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Kinco FD5 

系列伺服驱动器使用手册

 

第六章

 

工作模式介绍

 

 

 

86 

6.4

 

Position mode

(1) 

In the position mode, the CD3 motor controller causes the motor to rotate to an absolute or 
relative position. The position / velocity command is specified via Target_Position / Profile_Speed 
or via position flow

。

 

Table 

6-13 

Position mode 

 

Panel

 

 

address

 

 

Internal

 

 

address

 

 

Type

 

 

Name

 

 

Description

 

 

Value

 

 

D0.00 

 

6060.00 

 

8 

Operation_Mod
e

 

Set the working mode to absolute/relative 
position mode

 

 

1 

 

 

607A.00 

 

20 

 

Target_Position

 

 

Target absolute / relative position

 

 

User  defined

 

 

 

6081.00 

 

20 

 

Profile_Speed

 

 

Profile speed for positioning

 

 

User  defined

 

 

Содержание FD425-CA-000

Страница 1: ...Manual Kinco FD5 series AC servo system Kinco Electric shenzhen Ltd www kinco cn...

Страница 2: ...onfirm the product carefully before use Confirmation Please confirm whether the product is damaged during transportation Please confirm the motor model drive model and motor wiring model are consisten...

Страница 3: ...jury Warning Risk of minor injury or serious property damage Other Identifications Attention May cause equipment damaged or function disable Remind Suggestion reminding or references Manual Edition Re...

Страница 4: ...direction 13 2 1 3Drive usage requirements 15 2 2 Servo motor installation 17 2 2 1Installation requirements 17 2 3 2Environment conditions 18 2 3 3Precautions 19 Chapter 3 Installation and wiring 22...

Страница 5: ...ng communication 60 5 1 4Node ID and baud rate 60 5 1 5Objects add delete help 60 5 2 Init save reboot 61 5 3 Firmware update 61 5 4 Read write controller configuration 62 5 4 1Read setting from contr...

Страница 6: ...p Mode Control 117 6 8 3Multi tune encoder Setting 119 Chapter7 Tuning of the servo system control 124 7 1 Auto tuning 124 7 2 Auto tuning test operation method 125 7 2 1Parameters for auto tuning 125...

Страница 7: ...rdware description 165 10 3 2 CANopen bus communication software description 166 10 3 3 CANopen Bus communication settings 180 10 3 4 Interpolation mode based on CANopen 182 Appendix 1 Braking Resisto...

Страница 8: ...2 AC220V 3 9A or AC380V 7A FD FD Series 5 5th generation number 6 Input AC380V 3 AC220V 10A notice FD425 F 000 AC220 5A is designed for 1KW servo motor EA RS232 EtherCAT CA RS232 CAN Pluse LA RS232 RS...

Страница 9: ...on socket 20 20 100 rpm 30 30 100 rpm L AC220V H AC380V Q Optical single turn absolute encoder M Megnetic single turn absolute encoder Y Optical multi turn absolute encoder SMC SMC Series 5 5 poles pa...

Страница 10: ...5Ap 25Ap Feedback signal Photoelectric single turn encoder Single turn communication magnetoelectric encoder Photoelectric multi turn communication absolute encoder Dynamic braking FD425 Drive has no...

Страница 11: ...KHz Electronic gear ratio Setting range Gear factor 32768 32767 Gear divider 1 32767 1 50 Gear factor Gear divider 50 Torque limit Set by internal parameter Feedforward gain 0 100 0 Set by internal pa...

Страница 12: ...tion Define freely according to requirement supporting following functions Driver ready driver fault position reached motor zero speed motor brake motor speed reached Z signal maximum speed obtained i...

Страница 13: ...magnetoelectric encoder motor MOT 005 LL KQ NS SMG60S 0020 30MBK 5LSQ Single turn communication magnetoelectric encoder brake motor MOT 005 LL KQ NS BRA LL KQ SMG60S 0040 30MAK 5LSQ Single turn commu...

Страница 14: ...on requirements and notes Kinco FD5 AC series servo driver manual 11 Chapter 2 Servo system installation requirements and notes 2 1 Installation of drive 2 1 1 Installation requirement Figuire2 1 FD42...

Страница 15: ...pter 2 Servo system installation requirements and notes Kinco FD5 AC series servo driver manual 12 Figuire 2 2 FD425 F 1000W Product installation drawing Figuire 2 3 FD435 A Product installation drawi...

Страница 16: ...install the servo drive vertically and drill holes according to the Hole Position for Fixation There should be an installation gap of more than 20mm between two drives There should be a gap of more t...

Страница 17: ...ver manual 14 20mm 20mm 20mm 20mm 30mm 30mm Air intake Air intake Air outlet Air outlet 20mm Figure 2 5 FD425 Installation direction and requriement 20mm 20mm 20mm 20mm 30mm 30mm Air intake Air intake...

Страница 18: ...re tightened to prevent the drive from falling and hurting people during use Beware of electric shock The power cable must be installed to the plug X3 Turn off the power when connecting cables Touchin...

Страница 19: ...g Temperature 0 40 No ice Working Humidity 5 95 RH No condensation Storage Temperature 10 70 No ice Storage Humidity 5 95 RH No condensation Protection Level IP20 Install requirement No sun and rain n...

Страница 20: ...for safe operation of engineering systems Applicable regulations for accident prevention and occupational safety User manual for the product 2 2 Servo motor installation 2 2 1 Installation requirement...

Страница 21: ...dity Under 90 RH no condensation Storage temperature 20 70 no ice Storage humidity 5 95 RH no condensation Vibration Running less than 49m s2 5G Stopping less than 24 5m s2 2 5G Collision Less than 98...

Страница 22: ...Chapter 2 Servo system installation requirements and notes Kinco FD5 AC series servo driver manual 19 2 3 3 Precautions...

Страница 23: ...sometimes it will make bearings and encoders Install direction Servo motors can be installed in vertical or horizontal direction Oil and water solution When it is used in the occasion with drops plea...

Страница 24: ...ke sure ground cable of main cable connecting stably If operators first connect one side of encoder cable then encoder may have some faults because of voltage difference between PEs During the process...

Страница 25: ...232 X2 Encoder terminal Grounding X1 I O terminal Digital Screen X4 Bus terminal SW1 120R resistor switch PE Figure 3 1 FD425 Drive appearance L1C L2C DC RB1 RB2 DC L1 L2 L3 Logic power supply Dcbus i...

Страница 26: ...Kinco FD5 AC series servo driver Chapter3 Installation and wiring 23 3 2 External system connection Figure 3 3 FD425 external connection Figure 3 4 FD435 external connection...

Страница 27: ...ter NF Effectively filter out external interference and improve the anti interference ability of power supply circuit Magnetic contactor MC Use the air ac electromagnetic contactor to turn off the pow...

Страница 28: ...00V 3P 3P N 4P 16A Table 3 3 Recommended noise filter Servo drive models Recommended noise filter Model Specifications Manufacturer FD425 A TY440S 6 Single phase 120 250VAC 6A Tyze FD425 F 1000W TY440...

Страница 29: ...be abnormal and display 0100 When the actual braking power exceeds the limit power please disconnect the short circuit before connecting the external braking resistor For the selection of external bra...

Страница 30: ...grounding Be sure to ground the drive otherwise there is a risk of electric shock or interference affecting the performance of the drive In order to ensure the stable and safe use of the product the...

Страница 31: ...nnect the ground wires of multiple drives in series and use a single point grounding method The drive should be grounded with the shortest and thickest possible cable 2mm If the ground wire is long th...

Страница 32: ...der uses metal cable clamp connecting to the shield of connector The shield of power cable uses U shape metal cable clamp connecting to the PE port PE grouding Figure 3 8 Grounding measurement for shi...

Страница 33: ...ive sending data 5 GND Signal Ground 2 RX Drive receives data Table 3 7 RS232 Communication wiring Drive RS232 Header pin definition Drive side pin name Drive side pin number PC side signal name PC si...

Страница 34: ...use a USB to DB9 serial cable to connect Figure 3 11 FD5 Drive 232 debug cable 3 4 External input and output connection X1 Figure 3 12 FD5 LA CA drive external input and output terminal pin diagram P...

Страница 35: ...t P limit Home signal Digital output Ready Error Pos reached Zero speed Motor brake Figure 3 13 FD5 LA CA Default definition of IO port of FD5 LA CA drive Figure 3 14 FD5 PA drive external input and o...

Страница 36: ...the FD5 LA CA drive and Figure 3 10 shows the X1 wiring of the default IO function of the FD5 PA drive More IO functions could be set by the digital panel or host computer debugging software Check Cha...

Страница 37: ...l input port common terminal 4 DIN1 Digital signal input High level 12 5V 30V Low level 0 5V MAX input frequency 1KHz 6 DIN2 8 DIN3 10 DIN4 12 DIN5 14 DIN6 16 DIN7 19 MA Differential signal MA MA MB M...

Страница 38: ...iring example Instruction Max input frequency 1KHz High level input voltage range 12 5 30V Low level input voltage range 0 5V The drive s internal 24Voutput can be used as a pull up power supply Digit...

Страница 39: ...20 13 Relay Relay Relay Relay 24V Power Relay 24V Power 24V Power 24V Power 24V Power Digital output wiring example When the host computer is optocoupler input Driver NPN X0 PLC 24V 1 3 OUT1 OUT1 5 7...

Страница 40: ...put channel supports RS422 differential signal voltage range DC3 3 5V MAX pulse frequency 4MHz Ordinary pulse input channel supports TTL differential signal voltage range DC 3 3 30V maximum frequency...

Страница 41: ...wer of the drive X1 is not enough to control the brake and an external 24V is required as the brake power supply Brake connection example 5 7 Relay Motor brake Driver 24VDC supply Table 3 13 Motor hol...

Страница 42: ...ft can remain stationary in the state of de enable or power off Please make sure that the holding brake has been opened before the motor runs In non emergency situations do not use the holding brake w...

Страница 43: ...name Pin function 1 5V 5V power output positive terminal 2 GND 5V power output negative terminal 3 CLOCK Clock signal 4 CLOCK 5 SD Serial data signal 6 SD Table 3 15 Optical encoder YAK VAK pin defini...

Страница 44: ...FD435 and FD625 Power port instruction Port Pin name Pin function X3A U V W Servo motor UVW phase line connection PE Motor ground X3B L1C L2C Logic power input Singal phase 200 240VAC 10 50 60Hz 3Hz...

Страница 45: ...munication port pin definition Table 3 19 CAN Communication port pin definition Product model CAN Plug pin definition Drive side pin name Drive side pin number Connecting signal to the host computer F...

Страница 46: ...when the error history record in F007 appears at the display Dot When displaying and adjusting parameters in real time it is used to indicate the data display format HEX data when dot 4 is on and DEC...

Страница 47: ...flow Monitored state SET Power on Node_ID MODE MODE MODE MODE MODE MODE MODE MODE MODE MODE SET SET SET SET SET UP UP UP UP UP DOWN DOWN DOWN DOWN DOWN F000 can choose the monitored parameters F002 ca...

Страница 48: ...has to be rebooted As a result of these settings the controller is configured for a suitable I O setting and the servo control loop parameters are set to matching defaults The controller is ready for...

Страница 49: ...ot good Good Not Good Can not figure out by adjusting the stiffness Good Attention Inertia measurement may cause the machine to vibrate Please turn off the power or the drive immediately Turning on th...

Страница 50: ...scription of the EASY menu Figure 4 3 EASY Flowchart of the EASY menu Attention The menu is exited automatically if there is no operation in 30s and users have to start again Entered data is valid imm...

Страница 51: ...ulse train mode operation mode 4 1 P D pulse train mode operation mode 4 2 A B phase control master slave mode operation mode 4 6 Analog velocity mode by AIN1 operation mode 3 7 Analog velocity mode b...

Страница 52: ...Reset errors Reset errors Reset errors DIN3 Start homing Start homing Start homing DIN4 P limit P limit P limit P limit DIN5 P limit P limit P limit P limit DIN6 DIN7 Home signal Home signal Home sign...

Страница 53: ...Out A Encoder Out B Encoder Out B Encoder Out Z Encoder Out Z Digital Output Ready Motor Brake Pos Reached Zero Speed Error Output Common Figure 4 4 wiring in pulse train mode When EA02 is set to8 th...

Страница 54: ...tch the different servo control loops to each other That s why it is highly advisable to obtain a precise inertia ratio result by means of inertia measurement The following flowchart and table explain...

Страница 55: ...measurement The controller is enabled and the motor executes an oscillating motion for less than 1s If tuning is successful Tuning Method indicates a value of 1 The measured inertia is used to determi...

Страница 56: ...Write 10 to initialize the control parameters Table 4 5 Tuning result description Tuning display Tuning result description 1 The measurement result is correct and the inertia ratio is less than 25 1 t...

Страница 57: ...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 2...

Страница 58: ...Tn01 can be adjusted step by step When the response is slow during the operation the rigidity level Tn01 can be increased b The result is 1 Indicates that the inertia is too small and the tuning fails...

Страница 59: ...b The result is 1 Indicates that the inertia is too small and the tuning fails and the inertia ratio is invalid You can increase the tuning distance Tn04 and then re tune Under this tuning result the...

Страница 60: ...Step 4 for more than 20 seconds none of or was pressed the Jog operation will quit and a new Jog operation needs to be started from Step 1 again 4 5 Error history F007 The motor controller stores the...

Страница 61: ...LED display Meaning 000 1 The latest error is Extended Error Press SET key to see the Error State 2 2602 00 value 02 00 The earliest error is following Error 0100 There was Chop Resistor error it s n...

Страница 62: ...nese via menu item Tools Language 5 1 2 Open and saving project files Create a new project file via menu item File New or by clicking the button Open an existing project via menu item File Open or by...

Страница 63: ...eing used in an application you may need different node ID for different controllers in order to distinguish amongst them The controller s Node ID can be changed via menu item Controller Controller Pr...

Страница 64: ...reboot Click the corresponding item to finish the necessary operation 5 3 Firmware update A new motor controller is always delivered with the latest firmware version If the firmware needs to be updat...

Страница 65: ...ler or click the button The following window appears Figure 5 6 Transfer setting Click Open List to select a parameter list file cdo The parameter appears in the window Click Read Settings from Contro...

Страница 66: ...ult If readout result is False Invalid will appear immediately in red ion the Result fied Click Write to Controller to get the Check Value and Result The False Result means the value has not been writ...

Страница 67: ...igital IO function Click menu item Controller Digital IO Functions or click the button The following window appears Function and polarity are shown Shown as default function and polarity 5 5 1 Digital...

Страница 68: ...put 1 means Internal is set to 1 by active signal 0 means Internal is set to 1 by inactive Internal This is the result of Simulate Real and Polarity via the logic formula Internal Real OR Simulate XOR...

Страница 69: ...the Controlword e g Controlword 0x2F 0x3F Multifunction 0 Gear ratio switch refer to chapter 5 5 3 for more details Multifunction 1 Multifunction 2 Gain switch 0 PI control gain switch refer to chapte...

Страница 70: ...t on the digital input logic status Polarity Inverts the logic status of the digital input 1 means Internal is set to 1 by active signal 0 means Internal is set to 1 by inactive Internal This is the r...

Страница 71: ...peed limit In torque mode actual speed reached Max_Speed 607F 00 Drive enabled Controller enabled Position limit Position limit function is active Home Found Home found Torque reaches limit When the a...

Страница 72: ...t_Capture1 is configured to DIN and a rising DIN edge occurs Rising_Captured1 is changed to 1 At the same moment Pos_Actual is stored to Rising_Capture_Position1 If a falling DIN edge occurs Falling_C...

Страница 73: ...mber of samples before the trigger source is triggered Trig source and Trig level The trigger condition is set in Figure 5 13 to start collecting data when the effective target current q rises to 100D...

Страница 74: ...ncreased by pressing the button and can be reduced by pressing the button If Small scale checkbox is checked scale value changing step is changed to 10 as before Oscilloscope mode On the upper left si...

Страница 75: ...and error history Error Click Controller Error display or click button which turns red if an error occurs The Error Display window appears It shows the last errors Figure 5 14 Error display window Err...

Страница 76: ...Following Error 0x8611 Max following error exceeded 10 Low Logic Voltage 0x5112 Logic supply voltage too low 11 Motor or controller IIt 0x2350 Motor or power stage IIt error 12 Overfrequency 0x8A80 P...

Страница 77: ...re error in SPI handling 12 Reserved 13 Closed loop direction 0x8A81 Different direction between motor and position encoder in closed loop operation by a second encoder 14 Reserved 15 Master counting...

Страница 78: ...ed error won t be stored in the Error_History 0xFBFF 2605 0 3 Uint16 Store_Mask_ OFF Error mask for Error_History of Error_State 2601 00 when controller is not enebled Bit 0 means related error won t...

Страница 79: ...tion d3 01 2010 03 Uint16 Din1_Function 0001 Enable 0002 Reset Errors 0004 Operation Mode sel 0008 Kvi Off 0010 P limit 0020 P limit 0040 Homing Signal 0080 Invert Direction 0100 Din Vel Index0 0200 D...

Страница 80: ...0 Drive Enable 0800 Position Limit 0400 Home Found 8002 Enc Warning 9001 PosTable Active d3 12 2010 10 Uint16 Dout2_Function d3 13 2010 11 Uint16 Dout3_Function d3 14 2010 12 Uint16 Dout4_Function d3...

Страница 81: ...1 means that the DIN1 input port is a normally open point Setting d3 09 to 110 0 means not to simulate the DIN1 input signal and setting d3 09 to 110 1 means to simulate the DIN1 input signal Switch_O...

Страница 82: ...FD5 79 Table 6 6 basic parameters Panel address Internal address Type Name Description D0 00 6060 00 8 Operation_mod e 3 Immediate speed mode 3 Speed mode with acceleration and deceleration 1 position...

Страница 83: ...arting to find the origin in 6 mode 0x06 0x86 Used when resetting drive faults 0x06 Loosen the shaft turn off the drive enable 607A 00 20 Target location target absolute relative position 6081 00 20 t...

Страница 84: ...at the origin position After clearing the encoder status and multi turn data restart reset the drive Communication encoder command write 1 clear encoder status 2 read fault word 3 Clear encoder status...

Страница 85: ...6040 00 10 Controlword See table 6 5 0x0F 0x06 D2 16 607E 00 8 Speed position direction control run polarity reversal 0 Counterclockwise is the positive direction default value 1 Clockwise is the pos...

Страница 86: ...15 20 Din_Speed 5 D3 46 2020 16 20 Din_Speed 6 D3 47 2020 17 20 Din_Speed 7 6083 00 20 trapezoidal acceleration When the operation_mode is 3 mode the trapezoidal acceleration and trapezoidal decelera...

Страница 87: ...Kinco FD5 84 2 Analog speed control 250207 is 0 close the analog speed channel...

Страница 88: ...40 00 10 Controlword Enable drive 0x0F 0x06 607F 00 20 MAX speed limit Motor running maximum speed limit User defined 60F5 06 10 Torque reaches benchmark The limit value the actual torque exceeds the...

Страница 89: ...cified via Target_Position Profile_Speed or via position flow Table 6 13 Position mode Panel address Internal address Type Name Description Value D0 00 6060 00 8 Operation_Mod e Set the working mode t...

Страница 90: ...0x06 0x103F 6 4 1 DIN introduction to Location Position First when using the DIN position mode at least one of the DIN position index 0 DIN position index 1 and DIN position index 2 must be defined in...

Страница 91: ...DIN Configuration window Figure 6 3 DOUT Configuration window Table 6 15 DIN Location mode setting Digital tube key address Home address Bits Name Descriptio n D3 17 2020 0E Operation mode choose 1 1...

Страница 92: ...Other position flow functions are optional In the multi segment position mode the position to signal of the 1 7 segment of the Din position is represented by the BCD code composed of the multi functi...

Страница 93: ...sTable Start position flow PosTable Idx0 Entry index of position flow bit0 PosTable Idx0 bit1 PosTable Idx1 bit2 PosTable Idx2 A bit which is not configured to DIN means 0 PosTable Idx1 PosTable Idx2...

Страница 94: ...reg bit 8 Condition CTL reg bit 9 11 and Loops The current index box shows the index of the task which is being executed Up to 32 position control tasks can be set and each task contains the followin...

Страница 95: ...is ON 1 AND Condition Condition0 Condition1 0 OR Condition Condition0 Condition1 Bits 12 13 MODE mode of the position command 0 A Posinc is the absolute position 1 RN Posinc is the position relative t...

Страница 96: ...sk will exit the execution Copy and paste The task information of the location table can be copied to another row Right click on the task of any row selected and the following window will appear Click...

Страница 97: ...by expanding the relevant parameters in the software Table 6 18 Pulse Mode Panel address Internal address Type Name Description Value 6060 00 8 Operation_Mode Setting operation mode 4 D3 34 2508 01 1...

Страница 98: ...ccurs 2507 01 20 Position fine tuning Position fine tuning is used to set the position data to be fine tuned in pulse mode the unit is inc the default value is 0 2507 02 20 Speed Fine tuning Speed fin...

Страница 99: ...Kinco FD5 96 modified it needs to be saved and restarted to take effect Table 6 16 Pulse input supported by the drive Pulse mode Forward Reverse P D...

Страница 100: ...t to 4096 and the denominator of the electronic gear should be set to 625 Step4 Basic parameter settings before running After setting the parameters of the first three steps you can check whether ther...

Страница 101: ...ning function is not enabled 6 5 3 Electronic gear ratio switching expert mode This function can only be used by expert The drive supports 8 sets of electronic gear ratio settings these settings are o...

Страница 102: ...5 4 Master slave mode The master slave mode is a type of pulse train mode PD_CW 2 The pulse input for the slave controller comes from an external incremental encoder or the encoder output of the maste...

Страница 103: ...te closed loop control which avoids positioning errors due to the mechanical system Grating ruler signal Motor Motor encoder signal Machine Figure 6 7 Full Closed Loop Application Case Attention Forwa...

Страница 104: ...escription Units 250A01 20 RW Master_Enc_Period Fill in the resolution of the external encoder inc 250A02 08 RW Closed_Loop_Contro l 0 normal mode 1 closed position mode 2 closed velocity position mod...

Страница 105: ...master encoder speed unit inc 250us inc 250 s 250804 20 RW Gear front pulse data The main encoder port input pulse electronic gear front count DEC 250803 08 RW Master_Speed_VL 0 CW CCW Double pulse mo...

Страница 106: ...loop are in group 250A of the object dictionary You can add full closed loop parameters from the object dictionary to a window by right clicking on any window in the software and selecting Add The add...

Страница 107: ...e done with loose shafts Step 5 Set up full closed loop master check and full closed loop slave check These two parameters are mainly used to prevent the external encoder from skidding during the full...

Страница 108: ...tem s home position and a zero starting position Click menu item Controller Control Modes Homing definition and the following window appears Figure 6 10 Homing setting Select a home trigger under Homi...

Страница 109: ...0 1 Home blind window 6060 00 Operation_Mode 8 6 Operation mode of drive 6040 00 Controlword 10 0x0F 0x1F Enable drive Home_N_Blind If the homing_method needs home signal position limit home switch an...

Страница 110: ...gative position limit switch and index pulse 2 Homing with positive position limit switch and index pulse 3 Homing with home switch and index pulse 4 Homing with home switch and index pulse 5 Homing w...

Страница 111: ...tive position limit switch home switch and index pulse 8 Homing with positive position limit switch home switch and index pulse 9 Homing with positive position limit switch home switch and index pulse...

Страница 112: ...dex pulse 12 Homing with negative position limit switch home switch and index pulse 13 Homing with negative position limit switch home switch and index pulse 14 Homing with negative position limit swi...

Страница 113: ...Kinco FD5 110 18 Homing with positive position limit switch 19 Homing with home switch 20 Homing with home switch 21 Homing with home switch 22 Homing with home switch...

Страница 114: ...d home switch 24 Homing with positive position limit switch and home switch 25 Homing with positive position limit switch and home switch 26 Homing with positive position limit switch and home switch...

Страница 115: ...limit switch and home switch 29 Homing with negative position limit switch and home switch 30 Homing with negative position limit switch and home switch 33 34 Homing with index pulse 35 Homing to act...

Страница 116: ...2010 07 16 DIN5 Function Define digital input DIN5 Default value 0020 Indicates the definition of the negative limit function 2010 1B 32 Positive limit position Actual position when the digital input...

Страница 117: ...ction is invalid When the valid input is 0 the valid input is gray it means that the limit is activated and the corresponding movement direction is prohibited 2 Soft limit position To prevent overtrav...

Страница 118: ...Brake duty cycle The duty cycle of the brake signal 6410 12 16 Brake delay The delay time of the brake signal the default value is 150ms 605A 00 16 Quick stop mode 0 Uncontrolled stop 1 Curve stop 2 Q...

Страница 119: ...the drive changes the target speed it will immediately cut off the 24V power supply to the brake After the brake power is cut off and lasts for a certain period of time the brake delay the drive actua...

Страница 120: ...p is completed the motor keeps the axis locked and stops in the fast stop state It can be enabled after the control word 0x06 is issued to exit the fast stop state 6 Stop according to the quick stop d...

Страница 121: ...or s own resistance to brake even if there is a problem with the encoder 6084 00 32 Trapezoidal deceleration Curve stop deceleration 6085 00 32 Quick stop deceleration Emergency stop deceleration 2340...

Страница 122: ...us can be viewed at 0x30510110 3 Clear encoder status and multi turn data 8 Reset the status flag of the encoder 9 Clear multi lap data 10 Reset encoder status flag and clear multi turn data operation...

Страница 123: ...er Bit0 BATT Bit1 MTERR Bit2 0 Bit3 OVSPD Bit4 MEMERR Bit5 STERR Bit6 PSERR Bit7 BUSY Bit8 MEMBUSY Bit9 OVTEMP 0 6 8 3 1 Multi turn motor power on configuration YAK YBK When the absolute encoder motor...

Страница 124: ...U BT5 and battery box BAT FD5 are required You can also choose to purchase the integrated battery cable ENCDG 4 GU BT and you can choose one of the two battery options Table 6 24 Selection and install...

Страница 125: ...1 but the drive will not alarm and stop at this time Under the condition that the drive remains powered on normally and the encoder cable is well connected replacing the battery will not cause loss o...

Страница 126: ...om high temperature and high humidity environments and without dust or inflammable and explosive substances During transportation and assembly be careful not to impact and squeeze the battery so as no...

Страница 127: ...mechanical characteristics and finally to prevent the entire system from oscillating to permit it to follow commands quickly and to eliminate abnormal noise 7 1 Auto tuning The auto tuning function wi...

Страница 128: ...panel Open the tunE menu in the LED panel and go to tn03 Write 1 to tn03 The motor oscillates with a small amplitude the oscillation lasts less than 1s If tn03 remains at 1 after auto tuning is done...

Страница 129: ...d but not active 3 Too much friction or external force is applied to the axis to be tuned 4 Too big backlash in the mechanical path between the motor and the load 5 The mechanical path contains too so...

Страница 130: ...to set current loop parameters manually Manual tunning needs to cooperate with the oscilloscope please refer Chapter 5 6 for the guide of using oscilloscope 7 3 1 Tuning of the velocity loop Table 7...

Страница 131: ...observer 4 Velocity feedback after 1st order LPF 10 Velocity feedback after 2nd order LPF and the velocity command is filtered by a 1st order LPF Both filters have the same bandwidth 11 The velocity c...

Страница 132: ...f the servo can be monitored by collecting the speed step curve If the Kvp too low the bandwidth of the velocity loop and the position loop will not match which will lead to oscillation If the Kvp is...

Страница 133: ...ror and enter a stable state efficiently Speed curve Speed_Dem and_buff Speed RPM 0 5 1 5 2 5 3 5 4 5 5 5 6 5 Speed_real Speed_real Speed_real Kvi a b c c b a Figure 7 5 Speed step curve after Kvi adj...

Страница 134: ...ally if the machine and the load use soft connection it is recommended to use a 1st order low pass feedback filter or turn off the feedback filter If the rigid connection is used or the load is too he...

Страница 135: ...tware oscilloscope the period value of adjacent harmonics can be measured by the cursor to calculate the resonance frequency After collecting multiple sets of harmonic cycles to calculate the average...

Страница 136: ...the frequency of the filter is set by the notch filter 60F9 03 2 FFT Multi point Notch Filter Adopt high order multi point notch filter technology automatically measure the mechanical resonance frequ...

Страница 137: ...means 100 feed forward 1000 0 4000 d2 09 2FF01B K_Acc_FF The unit only is right if the inertia ratio is correctly set If the inertia ratio is unknown set K_Acc_FF 60FB 03 instead 0 4000 d2 26 60FB05 P...

Страница 138: ...tion operating mode In fact the function will consume part of the speed loop responsiveness so the setting value needs to match the position loop and velocity loop bandwidth The elastic factor of the...

Страница 139: ...plications like CNC it is better not to use this filter but to do the smoothing in the CNC Smoothing filters reduce machine influence by smoothing commands Smoothing Filter 60FB 05 defines the time co...

Страница 140: ...vp x Kvi x and Kpp x x data of PI pointer Table 5 5 Gain switching parameters internal address Type Name Description unit 64F9 01 Uint16 Kvp 0 Gain parameter called when PI pointer is 0 Dec Hz 60F9 02...

Страница 141: ...motion process and the static state 0 PI pointer 60F9 28 0 1 PI pointer 60F9 28 1 Dec 7 4 1 Gain switching method The drive provide three method for dynamically selecting PI control parameters Method...

Страница 142: ...I switch PI 0 PI 1 Speed RPM 0 0 Method 3 Set PI pointer value directly through communication 7 5 Other factors affecting performance Control commands created by a controller e g PLC Control commands...

Страница 143: ...encoder erroror the encoder is damaged 1 Access panel address d3 51 Encoder_OP byKEY and set 1 2 Try to reset the controller error If errorpersists replace the motor 000 8 Encoder CRC Encoder CRC err...

Страница 144: ...ication 3 Max_Following_Error d2 25 is too small 4 feedforward settings are not feasible 5 Wrong motor wiring Check and solve based on the reasons 040 0 Low Logic Voltage Logic power voltage is too lo...

Страница 145: ...encoder is wrong 4 The controller can t support the currentencoder type Check and solve according to the reasons 800 0 EEPROM data Data is damaged when the power is turnedon and data is read from the...

Страница 146: ...ich causes the limit signal 040 0 Negative limit Negative position limit after homing position limit only causes error when Limit_Function 2010 19 is set to 0 Exclude the condition which causes the li...

Страница 147: ...nconsistent with the number of pulses sent by the controller The electronic gear ratio is set too large Accumulated error of reciprocating motion Mechanical system factors Adjust the drive control loo...

Страница 148: ...ite 2F could be selected by 0x20200F 00 2 001 0 clean error controlword write 86 Note To use the simplified control word the digital input port cannot define the enable and reset fault functions 0 RW...

Страница 149: ...or warning is shown On the LED panel select the panel address of the value to be displayed and press SET After leaving the menu the selected value is displayed To make this selection permanent it must...

Страница 150: ...ror Following error of position 0 2 31 2 31 1 R d1 21 25080420 Gear_Master Input pulse amount before electronic gear 0 2 31 2 31 1 R d1 22 25080520 Gear_Slave Execute pulse amount after electronic gea...

Страница 151: ...04 60F90408 Notch_On Notch filter enable 0 0 1 RWS d2 05 60F90508 Speed_Fb_N Bandwidth of velocity feedback filter BW Speed_Fb_N 20 100 Hz 25 0 45 RWS d2 06 60F90608 Speed_Mode Default 0 means using...

Страница 152: ...0108 Store_Data Save or init parameters 1 save control parameters10 init control parameters 0 0 255 RW d3 01 20100310 Din1_Function See chapter 6 1 table 6 1 0x0001 0 65535 RWS d3 02 20100410 Din2_Fun...

Страница 153: ...factor unit mNM V 32768 32767 RWS d3 32 25020908 Analog_MaxT_Con Analog signal control max torque 0 not valid 1 max torque controlled by AIN1 2 max torque controlled by AIN2 0 0 255 RWS d3 33 2FF0221...

Страница 154: ...tor type LED JY KINCO AS 40 01 594A Y0 KINCO AS 60 02 3059 Y1 KINCO AS 60 04 3159 Y2 KINCO AS 80 07 3259 0 0 65535 RWS d4 02 64100208 Feedback_Type Type of encoder Bit0 UVW wire check Bit1 Nikon multi...

Страница 155: ...d4 24 64101C10 Index_Width Index signal width 8 RWS d4 25 64101D08 Encoder_Power_Delay Power delay on encoder 5 RWS 9 5 F005 This panel menu contains miscellaneous controller parameters Controller Pan...

Страница 156: ...User_Secret User secret 16 bit 0 0 65535 RWS d5 17 2F810008 CAN_Baudrate CAN baudrate setting 100 1M 50 500k 25 250k 12 125k 5 50k 50 0 65535 RWS d5 18 2FE20010 RS485_Baudrate RS485_Baudrate of RS485...

Страница 157: ...the servo drive 10 1 2 RS232 communication cable The MINIUSB5p to DB9 configuration cable is the adapter cable between the drive and the computer One end is connected to the RS232 DB9 pin header inter...

Страница 158: ...t recieving Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Bit 8 Bit 9 Drive ID Host receive CHKS 10 1 4 RS232 Data protocol The data protocol is different from the transmission protocol and its cont...

Страница 159: ...of the slave station the internal unit of 2FF0 09 is rpm 600 is decimal and hexadecimal is 258 Since the length of the object to be written is 4 bits but the calculation result is only two Bit should...

Страница 160: ...e low order first and the high order last If there is an error in the data the data of these four bits is not equal to the value of the slave object Example The master sends an upload command to the s...

Страница 161: ...010 Control word receive 01 60 40 60 00 2F 00 00 00 D0 Send 01 2B 40 60 00 4F 00 00 00 E5 4F receive 01 60 40 60 00 4F 00 00 00 B0 The trapezoidal speed is in decimal by default 60600008 Operation mod...

Страница 162: ...65536 641 003 4000000 receive 01 60 60 60 00 03 00 00 00 DC 60FF0020 Target speed 100RPM Send 01 23 FF 60 00 7E B1 E4 FF 6B receive 01 60 FF 60 00 7E B1 E4 FF 2E 60400010 Control word 2F Send 01 2B 4...

Страница 163: ...rnal parameters of the servo and monitor the servo status The communication line of the master station is connected to X4A IN and X14B OUT is connected to the next slave device Wiring is shown in Figu...

Страница 164: ...number can be changed by the DIP switch under the panel Details refers to Chapter 3 8 1 d5 18 2FE20010 RS485 baud rate Used to set the baud rate of RS485 value baud rate 1080 9600 540 19200 270 38400...

Страница 165: ...not exist the returned function code is 0x81 Example Sending message 01 03 32 00 00 02 CA B3 Message meaning 01 ID No 03 Function code read data register 32 00 The modbus address of the servo read onl...

Страница 166: ...4E82 decimal 1789570 convert to 100RPM ED 56 Check code 10 2 4 Communication troubleshooting measures When the communication connection between the driver and the Kinco Servo cannot be performed pleas...

Страница 167: ...ect vertically and parallel laying should be avoided as much as possible 4 Good grounding The motor power cable must use a cable with a shielded net the motor PE is connected to the ground terminal of...

Страница 168: ...the same layer on another device the actual communication takes place on two adjacent layers on each device and the devices are interconnected only through the physical medium of the model physical l...

Страница 169: ...wer to CAN Table 10 7 The longest distance table that can theoretically communicate with each baud rate Communication speed bit s Communication distance M 1M 25 800K 50 500K 100 250K 250 125K 500 50K...

Страница 170: ...llowing information Download upload Request response Segmented expedited transfer CAN frame data bit length used for alternately clearing and setting toggle bits for each subsequent segment 5 request...

Страница 171: ...t the command word is 0x40 If the received data is 1 bit the received command word is 0x4F if the received data is 2 bits the received command word is 0x4B if the received data is 4 bits the received...

Страница 172: ...parameter does not support mapping to PDO 0x06060000 The drive is in an error failure state and the object parameter access fails 0x06070010 Data type mismatch service parameter length mismatch 0x0607...

Страница 173: ...de 33 Send 601 2F 98 60 00 21 00 00 00 Receive 581 60 98 60 00 21 00 00 00 60990120 Origin turning signal speed 200RPM Send 601 23 99 60 01 03 9D 36 00 Receive 581 60 99 60 01 03 9D 36 00 60990220 Ori...

Страница 174: ...dal acceleration 100rps s Send 601 23 83 60 00 6E A3 01 00 Receive 581 60 83 60 00 6E A3 01 00 60840020 trapezoidal acceleration 100rps s Send 601 23 84 60 00 6E A3 01 00 Receive 581 60 84 60 00 6E A3...

Страница 175: ...ely high bus utilization Description of PDO s COB ID COB ID is a unique method of CANopen communication protocol its full name is Communication Object Identifier communication object ID These COB IDs...

Страница 176: ...eer object for CANopen master slave connection set Object Function code ID bits 9 7 COB ID Index of communication parameters in OD Emergency 0001 081H 0FFH 1024H 1015H PDO1 Send 0011 181H 1FFH 1800H P...

Страница 177: ...0x400 Servo station NO 4 0x500 Servo station NO PDO Transmission type PDO has two different transmission type Synchronize SYNC Transmission triggered by synchronization messages Transmission type 0 24...

Страница 178: ...fer mode in ms Note that when using event time the inhibit time should be set to 0 Description of protection method supervision type Supervision type refers to which inspection method the master stati...

Страница 179: ...176 Table 10 17 meaning of status value When a Heartbeat node starts up its Boot up message is its first Heartbeat message Status value Meaning 0x00 boot up 0x04 Stopped 0x05 Operational 0x7f Pre ope...

Страница 180: ...mber status Table 10 18 slave station response message COB ID Byte 0 0x700 Node_ID Bit7 trigger bit Bit6 Bit0 status Table 10 19 The meaning of the status value of the response message from the slave...

Страница 181: ...ter the device is initialized it automatically enters the Pre_Operational state and sends a Boot up message The NMT message format is as follows NMT Master NMT Slave s Table 10 20 Format of NMT managi...

Страница 182: ...Drive bus voltage too high 0x3210 Motor model configuration error 0x6320 Drive bus voltage too low 0x3220 Phase loss of motor power line 0x6321 Drive power section short circuit or motor short circui...

Страница 183: ...the host computer software interface click Drive ECAN Configuration Other to enter the parameter setting interface When the master station with network management function is powered on it will initi...

Страница 184: ...e master station can monitor the current status of each node The master station sends a remote frame to inquire about the node status with the node guard time as a period The node needs to respond wit...

Страница 185: ...format is HEX 10160120 Slave heartbeat message 7F000 0 10 3 4 Interpolation mode based on CANopen The interpolation mode is suitable for single axis operation control and multi axis synchronous contro...

Страница 186: ...108 ECAN sync period In interpolation mode it is set according to the synchronization message cycle of the master station value synchronization period 0 1ms 1 2ms 2 4ms 3 8ms Users define 30110208 ECA...

Страница 187: ...king resistor power W Ref VDC Min Min Max Ref FD425 A 200W 39 100 75 T 75R 100 100 500 400W 750W FD425 F 1000W 27 51 39 T 39R 200 200 500 FD435 A 1500W 2000W FD625 A 1500W 47 150 75 T 75R 100 200 500...

Страница 188: ...rnal fault Attention CANopen address and 232 communication address are the same Express register addressing in the form of Index 16 bit address and Subindex 8 bit sub address The digit 0x08 indicates...

Страница 189: ...r Origin error bit14 Find motor excitation bit15 Origin found Operation mode 60600008 3500 RWM Integer8 Operating mode 1 Positioning mode with position loop 3 Speed mode with position loop 4 Torque Mo...

Страница 190: ...1 Clockwise is the positive direction Target position 607A0020 4000 RWM Integer32 The target position in position mode 1 if the control word is set to start motion transitions to the valid command po...

Страница 191: ...FD5 188 rated torque Target current 60F60810 5880 RWM Integer16 Current command in torque mode Target current limit 60730010 3D00 RWSM Unsigned1 6 The maximum value of the current command the unit is...

Страница 192: ...nteger32 Multi stage position control 7 20201320 0D30 RWS Integer32 Multi stage speed control 0 20200520 0C50 RWS Integer32 Multi stage speed control 1 20200620 0C60 RWS Integer32 Multi stage speed co...

Страница 193: ...Kinco FD5 190 control 4 Multi stage speed control 5 20201520 0D50 RWS Integer32 Multi stage speed control 6 20201620 0D60 RWS Integer32 Multi stage speed control 7 20201720 0D70 RWS Integer32...

Страница 194: ...s the reach speed signal together with 0x60F91C20 Zero speed output speed window 20101810 0980 RWS Unsigned16 Error window when actual speed is 0 Zero speed output time 60F91410 6440 RWS Unsigned16 Ze...

Страница 195: ...igin offset 607C0020 4100 RWSM Integer32 Offset value after homing unit inc Origin Offset Mode 60990508 5050 RWS Unsigned8 Origin Offset Mode Control 0 run to the origin offset position the actual pos...

Страница 196: ...Kinco FD5 193 Output filter 60F90508 6350 RW Unsigned8 velocity output filter of velocity loop BW Speed_Fb_N 20 100 H z...

Страница 197: ...position loop Smoothing filter 60FB0510 6850 RWS Unsigned16 Modify in the disabled state Actual position save enable 60FB0608 RWS Unsigned8 Used to control whether to save the actual position when the...

Страница 198: ...00 RWS Unsigned16 input port status 20100A10 08A0 RM Unsigned16 bit0 Din1 bit1 Din2 bit2 Din3 bit3 Din4 output port status 20101410 0940 RM Unsigned16 bit0 Dout1 bit1 Dout2 Change the input signal pol...

Страница 199: ...Kinco FD5 196 Output port signal simulation 20100E10 08E0 RWM Unsigned16 bit0 Dout1 bit1 Dout2 bit2 Dout3 bit3 Dout4 bit4 Dout5...

Страница 200: ...nction signal 0 2000 Start to find the origin 2000 Multifunction Signal 1 4000 Command activated 4000 Multifunction Signal 2 8001 Din speed index 2 9001 Position table running 8002 Din position index...

Страница 201: ...fore electronic gear 25080410 0x1940 RWM Integer16 Number of input pulses before electronic gear Number of input pulses after electronic gear 25080510 0x1950 RW Integer16 Number of input pulses after...

Страница 202: ...Kinco FD5 199 Note The control loop parameters are stored excluding motor parameters Store motor parameters set 2FF00308 2930 RW Unsigned8 1 Store all motor parameters set...

Страница 203: ...connection alarm bit 3 Encoder count alarm bit 4 Driver high temperature alarm bit 5 Driver high voltage alarm bit 6 Driver low voltage alarm bit 7 Driver overcurrent alarm bit 8 Absorption resistance...

Страница 204: ...controlled stop 1 Curve stop 2 Quick stop deceleration stop Disable stop mode 605C0010 3420 RWS Integer16 0 Uncontrolled stop 1 Curve stop 2 Quick stop deceleration stop Pause mode 605D0010 3430 RWS I...

Страница 205: ...e motor model and use the motor parameters corresponding to the motor library in the driver Device restart 2FFF0010 2F00 RW Unsigned16 Turn on bootloader 55AA turn on bootloader AA55 Drive restart Ana...

Страница 206: ...Kinco FD5 203...

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