P601P Stepping Servo Motor Single Aix Programmable Controller User’s Manual

P601P
Stepping Servo Motor Single Aix
Programmable Controller
User ’s Manual

Anlagentechn ik G mb H
ISO14001
Made by TROY Enterprise Co., Ltd Certificate No.: 09 104 9351

Environment Responsibility
●TROY is always committed to environment protection. All packaging material is recyclable
and reusable
●If disposing of used product, please recycle by type as per waste disposal procedures.

----------Protect the green earth with your care and commitment--------

※The product is subject to design modification for performance improvement without prior notice. For more details
please contact your local seller.

P601P-MP-V01E
P601P Stepping Servo Motor Single Aix Programmable Controller User’s Manual

Precautions
Precautions for using
1.Thank you for purchasing TROY products. Please read this users 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 maintenance

Check the ambient environments, clean the system equipment 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 equipment, 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.

P601P-MP-V01E
P601P Stepping Servo Motor Single Aix Programmable Controller User’s Manual

CONTENTS
1. Names and functions of controller parts……………………….. 1

2.20 pins connector signal…………………………………………… 1

3.6 pins tip switch……………………………………………………… 2

4.Specs…………………………………………………………………… 2

5.P601P internal output circuit………………………………………. 3

6.P601P internal input circuit………………………………………… 3

7.Operation data setting………………………………………………. 4

8.Description of functions……………………………………………. 6

9.External operation control………………………………………….. 7

10.TEST MODE………………………………………………………… 12

11.Dimension……………………………………………………………. 13

12.P601P mounting dimension………………………………………. 13

13.Illsutration of wiring…………………………………………………. 14

※For any operational or technical question with the product, please contact us for professional service「0800-450-168」
during our business hours.

P601P-MP-V01E
 P601P Stepping Servo Motor Single Aix Programmable Controller User’s Manual

1.Name of controller part

Power indicator 【20 pins connector】 【6 pins connector】

LCD display

HOME position indicator

〈SCAN MODE〉
S PULSE＝+00000000

Tip switch
BUSY indicator

【Keys】

2.20 pins connector signal

Pin No. Input/Output Name Functions
1 Input 0V Power input(0V)
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 Stop emergency L→Stop operation
H→Operation allowable
6 Output BUSY Pulse generated and the output signal will output at
the same time(L output)
7 Output READY OUT signal (L output)
OUT-NOT signal(H output)
8 Input SEL1 Program selection/motor continue operation:CW
9 Input SEL2 Program selection/motor continue operation:CCW
10 Input SEL3 Program selection
11 Input SEL4 －
12 Input BL CCW limited sense signal input
13 Input BHL CCW deceleration then stop sense signal input
14 Input ORG Mechanical HOME operation sense signal input
15 Input FHL CW deceleration then stop sense signal input

1 P601P-MP-V01E
P601P Stepping Servo Motor Single Aix Programmable Controller User’s Manual

16 Input FL CW limited sense signal input

17 Output CW+ CW pulse output:Connect with the driver CW+
18 Output CW- CW pulse output:Connect with the driver CW-
19 Output CCW+ CCW pulse output:Connect with the driver CCW+
20 Output CCW- CCW pulse output:Connect with the driver CCW-
Do not turn on the power before installed L:Pin connect with the 0V
the 20 pins connector H:Pin open

3.6 pins tip switch

No. Name Functions Description
1 TEST TEST MODE OFF:General operation mode
ON:Test mode
2 FHL CW deceleration the stop sense 1.OFF:Normal close sense type
mode selection 2.ON:Normal opesn sense type
3 FL CW limited sense mode selection 3.If you are not using the functions
4 ORG Mechanical HOME sense mode 2~6.Please switch the tips switch to the
selection ON
5 BHL CCW deceleration then stop sense
mode selection
6 BL CCW limited sense mode selection

4.Specs
Positioning data 8 sets/The quantity of each set is 857 Bytes and stored in
EEPROM
Each function occupied the quantity as below:
POSITIONING 15Bytes
TIME 3Bytes
Input 2Bytes
OUTPUT 2Bytes
REPEAT 3Bytes
END REPEAT 1Bytes
CALL 2Bytes
RETURN 1Bytes
Positioning control Move distance setting range：9999999 Pulses
Operating pulse speed：35~59995 PPS
Starting pulse speed:35~9995 PPS
Acceleration/deceleration time:1~9999 ms
Control mode External control mode（RUN MODE）
Data input mode（EDIT MODE）

2 P601P-MP-V01E
P601P Stepping Servo Motor Single Aix Programmable Controller User’s Manual

Test mode（TEST MODE）

Operation mode Positioning operation（INDEX）：Point to point
Return to mechanical home operation mode（HOME operation）
Continuous operation （SCAN）
Input signal DC24V Photocoupler input ,Input resistance 4.7KΩ
Output signal DC24V Photocoupler combined with transistor output,input
current 25mA
Power supply input DC24V/100mA
Ambient temperature 0~40℃

5.P601P internal output circuit

+12V 1K
10K
10K CW+,CCW+

C2712
CW-,CCW-
C2712

TLP112A

+24V

10K

BUSY , READY

C2712
TLP-121A
10K

6.P601P internal input circuit

VCC
+24V

10K 4.7K

START
STOP
SEL1
680 SEL2
IN4148 SEL3
S/R
TLP-121 L/S
BL
BHL
ORG
FL
FHL

3 P601P-MP-V01E
P601P Stepping Servo Motor Single Aix Programmable Controller User’s Manual

7.Operation data setting

Before setting the data,please switch the tip switch to the EDIT side
a.Initial
Initial setting when shipping out and the setting steps as below:
<1> Turning off the power and switch the tip switch to the EDIT side,press the key 「ENT」
then turn on the power
<2>Press the key「ENT」until the LCD indicates the “*Data-initial and please wait….*” such
words then let the key go.The all data will be initialed and enter into the (EDIT) mode
Initial information as below:
Common using data
Vs(Starting speed)＝130pps
tacc/dec(Acceleration/deceleration time)＝30 ms
ORG VR(Final speed of zero point)＝-1030 pps(+CW back to zero point,-CCW back to zero point)
Zero point search setting(ORG motion set)
*ORG motion*
--- YES ---
*YES:Return to the zero point under SCAN
*NO:Position indicates “0000000” under SCAN and without returning to zero point

b.Steps of entering EDIT

ⅠUnderstanding the meaning of each key
► :1.Cursor move to the right【Under EDIT mode】

◄ :2.Cursor move to the left【Under EDIT mode】

SEL :1.Cursor change from the first line to the second line or change from the second line to the
first line 【During value editing】
2.Functions switch【Original data setting of editing mode(ORIGINAL DATA) Program
editing】
3.Data switch【IN IN-NOT and OUT OUT-NOT of EDIT mode】
4.Editing end
ENT :Enter/Execute/Confirm【The functions displayed in the LCD】

▲ : 1.Motor rotated CCW【TEST-SCAN mode】

2.The value will increase or modify by this up key
3.Pressing the up key which can select the option 【TEST or EDIT mode】
▼ :1.Motor rotated CW【TEST-SCAN mode】
2.The value will increase or modify by this up key
3.Pressing the up key which can select the option 【TEST or EDIT mode】
SEL ＋ ◄ :Switching to the EDIT mode and press these 2 keys to modify the TEACH data
ⅡProcedures of enter into program editing
4 P601P-MP-V01E
P601P Stepping Servo Motor Single Aix Programmable Controller User’s Manual

Program editing procedures

<EDIT MODE> Zero point and common data input procedures

PROGRAM 1
-ORIGINL DATA-
▲ ▼
*Vs setting*

<EDIT MODE> SEL

▲ ▼
PROGRAM 2

▲ ▼ -ORIGNAL DATA-
*ORG VR setting*
SEL
▲ ▼
▲ ▼

<EDIT MODE> -ORIGNAL DATA-

PROGRAM 7 *Acc/Dec time*

▲ ▼ ▲ ▼

<EDIT MODE> -ORIGNAL DATA-

PROGRAM COPY *ORG motion set*
▲ ▼ ▲ ▼

ⅢORIGINAL DATA(Common data)setting

1.<EDIT MODE PROGRAM>/<ORIGINAL DATA>switch to each other by pressed SEL
2.Pressing ▲ / ▼ to select Vs、ORG VR、Acc/Dec、ORG motion
3.Pressing ENT and according to the description ’’Ⅰ’’ to edit data
ⅣEDIT PROGRAM
1.Pressing ▲ / ▼ to select PROGRAM 1、PROGRAM 2、……..PROGRAM COPY
2.Pressing ENT and it will indicate “Have data! Clear?” 1.KEEP 2.CLEAR
Pressing ► / ◄ to select 1.KEEP and 2.CLEAR
3.Pressing ENT enter into the PROGRAM and the LCD will indicate the numbers of input data
steps(STEP:xx)
4.Pressing ENT enter into the indicated numbers of steps(STEP:xx) or proceed the following
functions by pressed ▲ / ▼ to select edited numbers of steps(STEP:xx)

5 P601P-MP-V01E
P601P Stepping Servo Motor Single Aix Programmable Controller User’s Manual

a.>Entering into the new numbers of steps(STEP:xx)

Display 1.POSITIONING
2.TIME
3.INPUT
4.OUTPUT
5.REPEAT
6.END REPEAT
7.CALL
8.RETURN
*PROGRAM CONNECT*
---< BACK >---
Pressing ▲ / ▼ select the required option and press ENT then according to the “Ⅰ”to edit the
data
b.>Entering into the edited numbers of steps(STEP:xx)
Display STEP:xx
View _Ins _ Del.
The representative meanings as below:
View:Browse
Ins:Increasing a step
Del:Deleting a step
c.>Functions description
Name of functions Functions
POSITIONING Setting motor operation data Vs、VR、Acc/Dec time、PULSE
TIME TIMER setting(Unite:10ms)
INPUT Input START/START-NOT then execute next step(STEP)
OUTPUT Executing OUTPUT, the READY/READY-NOT signal output at the same time
REPEAT Executing the times of the LOOP
END REPEAT The end of execute LOOP
CALL Jumping to the STEP xx and executing
RETURN The end of CALL(Back to the next step before CALL)
PROGRAM The connection of edit program:The connection of edit the other program
CONNECT (0:End of execute after executed this program
--,BACK>-- Backing to the STEP:xx

5.LCD indicates STEP:xx and press SEL LCD displayed:-PROGRAM END-

1.Yes! 2.Back!
Yes:Finishing the edit program
Back:Backing to the edit program(STEP:xx)

6.Entering PROGRAM COPY and pressing ◄ or ► to select

PROGRAM→ PROGRAM
6 P601P-MP-V01E
P601P Stepping Servo Motor Single Aix Programmable Controller User’s Manual

FROM Xs TO Xd
Xs:The origin of copy Xd:The destination of copy

8.Description of functions
Pulse of POSITIONING
After input the motor operation data Vs、VR、Acc/Dec time,the LCD will indicate
3 kinds of PULSE input mode:1.KE 2.TH 3.PS
a.>1.KE 2.TH are absolute coordinate type,3.PS is relative coordinate type
b.>Absolute coordinate type:Position point moved according to the absolute coordinate “0”
c.>Relative coordinate type:Position point moved according to the former relative coordinate
d.>KE:Data input by ▲ / ▼ / ◄ / ►
e.>TH:As SCAN mode,moved the position to the expect position then press ENT to input the
present position
※Under modifying mode which has to press SEL until the cursor cursor vanish then modified by
SCAN mode
f.>PS:Data input by ▲ / ▼ / ► /◄

TIME
a.>Data input by ▲ / ▼ / ► / ◄
b.>Executing this function has to wait the TIME count down to the “0” then execute the next step

INPUT
a.>IN：Executing this function has to wait the START signal input then execute the next step
b.>IN-NOT:This function is reverse function of IN

OUTPUT
a.>OUT:Executing this function,the pin 7(READY) output the L signal
b.>OUT-NOT: This function is reverse function of OUT-NOT
Executing this function,the pin 7(READY) back to the H level

7 P601P-MP-V01E
P601P Stepping Servo Motor Single Aix Programmable Controller User’s Manual

Illustration of REPEAT-END REAPEAT

:
REPEAT＝5
TIME＝1000ms
Repeat 5 times
POSITIONING
END PREPEAT
REPEAT＝10
REPEAT＝8
POSITIONING Repeat 8 times

END REPEAT
REPREAT＝3 Repeat
OUT 10 times
TIME＝500ms Repeat 3 times
OUT-NOT
END REPEAT
IN
TIME
END REPEAT

※REPEAT-END REPEAT can has multiple loops,but the loops can not intersect

Illustration of CALL-RETURN

:
STEP:13 OUT
STEP:14 TIME＝1000ms
STEP:15 OUT-NOT
STEP:16 RETURN

:
STEP:30 CALL (STEP:13)
STEP:31 POSITIONING

8 P601P-MP-V01E
:
P601P Stepping Servo Motor Single Aix Programmable Controller User’s Manual

STEP:10 CALL STEP:20

STEP:11 OUT-NOT

:
STEP:20 POSITIONING
STEP:21 TIME＝1000ms
STEP:22 OUT
STEP:23 RETURN

(8)External operation control

a.Switching the tip switch to the RUN and the control signal input/output by 20 pins connector

b.Continuous operation
Step1：Pin 4(R/S) connected with 0V→SCAN MODE
Step2: Pin 8(SEL1) connected with 0V:Motor continuous operation CW
Pin 9(SEL2) connected with 0V:Motor continuous operation CCW
Not used:Stop operation

c.Zero point resetting

Step1:Pin 4(S/R) connected with 0V→SCAN MODE
Step2:Pin 3(START) connected with 0V:Executing the zero point resetting
Pin 5(STOP) connected with 0V:Emergency stop

9 P601P-MP-V01E
P601P Stepping Servo Motor Single Aix Programmable Controller User’s Manual

Returning to the zero point in CCW Returning to the zero point in CW

10 P601P-MP-V01E
P601P Stepping Servo Motor Single Aix Programmable Controller User’s Manual

d.Positioning operation
Step1:Pin 4(S/R) not used→ RUN MODE
Step2:Selecting any one of programs from 1~8

SEL 1 SEL 2 SEL 3

PROGRAM 1 － － －
PROGRAM 2 L(0V) － －
PROGRAM 3 － L(0V) －
PROGRAM 4 L(0V) L(0V) －
PROGRAM 5 － － L(0V)
PROGRAM 6 L(0V) － L(0V)
PROGRAM 7 － L(0V) L(0V)
PROGRAM 8 L(0V) L(0V) L(0V)

Step 3:Pin 3(START) connected with 0V:Executing the programs which selected
Pin 5(STOP) connected with 0V:Emergency stop
● P601P can edit 80 steps/set
● The execute mode is “Continuous Step By Step”
STEP 01→STEP 02→STEP 03→………END
● Repeat executed the STEP(Repeat times) between REPEAT and END REPEAT when
REPEAT………..END REPEAT
●Jumping to the steps(STEP:xx) when CALL(STEP:xx)……..RETURN
Backing to the next step before CALL(STEP:xx) until the RETURN

e.Emergency stop
Pin 5(STOP) connected with 0V:Stop operation
When continuous operation(SCAN MODE)、zero point resetting or positioning operation(RUN
MODE)
f.BUSY
When operation pulse outputs,the pin 6(BUSY) is Low output and the BUSY indicator(Red light)
lit up at the same time.Until the operation pulse stop to output and the pin 6(BUSY) turned to
Hi,BUSY indicator went out
g.READY
When executed the order OUT of OUTPUT, pin 7(READY) outputs the L signal.If executed the
order OUT-NOT of OUTPUT,pin 7(READY) back to the H level

11 P601P-MP-V01E
P601P Stepping Servo Motor Single Aix Programmable Controller User’s Manual

10.TEST MODE
a.Functions
Executing the functions at the panel such as continuous operation、zero point resetting or
positioning operation
b.Setting
Switching the tip switch to the RUN (Panel) and switching the FIRST PIN(The side of controller)of 6
PINS to the ON
c.Executing
The LCD displayed

<TEST MODE>
Origin Search?

It means under the condition of zero point resetting

The keys which could selected as below:

‧Pressing ▲ :Searching to the other operation functions(Forward) and according to priority is

Search HOME→PROGRAM 1→PROGRAM 2→ ……→PROGRAM 8→SCAN→Search HOME

‧Pressing ▼ : Searching to the other operation functions(Backward) and according to priority is

Search HOME→SCAN→PROGRAM 8→PROGRAM 7→……→PROGRAM 1→Search HOME

‧Pressing ENT the LCD displayed as below:
-Search HOME-→Executing zero point resetting
PROGRAM 1→Executing first set and operation pulse outputs
SCAN →Entering continuous operation mode (SCAN MODE)
Motor CCW,press ▲
Motor CW,press ▼
Leaving the SCAN MODE,press SEL
‧The pulse output acceleration /deceleration S curve line was set by internal.P601P can not set
from external
d.Leaving TEST MODE
Tip switch of 6 PINS switch the FIRST PIN to the OFF

12 P601P-MP-V01E
P601P Stepping Servo Motor Single Aix Programmable Controller User’s Manual

11.Dimension

Unit:mm

22.1±0.1
85.5 20 11
33 20 42
20 2
4.5 4-C2

10
30
1 30

0V
+24V
START
R/S
STOP
POWER HOME

P601P
SINGLE AXIS PULSE GENERATOR

BUSY
READY
SEL1
SEL2
SEL3
SEL4
131

121
143

BL
BHL
BUSY

ORG
FHL
FL
CW+
CW-
ENT

CCW+
CCW-

BL
BHL
SEL

ORG
FL
FHL
TEST
EDIT

RUN

4.5 48
54
97

12.P601P mounting dimension

Unit:mm
123
90

13 P601P-MP-V01E
P601P Stepping Servo Motor Single Aix Programmable Controller User’s Manual

13.llustration of wiring

External
外部控制器 DCDC24V
24V Power
電源
controller + -
COM 0V
1

+24V 2

START 3

R/S 4

STOP 5
BUSY
6

READY 7 TABLE
SEL1
8
SEL2
9
SEL3
10
SEL4
11
BL
12
BHL
13
ORG
14
FHL
15
FL
16 Driver
馬達驅動器
CW+
17 +
CW- CW
18 -
CCW+
19 +
CCW- CCW
20 -

14 P601P-MP-V01E
P601P Stepping Servo Motor Single Aix Programmable Controller User’s Manual

※For environment protection, paper saving and resources preservation, please 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 equipments

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：
♁「0800-450-168 technical hotline service」
♁「Periodical motor E-newspaper」
♁「Motor selection and calculation service」
♁「Professional on-site service」
♁「On-site motor technical seminar service」
♁「Total motor solution＆after sales service」

Ready for your request！

SUNHOLY TRDING CO.,LTD

Professional agency

3F,No78.,Sec2,Chang An E.RD. Taipei, Taiwan.

TEL：+886-2-2516-6060 http://www.sunholy.com.tw
FAX：+886-2-2508-0323 E-mail:sales@sunholy.com.tw

P601P-MP-V01E