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V2.0

Table3-2 Operation of Key

Description

MODE

Switch menus

；

When setting parameters, short button press can shift the active digit, long button
press can return to the previous menus.

▲

Press▲ can increase the number, long press can increase quickly

▼

Press▼ can decrease the number, long press can decrease quickly

③

Dot Shining represent displaying in hexadecimal, otherwise in decimal.

SET

Enter the selected menu

；

Enter the status of parameters setting

；

affirm the parameters

；

Display FFF.F

No motor configured, please operate according to the flow chart of “Easy” and
make it sure to save the parameters and reboot the servo.

START

Execute the flow chart of EASY

Jog the machine,

evaluate the performance

Measure the Inertia

Ratio by Tn03

Adjust the

Stiffness by Tn01

Jog the Machine,

evaluate the performance

END

Adjust Gain by PC

Not good

Good

Not Good

Can

’

t figure out by

adjusting the stiffness

Good

Содержание 2S

Страница 1: ...牌信息确认驱动器型号与您所订购的型号是否一致 2 请检查产品是否在运输过程中有损坏采用螺丝刀确认驱动器上所有固定螺丝有无松动 3 请按以下产品配件清单核收产品确认是否有缺少产品配件清单物品数量驱动器 1 台 Kinco 2S 系列伺服驱动器使用指南 1 本服务指南 1 张合格证 1 张接线端子 422S SCSI 36P 插头 1 个 6P 接线端子头 1 个 432S 622S SCSI 36P 插头 1 个 6P 接线端子头 1 个 6P 母座端子 1 个 4P 母座端子 1 个如以上任一项有问题请及时与本公司或您的供应商联系深圳步科电气有限公司 www kinco cn ...

Страница 2: ...注意事项注意请勿使用汽油稀释剂酒精酸性或碱性洗涤剂擦拭外壳以免外壳变色或破损请确保产品在运输和存储过程中的环境安全使用原厂包装进行存储和运输请在熟悉产品相关知识和遵守安全注意事项的前提下对驱动器进行操作请严格按照图 1 1 所示的安装方式正确安装伺服驱动器驱动器与电机动力电缆抱闸线缆以及编码器电缆不能过度拉伸避免任何异物进入驱动器内螺丝金属屑等导电异物或可燃性异物进入驱动器内可能引起火灾和电击安全起见请不要使用有损伤或零件损伤的伺服驱动器警告注意电击危险电缆一定要可靠安装到电源接口上连接电缆时务必断开电源接触带电部件会造成严重伤害并可能导致死亡本产品使用时一定要安装在电箱内并且确定所有保护措施都已正常启动在维护时维修和清洁工作以及长时间服务中断时在接触带电部件之前要注意通过电源开关关闭电气设备的电源并防止其再次打开充电指示灯...

Страница 3: ...力线 X3 动力电源和电机接口充电指示灯 X5 RS232接口 X6 编码器接口固定电机电缆屏蔽夹 X1 输入输出接口操作面板 X4 总线通讯接口 PE 逻辑电源抱闸电源抱闸接口 X2 逻辑电源与抱闸接口 CD FD432S的X3与X7端口 AC220V R S T RB U V W 动力电源外接制动电阻电机动力线 PE RB DC DC 直流母线接口 R S T RB U V W 动力电源外接制动电阻电机动力线 PE RB DC DC 直流母线接口 CD FD622S的X3与X7端口 AC380V 图 2 1 驱动器外观结构组成说明 ...

Страница 4: ...电缆屏蔽夹安全接地螺丝图 2 2 驱动器外部接线图警告在接通驱动器电源前请确保所有防护罩和电气柜门已经关闭在安装和维护驱动器时必须切断所有电源驱动器断电至少十分钟之后测量驱动器直流母线电压低于 36V 或驱动器充电指示灯 CHARGE 熄灭才可接触一定不要移除安全设施不要接触带电部分和器件在驱动器上电之前请务必正确连接 PE 线并将驱动器外壳良好接地 2 3 驱动器端子定义说明 2 3 1 数字输入输出端图 2 3 X1 端口定义 ...

Страница 5: ... 2 4 X1 接口接线图 2 3 2 动力电源与电机接口表 2 1 CD FD412S 422S 驱动器 X3 接口定义引脚名称引脚功能 UVW 伺服电机 UVW 相输出 PE 电机 PE 线 L N 驱动电源输入 L N 单相线电压 200 240VAC 15 20 47 63Hz 412S 2 0A 422 4 0A 电源接地 TN S TN C TN C S TT 不可角接地 RB RB 外接制动电阻 ...

Страница 6: ...S 驱动电源输入单相线电压 200 240VAC 10 47 63Hz 11 0A 三相线电压 200 240VAC 10 47 63Hz 11 0A 612S 622S 驱动电源输入三相线电压 380 415VAC 10 47 63Hz 612S 5 5A622S 7 0A 电源接地 TN S TN C TN C S TT 不可角接地 RB RB 外接制动电阻 DC DC 直流母线接口 432S 输入电压 DC310V 20 612S 622S 输入电压 DC540V 20 接口针脚号信号描述功能 2 TX 驱动器数据发送端可连接上位机软件 Kinco servo 进行调试与监控 3 RX 驱动器数据接收端 5 GND 信号地 ...

Страница 7: ...EASY 流程执行完后请运行机器如果性能理想则不需要执行 tunE 流程否则再执行 tunE 流程 2 tunE 流程为惯量测定流程最后通过 tn00 保存通过 tn03 进行惯量测定后驱动器将根据整定结果更改刚性等级 tn01 3 请运行机器如果性能不理想再通过 tn01 逐级修改刚性等级请注意一边调整一边观察机器性能接口 RS485 接口 CANopen 总线接口针脚号信号针脚号信号 2 RX 2 CAN_L 3 TX 3 GND 5 GND 7 CAN_H 6 5V 7 RX 8 TX 接口针脚号信号描述 8 7 6 5 4 3 2 1 8 7 6 5 4 3 2 1 1 TD 发送信号正端 2 TD 发送信号负端 3 RD 接收信号正端 6 RD 接收信号负端数码管编码名称描述默认值 EA01 电机型号参考表一更改后需要保存...

Страница 8: ...进制显示超过 10000 的数值以十六进制显示关于十进制和十六进制的显示方法见表四 1000 EA04 电子齿轮比分母 1000 EA05 模拟速度因数当 EA02 写入 6 7 时有效模拟输入电压和电机转速的关系单位是 rpm V 注在高分辨率情况下模拟速度因素设置太高有可能无效 300 EA06 报警输出极性限位开关应用场合负载类型数码管从右到左分别代表 1 负载类型影响控制环参数 0 没有选择 1 皮带 2 滚珠丝杠 2 应用场合影响控制环参数 0 点到点模式 1 CNC 模式 2 主从跟随模式 3 限位开关 0 默认限位开关设置 DIN5 和 DIN6 1 屏蔽所有限位开关 4 OUT2 的报警输出极性 0 输出常闭 1 输出常开 1001 EA00 保存参数写入 1 保存所有参数写入 2 保存所有参数并重启驱动器更改电机型号后必须重启驱动器写入 3...

Страница 9: ...增益公式 Kvp VC_LOOP_BW K_Load 4096 其中 VC_LOOP_BW 为速度环带宽注出于安全考虑在编辑状态修改惯量比时不需要按 SET 确认数据也会立即生效但只能逐级调整皮带 50 丝杠 30 tn03 惯量测量写入 1 使能电机并进行惯量比测量此时电机会轻微抖动测量成功后将根据惯量比写入刚性等级 4 13 且 tn03 显示 1 测定过程包含以下动作 1 屏蔽所有外部信号的控制 2 工作模式切换为 11 3 使能驱动器 4 对象 0x2FF00C 设为 11 5 电机轴抖动并获取结果 6 还原所有外部信号的控制若测量失败 tn03 将置 1 2 3 或 4 刚性为 10 惯量比为 30 0 1 tn04 整定距离整定时轴移动距离 0 01 例如数码管上显示 0022 代表 0 22 圈最大值为 0 4 圈 22 tn00 保存参数写...

Страница 10: ...4 264 95 66 20 3334 1200 733 5 334 120 83 21 3889 1400 1032 6 389 140 100 22 4723 1700 1032 7 473 170 118 23 5556 2000 1765 8 556 200 146 24 6389 2300 1765 9 639 230 164 25 7500 2700 1765 10 750 270 189 26 8612 3100 1765 11 889 320 222 27 9445 3400 12 1056 380 268 28 10278 3700 13 1250 450 340 29 11112 4000 14 1500 540 360 30 12500 4500 15 1667 600 392 31 13889 5000 注当修改刚性或惯量比令 Kvp 大于 4000 再提升刚性对...

Страница 11: ...长按退出到上一级状态按下键可增加设定值长按可快速增加数值按下键可减小设定值长按可快速减小数值亮代表十六进制灭代表十进制 SET 用于进入选择的菜单进入此参数设定状态当参数设定完后确认输入参数 FFF F 闪烁表示未成功配置电机请保证更改电机型号后保存参数并重启驱动器开始执行EASY流程运行机器观察性能执行TunE流程通过Tn03测定惯量 Tn01调整刚性等级运行机器观察性能结束通过上位机软件调节控制环参数不满意满意不满意调整刚性等级无法解决满意图 3 1 操作流程图 ...

Страница 12: ...型电子齿轮比分子电子齿轮比分母从左到右分别代表报警输出极性限位开关应用场合负载类型具体参考表二模拟速度因数单位rpm V 脉冲模式控制下不需要设置写入 1 保存所有参数写入 2 保存所有参数并重启驱动器更改电机型号后必须重启驱动器写入 3 只重启驱动器写入 10 初始化参数 MODE MODE SET 电机型号闪烁编辑状态按MODE键移位下同 SET 确认参数右下方第一位小数点亮下同 SET 长按MODE SET SET SET SET SET SET SET 可循环图 3 1 Easy 流程图 ...

Страница 13: ... 出于安全考虑在编辑状态修改刚性或惯量比不需要按 SET 确认数据也会立即生效但只能逐级调整 3 5 试运转操作说明数字面板试运行操作步骤按 MODE 键进入 F004 组选择对象地址 d4 18 确认电机型号按 MODE 键进入 F000 组选择对象地址 d0 02 设定目标速度速度单位为 RPM 建议先以低于 100RPM 的速度试运转以避免人身伤害和财产损失按 MODE 键进入 F006 组进行按键测试默认值为 d6 40 先使用调节数据到 d6 31 再按数据会自动变为 d6 15 再使用调节数据到 d6 25 按 SET 键试运转操作激活此时数码管显示为 abc d 电机处于松轴状态当长按或时电机自动使能分别按照目标速度或目标速度来运行试运转期间数码管将实时显示电机速度电机默认逆时针方向为正转面对电机轴侧方...

Страница 14: ...15 按 d6 25 电机按设定目标速度运行长按为正方向长按为负方向按键测试按下MODE 按下MODE 按下MODE 按下SET 按下SET 按下SET 按下SET 数码管显示 abc d 图 3 4 试运转操作步骤 Kinco 伺服上位机调试软件操作步骤进入菜单栏驱动器控制面板 F004 用户通过 F004 组对话框电机型号配置电机设置完毕按回车键确认并重启驱动器取消 I O 控制中定义的驱动器使能和驱动器工作模式控制打开基本操作界面将工作模式设为 3 速度设为 100RPM 完成后将控制字改为 f 如需反方向运转设置速度为负值即可 ...

Страница 15: ...150D 0230 20A K 4HKC P4 3450 SMG130D 0100 20A K 4LKG P3 3350 SMG130D 0100 10A K 4LKG P5 3550 SMG130D 0150 20A K 4LKG P7 3750 SMG130D 0200 20A K 4LKG P6 3650 SMG130D 0150 20A K 4HKG P8 3850 SMG130D 0200 20A K 4HKG PC 4350 SMG130D 0300 20A K 4HKG YZ 5A59 SMS40S 0005 30J K 5LKU ZZ 5A5A SMS40S 0005 30K K 5LKU YY 5959 SMS40S 0010 30J K 5LKU ZY 595A SMS40S 0010 30K K 5LKU Y0 3059 SMS60S 0020 30J K 3LKU ...

Страница 16: ...ether all fixing screws on the drive are loose 3 Please check and accept the products according to the following product parts list to confirm whether there is any shortage Product parts list Articles Quantity Driver 1 set Kinco 2S Servo Driver User Guidance 1 copy Service guide 1 sheet Certificate 1 sheet Ter min al 422S SCSI 36P Plug 1 6P Wiring terminal head 1 432S 622S SCSI 36P Plug 1 6P termi...

Страница 17: ...rtation Please be familiar with the product knowledge and safety precautions before operating the driver Please strictly install the servo driver according to the installation method shown in Figure 1 1 Driver and motor s power cables brake cables and encoder cables cannot be over stretched Avoid any foreign objects entering the driver conductive foreign objects such as screws and metal chips or f...

Страница 18: ...terface Secure the motor cable and shield clip X1 I O Interface Front panel X4 bus interface PE control power supply Brake power supply brake interface X2 Control power supply and brake interface X3 X7 interface of CD FD432S AC220V R S T RB U V W Power supply External brake resistor Motor power cable PE RB DC DC DC BUS R S T RB U V W Power supply External brake resistor Motor power cable PE RB DC ...

Страница 19: ...st be cut off After the driver is disconnected for at least ten minutes the dc bus voltage of the measuring driver is lower than 36V or the charging indicator of the driver is off Be sure not to remove safety devices and do not touch live parts and devices Be sure to connect the PE wire correctly and ground the drive housing properly before the drive is powered on 2 3 Port definition instructions ...

Страница 20: ...ons Table 2 1 X3 port definition For CD FD412S 422S driver Pin PIN function UVW U V W phase power output for servo motor PE Motor earthing L N Supply power inputL N Single phase 200 240VAC 15 20 47 63Hz 412S 2 0A 422S 4 0A Supply ground systems TN S TN C TN C S TT not corner earthed RB RB Externalbrake resistor ...

Страница 21: ... 10 47 63Hz 11 0A 3 phase 200 240VAC 10 47 63Hz 11 0A 612S 622S Supply powe 3 phase380 415VAC 10 47 63Hz 612S 5 5A622S 7 0A Supply ground systems TN S TN C TN C S TT not corner earthed RB RB Externalbrake resistor DC DC DC bus interface 432Sinput voltage DC310V 20 612S 622S input voltage DC540V 20 X3 Pin Signal Descriptions Function 2 TX Send data The upper computer software Kinco servo can be con...

Страница 22: ...mpleting process of EASY please run the machine If the performance is satisfying it is unnecessary to execute the process of tunE Otherwise please execute the process of tunE 2 Please write 1 into tn03 to start the inertia measuring and then the servo will adjust the parameters of control loop automatically by the result 3 Please run the machine If the performance is unsatisfying please change the...

Страница 23: ...oltage and speed of motor and the unit is rpm V Perhaps to be invalid if the factor is too big when the encoder is with high resolution 300 EA06 1 Load Type 2 Application 3 Limit Switch 4 Polarity of Alarm Output The meaning of each LED from right to left 1 Load Type influences the control loop 0 no shaft load 1 belt drive 2 ball screw 2 Application influences the control loop 0 P2P 1 CNC 2 Master...

Страница 24: ...03 will show the error code tn04 Measuring Distance Distance of inertia measuring 0 01 For example 0022 represent 0 22 motor revolutions the maximum is 0 4 revolutions 22 tn00 Saving parameters Write 1 to save all the parameters Write 2 to save all the parameters and restart the servo Write 3 to reboot the servo Write 10 to initialize the parameters Notice Users MUST reboot the driver if changing ...

Страница 25: ...000 1765 8 556 200 146 24 6389 2300 1765 9 639 230 164 25 7500 2700 1765 10 750 270 189 26 8612 3100 1765 11 889 320 222 27 9445 3400 12 1056 380 268 28 10278 3700 13 1250 450 340 29 11112 4000 14 1500 540 360 30 12500 4500 15 1667 600 392 31 13889 5000 Notice When the setting of stiffness or inertia ratio makes the Kvp value bigger than 4000 it isn t useful to raise stiffness any more and it will...

Страница 26: ...n hexadecimal otherwise in decimal SET Enter the selected menu Enter the status of parameters setting affirm the parameters Display FFF F No motor configured please operate according to the flow chart of Easy and make it sure to save the parameters and reboot the servo START Execute the flow chart of EASY Jog the machine evaluate the performance Measure the Inertia Ratio by Tn03 Adjust the Stiffne...

Страница 27: ...r to Talbe 2 Analog Speed Factor Unit is rpm V Write 1 to save all the parameters Write 2 to save all the parameters and restart the servo Write 3 to reboot the servo Write 10 to initialize the parameters Notice Users MUST reboot the driver if changing the motor type MODE MODE SET Motor Type LED is blinking Press MODE can shift the parameters below display in the same way SET Confirm the parameter...

Страница 28: ...del Press MODE to enter F000 group select the object address d0 02 and set the target speed Its unit is RPM It is recommended to run at a speed lower than 100RPM to avoid personal injury and property damage Press MODE to enter F006 group and conduct key test The default value is d6 40 Use to adjust the data to d6 31 first then press to automatically change the data to d6 15 and then use to adjust ...

Страница 29: ...ection and long press is the negative direction Figure 3 4 Block diagram of trail operation steps Kincoservo Operating procedure Enter menu bar driver control panel F004 the user configures the motor through the motor model dialog box of f004 group press enter key to confirm after setting and reboot the driver Cancel the drive enable and drive operating mode control defined in I O control Open the...

Страница 30: ...0 SMG130D 0100 10A K 4LKG P5 3550 SMG130D 0150 20A K 4LKG P7 3750 SMG130D 0200 20A K 4LKG P6 3650 SMG130D 0150 20A K 4HKG P8 3850 SMG130D 0200 20A K 4HKG PC 4350 SMG130D 0300 20A K 4HKG YZ 5A59 SMS40S 0005 30J K 5LKU ZZ 5A5A SMS40S 0005 30K K 5LKU YY 5959 SMS40S 0010 30J K 5LKU ZY 595A SMS40S 0010 30K K 5LKU Y0 3059 SMS60S 0020 30J K 3LKU Z0 305A SMS60S 0020 30K K 3LKU Y1 3159 SMS60S 0040 30J K 3L...

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