Kinco CD420 Page 93 User Manual Download

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Table 8-5 Parameters for oscillation inhibition

Numeric

Display

Variable Name

Meaning

Default

Value

Ran

d2.03

Notch_N

Notch/filtering frequency setting for a velocity

loop, used to set the frequency of the internal

notch filter, so as to eliminate the mechanical

resonance produced when the motor drives

the machine. The formula is F = Notch_N*10 +

100.

For example, if the mechanical resonance

frequency is F = 500 Hz, the parameter should

be set to 40.

0~9

d2.04

Notch_On

Enable or disable the notch filter

0: Disable the notch filter

1: Enable the notch filter

Summary of Contents for CD420

Page 1: ...nterface of CD Driver 15 3 4 Power Interfaces CD420 X2 CD430 CD620 X2 and X5 of CD Driver 16 3 5 X3 X4 Interfaces of CD Driver 17 3 5 1 X3 Interface 17 3 5 2 X4 Interface 17 Chapter 4 Digital Operatio...

Page 2: ...se Control Mode 4 Mode 45 7 1 1 Wiring in Pulse Control Mode 45 7 1 2 Parameters for Pulse Control Mode 46 7 1 3 Examples of Pulse Control Mode 49 Example 7 1 Pulse control mode 4 enable the driver th...

Page 3: ...driver 94 9 1 Transport Protocol 94 9 2 Data Protocol 95 9 2 1 Download from Host to Slave 95 9 2 2 Upload From Slave to Host 96 Chapter 10 Troubleshooting 97 10 1 Alarm Messages 97 10 2 Alarm Causes...

Page 4: ...ories included in the packing list are complete Check the packing list Whether any breakage occurs Check the external appearance completely for any losses that are caused by transportation Whether any...

Page 5: ...5 1 1 3 Nameplate of Servo Motor Rated power Rated current Rated rotation speed Serial No Model Rated voltage Rated torque Insulation class Protection class Bar code Fig 1 2 Nameplate of a servo motor...

Page 6: ...6 1 2 Component Names 1 2 1 Component Names of CD420 CD430 CD620 Servo Driver Fig 1 3 Component Names of CD420 CD430 CD620 Servo Driver...

Page 7: ...7 1 2 2 Component Names of Servo Motor Fig 1 4 Component names of a servo motor brakes excluded 1 3 Model Description of Servo Motors and Drivers 1 3 1 Servo Drivers 1 3 2 Servo Motors...

Page 8: ...8 1 3 3 Power Brake and Encoder cable of Motors...

Page 9: ...servo motor from dropping or striking because they are precision equipment 7 For safety do not use any damaged servo driver or any driver with damaged parts 2 2 Environmental Conditions Table 2 1 Env...

Page 10: ...s enough space between a servo driver and the inner wall of a control cabinet Additionally install cooling fans at the upper part of the servo driver To prevent localized overheating of the environmen...

Page 11: ...the servo driver vertically on a wall Take fully into account heat dissipation when using any heating components such as braking resistors so that the servo driver is not affected Fig 2 3 Installation...

Page 12: ...put voltage is 24 V the interface is cascaded to the 2K resistance PUL Pulse or positive pulse interface DIR Direction or negative pulse interface DIR Direction or negative pulse interface B GNDA Anal...

Page 13: ...a motor X3 CD420 CD430 CD620 ENCODER OUT Signal output interface of a motor encoder RS232 RS232 interface that communicates with a host PC or controller X4 CD420 CD430 CD620 ENCODER IN Encoder interf...

Page 14: ...ectromagnetic contactor Protective tube Host computer Communication control Encoder output Numeric display Numeric display key Logic power I O control Encoder line Power line Shielded wiring terminal...

Page 15: ...15 3 3 X1 Interface of CD Driver Fig 3 2 X1 interface of a CD driver Fig 3 3 Wirings of the X1 interface of a CD driver...

Page 16: ...16 3 4 Power Interfaces CD420 X2 CD430 CD620 X2 and X5 of CD Driver Fig 3 4 Power interfaces of a CD driver...

Page 17: ...A 3 B To output phase B signal of encoder 8 B 4 N To output index signal Z signal of encoder 9 N Interface Pin No Signal Description Function X4 15 pin female connector 1 5V To output 5 V voltage Inp...

Page 18: ...real time If it is on it indicates the data is displayed in hexadecimal otherwise it indicates the data is displayed in decimal 2 Indicates the latest error when the history records of errors F007 are...

Page 19: ...ent value press to deduct 1000 from the current value If the parameter adjusting display mode is featured by the hexadecimal system When the units place is flickering press to add 1 to the current val...

Page 20: ...ings I O parameters Mode operation parameters Set motor parameters Set driver parameters Trial operation Check wrong history records Loop Fig 4 1 Operation on a digital operation panel Note If a non r...

Page 21: ...dified to 10000 Fig 4 2 Number system conversion Example 4 2 Set the speed to 1000 RPM 1000 RPM with separate regulation of bits 1 Press MODE The main menu is displayed Choose F000 2 Press ENTER The i...

Page 22: ...22 Fig 4 3 Separate regulation of bits...

Page 23: ...oup F006 again you must re activate the trial operation 6 If motor encoder cables are wrongly connected the actual rotation speed of the motor may be the possible maximum rotation speed or the rotatio...

Page 24: ...to d6 31 press again to change to d6 15 press to change to d6 25 Activate trial operation Numeric display is abc d Long press or The motor works at the set target speed Long pressing indicates that t...

Page 25: ...0 003 3 instantaneous speed mode 0001 1 Internal position control mode 0003 3 Speed mode with acceleration deceleration 0004 4 Torque mode Note Only applied in the working mode where no external signa...

Page 26: ...parameter apply d2 00 to save the settings as required d0 05 2FF00B10 Pc_Loop_BW Sets the position loop bandwidth The unit is Hz Note After setting this parameter apply d2 00 to save the settings as...

Page 27: ...e d1 10 60F70C10 Ripple_DCBUS Fluctuating value of the bus voltage Vpp d1 11 60FD0010 Din_Status Status of an input port d1 12 20101410 Dout_Status Status of an output port d1 13 25020F10 Analog1_out...

Page 28: ...ering frequency setting for a velocity loop used to set the frequency of the internal notch filter so as to eliminate the mechanical resonance produced when the motor drives the machine The formula is...

Page 29: ...ed V the maximum speed complies with d2 24 Max_Speed_RPM parameter settings 10 0 1000 d2 16 607E0008 Invert_Dir Runs polarity reverse 0 Counterclockwise indicates the forward direction 1 Clockwise ind...

Page 30: ...ction 000 8 N A d3 05 20100710 Din5_Function 001 0 N A d3 06 20100810 Din6_Function 002 0 N A d3 07 20100910 Din7_Function 004 0 N A d3 08 20100110 Dio_Polarity Sets IO polarity 0 N A d3 09 2FF00810 D...

Page 31: ...to smooth the input analog signals Filter frequency f 4000 2 Analog1_Filter Time Constant T Analog1_Filter 4000 S 5 1 127 d3 26 25020510 Analog2_Dead Sets dead zone data for external analog signal 2 0...

Page 32: ...s may be lost 3 1 32767 d3 38 25080810 Frequency_Chec k Indicates the limitation on pulse input frequency k Hz 600 0 600 d3 39 25080910 PD_ReachT Indicates the position reached time window in the puls...

Page 33: ...Delay Delay in searching excitation mS d4 07 64100910 Motor_IIt_I Indicates current settings on overheat protection of motors Ir Arms 1 414 10 d4 08 64100A10 Motor_IIt_Filter Indicates time settings o...

Page 34: ...ers except motors 10 Initializes all setup parameters except motors 0 d5 01 100B0008 ID_Com Station No of Drivers Note To change this parameter you need to save it with the address d5 00 and restarts...

Page 35: ...rs 150 d5 14 2FF00408 Key_Address_F001 Sets numeric display data N A Chapter 6 Operation on Input Output Ports KINCO CD servo driver has 7 digital input ports a digital input port can receive high lev...

Page 36: ...larity setting for digital input signal DIN1 Table 6 3 Polarity setting for digital input signal DIN1 Input output port selection Set to 1 input port selected Channel selection Set to 1 DIN 1 selected...

Page 37: ...Set to 1 DIN 1 selected Reserved 0 Invalid DIN1 simulation 1 Valid DIN1 simulation Namely if d3 09 is set to 110 0 it indicates that no DIN1 input signals are simulated if d3 09 is set to 110 1 it in...

Page 38: ...operation modes You can freely determine the operation modes corresponding to valid signals and invalid signals by performing settings through d3 16 Din_Mode0 choose 0 for operation mode of Group F003...

Page 39: ...quirement Enable the function of automatically powering on the driver by setting internal parameters in drivers instead of external digital input ports Table 6 11 describes the setup method Table 6 11...

Page 40: ...nction Set to 000 4 d3 16 Din_Mode0 Set to 0 004 4 d3 17 Din_Mode1 Set to 0 003 3 d3 00 Store_Loop_Data Set to 1 Note If the driver is required to operate in some mode with power on one of the digital...

Page 41: ...ngs is used to set the polarity of valid digital output signals The number 1 indicates normally open and 0 indicates normally close Default is 1 6 2 2 Simulation of Digital Output Signals Table 6 15 I...

Page 42: ...8 Zero velocity d3 15 Dout5_Function 001 0 Motor brake DinX_Function X ranges from 1 to 5 is used to define the functions of digital output ports User can freely define the functions of digital outpu...

Page 43: ...details on settings see Table 6 23 Table 6 19 Ready settings Numeric Display Variable Name Parameter Settings d3 11 Dout1_Function Set to 000 1 d3 00 Store_Loop_Data Set to 1 6 2 5 Wiring of Digital O...

Page 44: ...controllers that support valid low level input Fig 6 6 PNP wiring diagram to controllers that support valid low level input 4 To connect a relay to the digital output port do remember to connect a di...

Page 45: ...in pulse control mode Fig 7 1 Interface in pulse control pattern 2 Common anode connection to controllers that support valid low level output Fig 7 2 Common anode connection to controllers that suppo...

Page 46: ...gears in the 4 operation mode 1000 1 32767 Parameters for electronic gear ratio are used to set the numerator and denominator of electronic gears when the driver operates in the 4 mode Command pulse i...

Page 47: ...1000 Unit S Note If you adjust this parameter during the operation some pulses may be lost 3 1 3276 7 When a driver operates in the pulse control mode if the electronic gear ratio is set too high it...

Page 48: ...to loading conditions In the formula Kpp 103 Pc_Loop_BW Pc_Loop_BW indicates the bandwidth of the position loop The bandwidth of a position loop is less than or equal to that of a velocity loop It is...

Page 49: ...Example 6 3 and enable the driver by setting its internal parameters Step 2 Confirm whether limit switches are required By default the driver operates in the limit status after being powered on In th...

Page 50: ...o change this parameter you need to save it with the address d3 00 and restarts it later Default value is 1 pulse direction d3 00 Store_Loop_Data 1 Storing all configured parameters for the control lo...

Page 51: ...mode Set to 1000 d3 35 Gear_Divider Indicates the denominator to set electronic gears in the 4 operation mode pulse control mode Set to 2000 d3 36 PD_CW 0 Double pulse CW CCW mode 1 Pulse direction P...

Page 52: ...ers for analog speed mode Numeric Display Variable Name Meaning Default Value Range d3 22 Analog1_Filter Used to smooth the input analog signals Filter frequency f 4000 2 Analog1_Filter Time Constant...

Page 53: ...and output speed 1000 N A d3 32 Analog_MaxT_Con 0 No control 1 Max torque that Ain1 can control 2 Max torque that Ain2 can control 0 N A d3 33 Analog_MaxT_Factor Indicates the max torque factor for a...

Page 54: ...ternal programs again In the analog speed mode if the analog signal filter U that passes through the filter is multiplied by a factor this signal will be regarded as the internal target speed demand V...

Page 55: ...case the numeric display has limit status display If limit switches are unavailable please disable the function of limit switches by referring to Example 6 4 Step 3 Confirm the mode switching positio...

Page 56: ...d demand V demand filter V Factor U Result 4000 Factor Table 7 12 Parameter settings in Example 7 3 Numeric Display Variable Name Meaning Parameter Settings d3 01 Din1_Function Define the functions of...

Page 57: ...28 Analog_Speed_Con Select analog speed channels 0 Invalid analog channel 1 Valid analog channel 1 AIN1 2 Valid analog channel 2 AIN2 Valid mode 3 and mode 3 Set to 1 d3 29 Analog_Speed_Factor Set th...

Page 58: ...8192000 demand V Calculate filter U according to demand V and Factor demand filter V Factor U Result Factor 4213 Calculate log1_ Ana Dead according to the required dead zone voltage 8191 10 log1_ dea...

Page 59: ...corresponds to 3000 rpm and 9 V corresponds to 3000 rpm in case of 10 V the corresponding speed is less than 3000 rpm Select analog channel 1 AIN1 to control the speed Fig 7 9 Schematic diagram of Ex...

Page 60: ...et to 4447 d3 00 Store_Loop_Data 1 Storing all configured parameters for the control loop 10 Initializing all parameters for the control loop Set to 1 Example 7 6 Analog speed mode setting the dead zo...

Page 61: ...e required offset voltage 8191 10 log1_ shift v Ana Offset U Result log1_ Ana Offset 819 The following changes are required on the basis of Example 7 3 Table 7 15 Parameter settings in Example 7 6 d3...

Page 62: ...e Range d3 22 Analog1_Filter Used to smooth the input analog signals Filter frequency f 4000 2 Analog1_Filter Time Constant Analog1_Filter 4000 S 5 1 127 d3 23 Analog1_Dead Sets dead zone data for ext...

Page 63: ...Max_Speed_R PM Limits the max rotation speed of the motor 5000 0 600 0 7 3 3 Analog Signal Processing In the analog torque mode external analog command signals are directly inputted to the current loo...

Page 64: ...2 demand demand t I T K Step 3 Calculate Factor according to filter U and demand I 2048 2048 filter demand Factor U I Ipeak Step 4 Calculate log_ Ana Dead according to the required dead zone voltage...

Page 65: ...speed limit factors and max speed limits Step 4 Save parameters Example 7 7 Analog torque mode without setting the dead zone voltage and offset voltage Requirement DIN1 is used for enabling the driver...

Page 66: ...ital input port 3 000 4 Control over operation modes of drivers d3 16 Din _Mode0 Select this operation mode when input signals are invalid Set to 0004 4 mode torque mode d3 17 Din _Mode 1 Select this...

Page 67: ...et voltage Requirement The offset voltage is 1V and the dead zone voltage is 0 5V The motor Kt is 0 48 Nm A and the peak current of the driver is 15A The analog input voltage 10V corresponds to 0 64Nm...

Page 68: ...ffset data for external analog signal 2 Set to 819 d3 31 Analog_Torque_Factor Sets the proportion between analog signals and output torque current Set to 2362 d3 00 Store_Loop_Data 1 Storing all confi...

Page 69: ...3 it should reach the 105000 pulse location at the speed of 200RPM In position section 4 it should reach the 20680 pulse location at the speed of 300RPM In position section 5 it should reach the 3055...

Page 70: ...tion Numberic display Variable name Configuration way d3 01 Din1_Function 000 1 Driver enabled d3 03 Din3_Function 000 4 Set driver mode d3 04 Din4_Function 040 0 Internal position control 0 d3 05 Din...

Page 71: ...on section 3 Set to 200 set the speed of section 3 to 200 d2 10 Acceleration Default 610 rps s d2 11 Deceleration Default 610 rps s d3 00 Storage parameter 1 storage configuration parameters Set all t...

Page 72: ...dX_RPM indicates the data after converting Din_SpeedX into the unit of rpm to facilitate users Conversion involves both the reading and writing processes and does not require calculation by users Exam...

Page 73: ...p of the driver operates Set d0 03 CMD_q target current parameter directly to obtain the desired target torque The prerequisite is that d3 30 must be set to 0 In this case the analog torque channel is...

Page 74: ...x pulse Using this method the initial direction of movement is rightward if the positive limit switch is inactive here shown as low The position of home is at the first index pulse to the left of the...

Page 75: ...the point at which the reversal takes place is anywhere after a change of state of the home switch Methods 5 and 6 Homing on the negative home switch and index pulse Using methods 5 or 6 the initial d...

Page 76: ...ht and using methods 11 to 14 the initial direction of movement is to the left except if the home switch is active at the start of motion In this case the initial direction of motion is dependent on t...

Page 77: ...30 Homing without an index pulse These methods are similar to methods 1 to 14 except that the home position is not dependent on the index pulse it is dependent only on the relevant home or limit swit...

Page 78: ...78...

Page 79: ...d for future expansion of the homing mode Methods 33 and 34 Homing on the index Method 35 Homing on the current position In this method the current position is taken to be the home position Methods 17...

Page 80: ...iver model control d3 04 Din4_Function 200 0 Start homing d3 05 Din5_Function 001 0 Positive limit d3 06 Din6_Function 002 0 Negative limit d3 07 Din7_Function 004 0 Home signal d3 14 Dout4_Function 0...

Page 81: ...positive and negative limits are default to normally closed point Otherwise the Panel will alarm and display P L positive limit and N L No limit Only when the alarm is eliminated the origin control m...

Page 82: ...to 1 at the same time the definition Start finding the origin is eliminated 3 Start homing 1 Enable motor which means the digital input point 1 is set to high level The computer motoring picture is s...

Page 83: ...ing the origin signal is a pulse signal requires only a rise not need to always be on If you want to start next time a rise pulse is enough 4 After the external find the origin computer monitoring pic...

Page 84: ...s the Z phase signal in mode 7 and ultimately find the origin Computer monitoring picture is shown as follows In mode 7 it is default to detect z phase signal after searching the origin decline along...

Page 85: ...hown as follows At this point you have completed the origin search function then the drive position is automatically set to zero and the current position is default to origin Computer monitoring pictu...

Page 86: ...ired Parameters for velocity loops and position loops should be adjusted properly according to loading conditions During adjustment of the control loop ensure that the bandwidth of the velocity loop i...

Page 87: ...and the time for steady state adjustment is reduced however if the integral gain is too great system oscillation may occur Adjustment steps Step 1 Adjust the gain of velocity loop to calculate the ba...

Page 88: ...p 2 Adjust parameters for feedback filter of velocity loop During gain adjustment of a velocity loop if the motor noise is too great you can properly reduce the parameter Speed_Fb_N for feedback filte...

Page 89: ...elocity feedforward of the position loop K_Velocity_FF the velocity feedforward of a position loop can be increased to reduce position following errors When position signals are not smooth if the velo...

Page 90: ...ion of a motor are allowable and the loadings do not change much during the operation You can determine the total inertia of motor loadings through gain auto tuning and then manually enter the desired...

Page 91: ..._Filter Indicates filter parameters during auto tuning 64 1 1000 Auto tuning is a process where the suitable and stable K_Load value is automatically calculated In the auto tuning mode the data of num...

Page 92: ...tion rigidity is low 3 Clearances exist in the connection between mechanical elements 4 The load inertia is too great while Kvp values are set too low 5 If the load inertia is too great K_Load data wi...

Page 93: ...d to set the frequency of the internal notch filter so as to eliminate the mechanical resonance produced when the motor drives the machine The formula is F Notch_N 10 100 For example if the mechanical...

Page 94: ...CD driver The driver configured with ID No will calculate such data and return a reply Default communication settings for the CD servo driver are as follows Baud rate 38400 bps Data bits 8 Stop bits 1...

Page 95: ...The host sends CMD byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 INDEX SUB INDEX DATA CMD Specifies the direction of data transfer and the volume of data 23 0x16 Sends 4 byte data bytes 4 7...

Page 96: ...t data 4B 0x16 bytes 4 5 contain 16 bit data 4F 0x16 byte 4 contains 8 bit data 80 0x16 error bytes 4 7 contain error cause INDEX 16 bit value same as that sent by the master SUBINDEX 8 bit value same...

Page 97: ...ls enter the menu of Group F007 Press Enter The interface of faulty codes is displayed The errors that you first discovered are those that have occurred most recently Press or to browse the messages o...

Page 98: ...Check motor wires If the motor works properly it can be judged that faults occur on the power tube in the driver 010 0 Chop Resistor The braking resistor or the braking components in the driver is fau...

Page 99: ...99 Chapter 11 Specification 11 1 Servo Drivers and Motors Selection Table...

Page 100: ...100 11 2 Servo Driver 11 2 1 Technical Specification Table for Servo Driver...

Page 101: ...101 11 2 2 Mechanical Dimension Diagram for Servo Driver...

Page 102: ...102 11 3 Dimensions Torque Curve Technical Specifications of Servo Motors 11 3 1 SMH60 Servo Motor...

Page 103: ...103 11 3 2 SMH80 Servo Motor...

Page 104: ...104 11 3 3 SMH110 Servo Motor 1 Technical Specification Table...

Page 105: ...105 2 Dimension Torque Curve...

Page 106: ...106 11 4 Wiring Diagram for Servo Motor Cable 11 4 1 Wiring Diagram for the Power Cable...

Page 107: ...107 11 4 2 Wiring Diagram for the Encoder Cable...

Page 108: ...AA 000 1 26KW 50 120 75 T 75R 200 200 800 CD620 0157 0054 AA 000 1 57KW 50 100 75 200 800 CD620 0188 0062 AA 000 1 88KW 40 80 75 200 800 Note Please set brake resistor value and power in d5 04 and d5...

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