370ms/90° 370ms/90° 370ms/90° ９ Running speed 200-750rpm

0.6-2.5m/s

200-750rpm

0.6-2.5m/s

200-750rpm

0.6-2.5m/s

30-300rpm

0.1-1.0m/s

10 Maximum module

load

10kg 20kg 20kg 30kg

11 total weight 4.45kg 4.85kg 4.85kg 4.85kg

13

IV. Diagram of external dimension

V. Installation requirements

1. In order to ensure the life of the product, the rack must be equipped with a cooling fan, which should blow outside. 2. In order to ensure the communication synchronization between the controllers, the negative

pole of the power supply of the controllers in the same rack must be connected. 3. In order to ensure the stability of the sorting module operation, the thickness of the bottom

plate is required to be ≥4mm, and M6 screws are tapped. 4. In order to improve the stability of the sorting module, four M6 screw nuts must be installed

on the base. 5 . The installed sorting module should not have any other objects to block its rotation. 6. The diameter of the opening of the turntable cover shall not be less than 202mm, and

203mm is recommended. 7. The wiring terminals of all rotating sorting modules should face the same direction. 8. In order to reduce the interference of communication signals, a terminal resistor should be

inserted into the tail end of the sorting module controlled by each controller. VI. Solution to common faults

1. After each start, there will be a self-checking action of up to about 17s. The self-checking

action may make abnormal noises due to the angle issues. This is normal. After the self-checking

14

is completed, the goods can be sorted. 2.Under RS485 communication, the rack turntable does not turn synchronously with the

command: check whether the device ID of the controller is consistent with the device ID byte

output by the PLC communication; whether the baud rate set by the controller is consistent with

the baud rate set by the PLC host computer. VII. Schematic diagram of the sheet metal opening of the sorting module

1. size of single hole opening

2. Schematic diagram of interlocked distribution of openings

15

3. Schematic diagram of neatly distributed openings

4. Schematic diagram of the opening of the interlocked center delivery distribution

16

5.Schematic diagram of openings for neatly centered delivery distribution

VIII.Wiring diagram of sorting module

1. Wiring diagram of the same controller

17

2. Wiring diagram of different controllers

When using a different switching power supply to drive, the negative pole of the switching

power supply should be connected.