Kinco CD2S Series, CD412S, CD422S, CD432S, CD622S User Manual

Contents

Contents ................................................................................................................................................................... 1

Chapter 1 Product Acceptance & Model Description ............................................................................................... 4

1.1 Product Acceptance ............................................................................................................................. 4

1.1.1 Items for Acceptance (Wires Included) .............................................................................. 4

1.1.2 Nameplate of Servo Driver ................................................................................................. 4

1.1.3 Nameplate of Servo Motor ................................................................................................. 5

1.2 Component Names .............................................................................................................................. 5

1.2.1 Component Names of CD2S Servo Driver ........................................................................ 5

1.2.2 Component Names of Servo Motor ................................................................................... 6

1.3 Model Description of Servo Motors and Drivers .................................................................................. 6

1.3.1 Servo Drivers ...................................................................................................................... 6

1.3.3 Power,Brake and Encoder cable of Motors ....................................................................... 8

Chapter 2 Precautions and Installation Requirements ............................................................................................. 9

2.1 Precautions .......................................................................................................................................... 9

2.2 Environmental Conditions .................................................................................................................... 9

2.3 Mounting Direction & Spacing.............................................................................................................. 9

2.3.1 Precautions ........................................................................................................................ 9

2.3.2 Servo Driver Installation ................................................................................................... 10

Chapter 3 Interfaces and Wiring of CD2S Driver ................................................................................................... 13

3.1 Interfaces of CD2S Driver .................................................................................................................. 13

3.1.1 Interfaces .......................................................................................................................... 13

3.1.2 Wiring Diagram ............................................................................................................................... 15

3.1.3 X1 interface of CD2S Driver ........................................................................................................... 16

3.1.4 Power Interface X3 of CD2S Driver（CD432S/CD622S X3 and X7） ....................................... 17

3.1.5 X5 and X6 Interfaces of CD2S Driver ............................................................................................. 18

3.1.5.1 X5 Interface ............................................................................................................................... 18

3.1.5.2 X6 Interface ................................................................................................................ 18

Chapter 4 Digital Operation Panel .......................................................................................................................... 19

4.1 Introduction ........................................................................................................................................ 19

4.2 Operation on Digital Operation Panel ................................................................................................ 21

Example 4-1: Set the denominator of electronic gear ratio to 10000 with number system

switching .................................................................................................................................... 21

Example 4-2: Set the speed to 1000 RPM/-1000 RPM with separate regulation of bits .......... 22

Chapter 5 Motor Selection,Trial Operation and Parameter List ............................................................................. 24

5.1 Driver and motor configuration .......................................................................................................... 24

5.2 Trial Operation ................................................................................................................................... 27

5.2.1 Objective........................................................................................................................... 27

5.2.2 Precautions ...................................................................................................................... 27

5.2.3 Operating Steps ................................................................................................................ 28

5.2.4 Diagram of Trial Operation ............................................................................................... 28

5.3 EASY USE ......................................................................................................................................... 28

5.4 Description of Parameters ................................................................................................................. 34

Chapter 6 Operation on Input/Output Ports ........................................................................................................... 46

6.1 Digital Input Signals ........................................................................................................................... 46

6.1.1 Polarity Control on Digital Input Signals ........................................................................... 46

Example 6-1: Polarity Setting for Digital Input Signal DIN1 ...................................................... 47

6.1.2 Simulation of Digital Input Signals ................................................................................... 47

Example 6-2: Simulate digital input DIN1 ................................................................................. 48

6.1.3 Status Display of Digital Input Signals ............................................................................. 48

6.1.4 Addresses & Functions of Digital Input Signals ............................................................... 48

6.1.5 Multiple electronic gear ratio switch function and multiple gain switch function .............. 50

Example 6-3: Driver Enable Setting .......................................................................................... 51

Example 6-4: Disabling Position Positive/Negative Limit Settings ........................................... 51

Example 6-5: Operation Mode Control on Drivers .................................................................... 52

6.1.6 Wiring of Digital Input Port ............................................................................................... 52

6.2 Digital Output Signals ........................................................................................................................ 53

6.2.1 Polarity Control on Digital Output Signals ........................................................................ 53

6.2.2 Simulation of Digital Output Signals ................................................................................. 53

6.2.3 Status Display of Digital Output Signals ........................................................................... 54

6.2.4 Addresses and Functions of Digital Output Signals ......................................................... 54

Example 6-6: ―Ready‖ settings .................................................................................................. 55

6.2.5 Wiring of Digital Output Port ............................................................................................. 55

Chapter 7 Mode Operation ..................................................................................................................................... 58

7.1 Pulse Control Mode (―-4‖ Mode) ........................................................................................................ 58

7.1.1 Wiring in Pulse Control Mode........................................................................................... 58

7.1.2 Parameters for Pulse Control Mode ................................................................................. 59

7.1.3 Examples of Pulse Control Mode ..................................................................................... 62

Example 7-1: Pulse control mode ―-4‖ – enable the driver through external digital input ........ 63

Example 7-2 Pulse control mode ―-4‖ – enable the driver automatically after driver power on 64

7.2 Speed Mode (―-3‖ or ―3‖ Mode) .......................................................................................................... 65

7.2.1 Wiring in Analog – Speed Mode ....................................................................................... 66

7.2.2 Parameters for Analog – Speed Mode ............................................................................. 66

7.2.3 Analog Signal Processing ................................................................................................ 67

7.2.4 Examples of Analog – Speed Mode ................................................................................. 67

7.3 Torque Mode (―4‖ Mode) .................................................................................................................... 68

7.3.1 Wiring in Analog – Torque Mode ...................................................................................... 68

7.3.2 Parameters for Analog – Torque Mode ............................................................................ 68

7.3.3 Analog Signal Processing ................................................................................................ 69

7.3.4 Examples of Analog – Torque Mode ................................................................................ 70

7.4 Internal Multi-position Control Modes (―1‖ Mode) .............................................................................. 72

Example7-3: Internal Multi-position control mode ..................................................................... 73

7.5 Internal Multi-speed Control Modes (―-3‖ or ―3‖ Mode) ...................................................................... 75

Example 7-4: Internal Multi-speed control ................................................................................ 76

7.7 Homing Mode (―6‖ Mode) ................................................................................................................... 77

Example 7-5：Using method 7 for homing. .............................................................................. 84

Chapter 8 Control Performance ............................................................................................................................. 90

8.1 Driver Performance Tuning ................................................................................................................ 90

8.1.1 Manual Adjustment ........................................................................................................... 90

8.2 Oscillation Inhibition ........................................................................................................................... 94

8.3 Auto reverse ........................................................................................................................ 95

8.4 Debugging example ........................................................................................................................... 96

8.4.1 Oscilloscope ..................................................................................................................... 96

8.4.2 Procedure for Parameter Adjustment ............................................................................... 97

Chapter 9 Communication .................................................................................................................................... 103

9.1 Transport Protocol ........................................................................................................................... 103

9.2 Data Protocol ................................................................................................................................... 104

9.2.1 Download(from Host to Slave) ....................................................................................... 104

9.2.2 Upload(From Slave to Host) ........................................................................................... 105

Chapter 10 Troubleshooting ................................................................................................................................. 108

10.1 Alarm Messages ............................................................................................................................ 108

Table 10-1 Fault codes ......................................................................................................................................... 108

10.2 Alarm Causes & Troubleshooting .................................................................................................. 109

Chapter11 Appendix ............................................................................................................................................. 110

Appendix 1: Selection Table for Brake Resistor .................................................................................... 110

Appendix 2:Selection Table for Fuse ...................................................................................................... 111

Item for Acceptance

Remark

Whether the model of a delivered CD2S series servo system is consistent with the specified model

Check the nameplate of a servo motor and that of a servo driver

Whether the accessories 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 screws are loose

Check for loose screws with a screwdriver

Whether the motor wiring is correct

Purchase motor accessory packages if no

wires are purchased

Chapter 1 Product Acceptance & Model

Description

1.1 Product Acceptance

1.1.1 Items for Acceptance (Wires Included)

Table 1-1 Product acceptance

1.1.2 Nameplate of Servo Driver

Fig. 1-1 Nameplate of a servo driver

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

1.2 Component Names

1.2.1 Component Names of CD2S Servo Driver

Fig. 1-3 Component Names of CD2S Servo Driver

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

1.3.3 Power,Brake and Encoder cable of Motors

Environment

Condition

Temperature

Operating temperature: 0C - 40C (ice free)

Storage temperature: - 10C - 70C (ice free)

Humidity

Operating humidity: below 90% PH (non-condensing)

Storage humidity: below 90% PH (non-condensing)

Air

Indoor (No direct sunlight), no corrosive gas or combustible gas

No oil vapor or dust

Height

Below 1000 m above the sea level

Vibration

5.9 m/s2

Chapter 2 Precautions and Installation

Requirements

A Kinco CD2S series servo driver is installed on a base. If a driver is not installed properly, some faults may

occur. To avoid this, install the driver by abiding by the following precautions.

2.1 Precautions

1. Tightly fasten the screws that fix the motor;

2. Make sure to tightly fasten all fixed points when fixing the driver;

3. Do not tighten the cables between the driver and the motor/encoder;

4. Use a coupling shaft or expansion sleeve to ensure that both the motor shaft and equipment shaft are properly centered;

5. Do not mix conductive materials (such as screws and metal filings) or combustible materials (such as oil) into the servo driver;

6. Avoid the servo driver and 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 Environmental conditions

2.3 Mounting Direction & Spacing

2.3.1 Precautions

1. To prevent possible faults, install a servo driver in a proper direction;

2. To prevent possible faults, ensure that the space between a servo driver and the inner wall of the control

cabinet as well as that between the servo driver and the neighboring driver are the same as specified space..

2.3.2 Servo Driver Installation

1. Installing a servo driver:

Fig. 2-1 Installing a servo driver

2. Installing multiple servo drivers:

Ensure that there is 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 environmental temperature on the servo driver, you need to keep an even temperature in the control cabinet.

Fig. 2-2 Installing multiple servo drivers

3. Other Cases

Install 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 direction

Interface

Driver

Symbol

Function

CD412S CD422S CD432S CD622S

COMI

Common terminal of digital inputs

DIN1～DIN7

Digital inputs. Valid signal:12.5V～24V.Invalid signal:<5V

OUT1+

Digital output 1+

OUT1-

Digital output 1-

OUT2+

Digital output 2+

OUT2-

Digital output 2-

OUT3

Digital output 3

OUT4

Digital output 4

COMO

Common terminal of digital outputs

GND

Ground signal

ENCO-Z

Motor encoder output interface

ENCO-/Z

ENCO-B

ENCO-/B

ENCO-A

ENCO-/A

AIN1

Analog signal input 1. Input impedance: 200 K

GNDA

Ground signal of analog

AIN2

Analog signal input 2. Input impedance: 200 K

GNDA

Ground signal of analog

PUL+

Pulse or positive pulse interface (+)

Input voltage range：3V～24V

PUL-

Pulse or positive pulse interface (-)

DIR+

Direction or negative pulse interface (+)

DIR-

Direction or negative pulse

Chapter 3 Interfaces and Wiring of CD2S Driver

3.1 Interfaces of CD2S Driver

3.1.1 Interfaces

Table 3-1 Interfaces of CD412S/CD422S/CD432S/CD622S

interface (-)

24VS/GNDS

Logic power supply:‖18VDC～30VDC 1A‖

24VB/GNDB

Power supply for brake ―18VDC～30VDC 0.5A‖ (CD622S 2A)

BR+/BR-

Brake interface

CD412S CD422S

U/V/W/PE

Motor cable interface

L/N

Main power supply（Single-phase AC220V）

RB+/RB-

Braking resistor interface

CD412S CD422S CD432S CD622S

RS232

RS232 interface

ENCODER IN

Encoder cable interface

CD432S CD622S

R/S/T

Main power supply（ CD432S： Single phase or 3-phase AC220V，CD622S：3-phase AC380V）

RB+/RB-

Braking resistor interface

DC+/DC-

DC bus power supply(Cannot use together with R/S/T)

3.1.2 Wiring Diagram

Fig.3-1 Wiring diagram of CD2S driver

3.1.3 X1 interface of CD2S Driver

Fig.3-2 X1 interface

Fig.3-3 Wiring diagram of X1 interface

CD412S/422S(AC220V)

CD432S(AC220V)

CD622S(AC380V)

3.1.4 Power Interface X3 of CD2S Driver（CD432S/CD622S X3 and X7）

Fig.3-4 Power interface of CD2S driver

Interface

Pin No.

Signal

Description

Function

(9-pin female

connector)

N/A

RS232 communication interface

To transmit data

To receive data

N/A

GND

Ground of signal

N/A

Interface

Pin No.

Signal

Description

Function

(15-pin female

connector)

+5V

To output 5 V voltage

Input interface of encoder in motor

GND

0 V

PTC_IN

N/A

To input phase-A signals of encoder

/A 3 B

To input phase-B signals of encoder

/B 4 Z

To input phase-Z signals of encoder

To input phase-U signals of encoder

/U 6 V

To input phase-V signals of encoder

To input phase-W

3.1.5 X5 and X6 Interfaces of CD2S Driver

3.1.5.1 X5 Interface

3.1.5.2 X6 Interface

Number/ Point/Key

Function

①

Indicates whether data is positive or negative. If it is on, it indicates negative; otherwise it indicates positive.

②

1. Distinguishes the current object group and the address data in this object group during parameter settings.

2. Indicates the higher 16 bits of the current 32-bit data when internal 32-bit data is displayed in

signals of encoder

Chapter 4 Digital Operation Panel

4.1 Introduction

A digital operation panel functions to set user parameters in a servo driver, execute instructions, or display

parameters. Table 4-1 describes all display contents and functions of the digital operation panel.

Table 4-1 Display contents and functions of a digital operation panel

real time.

3. Indicates the earliest error when history records of errors (F007) are displayed.

③

1. Indicates a data display format when parameters are displayed and adjusted in 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 displayed.

④

1. If it is on, it indicates that internal data is currently displayed.

2. If it flickers, it indicates that the power part of the driver is in the working status.

MODE

1. Switches basic menus.

2. During the adjustment of parameters, short presses the key to move the bit to be adjusted, and long presses the key to return to the previous state.

▲

Presses ▲ to increase set values; long presses ▲ to increase numbers promptly.

▼

Presses ▼ to decrease set values; long presses ▼ to decrease numbers promptly.

ENTER

1. Enters the selected menu by pressing this key.

2. Keeps current parameters in the enabled status.

3. Confirms input parameters after parameters are set.

4. Long presses this key to switch to higher/lower 16 bits when internal 32-bit data is displayed in real time.

P..L

Activates position positive limit signals.

n..L

Activates position negative limit signals.

Pn.L

Activates position positive/negative limit signals.

Overall Flicking

Indicates that an error occurs on the driver, and is in the alarm state.

If the parameter adjusting display mode is featured by the decimal system: When the units place is flickering, press ▲ to add 1 to the current value; press ▼ to deduct 1 from the

current value. When the tens place is flickering, press ▲ to add 10 to the current value; press ▼ to deduct 10

from the current value. When the hundreds place is flickering, press ▲ to add 100 to the current value; press ▼

to deduct 100 from the current value. When the thousands place is flickering, press ▲ to add 1000 to the current

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 value; press ▼ to deduct 1 from the

current value. When the tens place is flickering, press ▲ to add 0X10 to the current value; press ▼ to deduct

0X10 from the current value. When the hundreds place is flickering, press ▲ to add 0X100 to the current value;

press ▼ to deduct 0X100 from the current value. When the thousands place is flickering, press ▲ to add 0X1000

to the current value; press ▼ to deduct 0X1000 from the current value.

When adjusting decimal parameters, the display mode is automatically switched to the hexadecimal system if the data is greater than 9999 or less than -9999. In this case, the 3rd decimal point from left to right is highlighted.

Power ON

Press MODE Switching of basic menus

Parameter display (current speed is displayed by default)

Press

Set driver instructions

Set real-time display of data

Set control loop parameters

Settings

I/O parameters

Mode operation parameters

Set motor parameters

Set driver parameters

Trial operation

Check wrong history records

Loop

4.2 Operation on Digital Operation Panel

Fig. 4-1 Operation on a digital operation panel

Note: If a non real-time display interface is displayed for the control panel, and no key operation occurs, the real-time display interface is automatically skipped after 20 seconds to avoid misoperation.

Example 4-1: Set the denominator of electronic gear ratio to 10000 with number system switching

1. Press MODE. The main menu is displayed. Choose F003.

2. Press ENTER. The interface for selecting addresses is displayed.

3. Press ▲ to adjust data as d3.35.

4. Press ENTER to display the current value d3.35. Press ENTER again to modify the value d3.35. In this case,

the 1st number at the right side is flickering. Short press MODE for three times to move to the first position on

the left. Then press ▲. The value is increased to 9000. In this case, the current data is decimal.

5. Press ▲ again. The content of numeric display changes to ―271.0‖, and the 3rd decimal point (from left to

right) flickers. In this case, the data is hexadecimal. Press ENTER to confirm the current value. The 1st

decimal point on the right flickers. In this case, the denominator of the electronic gear ratio is modified 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 interface for selecting addresses is displayed.

3. Press ▲ to adjust data as d0.02.

4. Press ENTER to display the current value d0.02. Press ENTER again to modify the value d0.02. In this case,

the 1st number at the right side is flickering.

5. Short press MODE for three times to move to the 1st position on the left. Press ▲ to modify the value to 1.

Press ENTER to confirm the current value. The 1st decimal point on the right flickers. In this case, the speed

is 1000 RPM.

6. Press ▼ to modify the value to -1. In this case, the 1st decimal point on the left flickers, indicating that the

current data is negative. Press ENTER to confirm the current value. The 1st decimal point on the right flickers.

In this case, the speed is -10000 RPM.

Fig. 4-3 Separate regulation of bits

Chapter 5 Motor Selection,Trial Operation and

Parameter List

5.1 Driver and motor configuration

There is no default motor type set in driver,so users need to set the motor model before using the driver.Please refer to the selection table when setting the motor model.

1. Customers have the data file（No need to configure motor） Use the CD-PC software to download data file to servo driver, then driver and motor can work

normally. Please contact us if there is any problem after downloading. In CD-PC, click the Extend-->Write Driver Config. Then open the data file (For example, name.cdi), write it to driver.

Note: You should download the new version software from our website: http://www.kinco.cn/en/

Fig.5-1 Data file downloading

2. Customers do not have data file（They need configure motor model in servo） Customers can configure the motor’s model according to servo/motor configuration table mentioned

above, then set the parameters according to the application. If the motor’s model do not configure properly,

the driver and motor may not work normally. You can configure motor model via keys on servo or CD-PC software. （1）Configure Motor（Keys Operation）

Fig.5-2 Flow chart for configuring motor by key

Please configure the right motor’s model before restart. If customers want to reset the motor model, they should set D4.19 to 303.0 (Press ENTER to confirm) and then d4.00 to 1(Save motor parameters), after restart the servo they can reset motor model and servo parameters according to the above chart

(2) Configure Motor (CD-PC Software Operation) Connect the servo to PC, open the CD-PC, then Menu—Driver—Control Panel—F004, in the F004, in

the F004, set the 19th operation: Motor Num (Please refer to the servo and motor configuration table), after that press Enter to confirm, then restart servo.

Please configure the right Motor’s model before restart. If the customers want to reset the motor model, they should set D4.19 (Motor Num in F004) to 00(Press ENTER to confirm), then enter the Initialize/Save page, click the Save motor parameters. After restart the servo, they can reset the motor model and set servo parameters.

Fig.5-3 Configure motor by software

5.2 Trial Operation

5.2.1 Objective

The trial operation allows you to test whether the driver works properly, and whether the motor runs stably.

5.2.2 Precautions

1. Ensure that the motor is running without load. If the motor flange is fixed on the machine, ensure that the

motor shaft is disconnected from the machine.

2. Ensure that motor cables, motor encoder cables, and power circuits (power lines and control power lines)

are properly connected. For details, see Chapter 3.

3. During the trial operation, if you long press ▲ or ▼ when the motor is running, pulse signals, digital input

signals, and analog signals of the external controller are temporarily unavailable, so safety must be

ensured.

4. During the trial operation, the system automatically adopts the instantaneous speed mode, that is, the

―-3‖ mode.

5. After the trial operation, Group F006 exits automatically. To enter Group 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 rotation speed is 0 and the actual current value is the maximum

value. In this case, make sure to release the button; then check cable connection and test it again.

7. Don’t use trial operation if the keys are broken.

5.2.3 Operating Steps

1. Press MODE to enter Group F004. Select the object address ―d4.18‖, and check the motor type.

2. Press MODE to enter Group F000. Select the object address ―d0.02‖, and set the target speed to

―SpeedDemand_RPM".

3. Press MODE to enter Group F006. Arrange a test for keys, with the default value of d6.40. Firstly, press

▼ to adjust the data to d6.31. Then, press ▼, the data automatically changes to ―d6.15‖. Finally, press ▲

to adjust the data to d6.25.

4. Press ENTER to activate trial operation. In this case, the numeric display is ―adc.d‖, and the motor shaft

releases. When long pressing ▲ or ▼, the motor automatically locks, and runs according to

―+SpeedDemand_RPM‖ or ―-SpeedDemand_RPM‖ separately. During the trial operation, the numeric

displays the motor speed in real time.

5.2.4 Diagram of Trial Operation

Fig.5-4 Flow chart for trial operation

5.3 EASY USE

Easy use is used to help users rapidly set control loop parameters, so as to avoid complex steps of adjusting servo. After adjusting, driver's performance will be fine in most of applications. And this also open another isolated area, which is convenient for users to set significant parameters.

LED

Parameter

Description

Default

EA01

Motor Type

For a new motor controller, the set motor type is ―00‖ and ―3030‖ appears at

the LED display. If the new motor controller is connected to a valid motor, the motor type is auto-recognized and saved. The motor type saved in the controller and the connected motor type are

compared later on. If they are different, ―FFFF‖ flashes at the LED display.

The user needs to confirm the EA01 value, save motor data and reboot the controller to eliminate this state. Examples of motor type, motor code and EA01 display value. Motor type Motor code/ LED display

AAK/LED JAK/LED KAK/LED SMH40S-0010-30xxx-4LKH KY/594B JY/594A MY/594D SMH40S-0005-30xxx-4LKH KZ/5A4B JZ/5A4A MZ/5A4D SMH60S-0020-30xxx-3LKH K0/304B

Easy Use operation steps

1. EASY includes common parameters. Please ensure each of them one by one and save by EA00.

1.1 If motor type (EA01) does not change, set 1 to EA00 and save parameters in forward steps.

1.2 If motor type (EA01) does not change, set 2 to EA00. Then save parameters in forward steps and reboot driver.

1.3 After finishing EASY, please make motor run. If performance is good, it is unnecessary to operate TunE. Otherwise, re-operate TunE.

2. TunE process is inertia measuring process. It is valid after inputting value, but they are needed to be saved by Tn00.

2.1 After making inertia measuring via Tn03, drive will change stiffness (Tn01) according to setting.

2.2 Please run the driver and motor. If performance is not ideal, please modify stiffness step by step via Tn01. Please note that adjusting and observing performance should be at the same time.

Note:

1. Inertia measuring might cause shake of machine. Please close power supply or driver at once.

2. After execute EASY process, we strongly suggest to execute TunE and adjust stiffness level.

3. Design aim of EASY and TunE is to solve the problem of panel operation. If users use software to init parameters or change motor type, only EA00, EA01 and Tn00 can displayed on the menu of EASY and TunE. Users must ensure motor type via EA01, driver will restore defaults and display complete EASY and TunE menu.

Reason for the failure of tuning: Incorrect wiring Incorrect setting of motor type Mechanical stiffness is too low Mechanical intermittent exists. Acc/Dcc is lower than stickiness friction torque

Table 1 EASY menu parameters

SMH60S-0040-30xxx-3LKH K1/314B

EA02

Command Type

The command type affects controller-internal interface settings, the initial operation mode after power on and the default settings for DIN- and OUT functions (refer to table 4-3). 0: CW/CCW pulse 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 by AIN2 Operation mode = -3 8: Communication 9: Position table mode Operation mode = 1

EA03

Gear Factor Numerator

Used when EA02 is set to 0-2. By default, the display shows the values in decimal format. If the number is greater than 9999, the display is in hexadecimal format.

1000

EA04

Gear Factor Denominator

1000

EA05

Analog Speed Factor

Used when EA02 is set to 6 or 7. The relationship between analog input voltage and motor velocity the unit of measure is rpm/V. For controller use with standard KINCO-AS motors, the maximum value is 374, the maximum velocity is 3740rpm/10v/. For more details see chapter 9.3 (d3.29).

300

EA06

1.Load type

2.Application

3.Limit switch

4. Alarm output polarity

The meaning of each digit of the LED display from right to left. (1) Load type, influences the control loop. 0: No load 1: Belt drive 2: Ball screw (2) Application, influences the control loop. 0: P2P 1: CNC 2: Master / slave mode (3) Limit switch. 0: Controller default 1: Delete the limit switch function (4) Polarity of OUT5 0: Normally closed contacts 1: Normally open contacts

1001

EA07

Homing method

Refer to chapter 6.6

EA00

Save Parameters

Write ―1‖ to save control and motor parameters. Write ―2‖ to save control and motor parameters and reboot the servo. Write ―3‖ to reboot the servo. Write ―10‖ to initialize the control parameters.

Notice:

Users must save control and motor parameters and reboot the controller after changing the motor type in EA01. After saving the parameters, the servo will set the control loop parameters according to the load type and application.

Table 2 Stiffness and control loop settings

Stiffness

Kpp/[0.01Hz]

Kvp/[0.1Hz]

Output filter

[Hz]

Stiffness

Kpp/[0.01Hz]

Kvp/[0.1Hz]

Output filter

[Hz]

18 16

1945

700

464 1 98

24 17

2223

800

568 2 139

35 18

2500

900

568 3 195

49 19

2778

1000

733 4 264

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

750

270

189 26

8612

3100

1765

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

∞

Note: When setting for the stiffness or inertia ratio results in a Kvp value of greater than 4000, it isn't useful to increase stiffness any more.

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 not fig ure out by

adjusting th e stiffness

Good

Flowchart of EASY use function

EASY flowchart

Note: The menu is exited automatically if there is no operation in 60s, and users have to start again. Entered data is valid immediately, but must be saved via EA00.

Flowchart for the TunE menu

SET

▲

▼▲

Stiffness

Write “1”to start

inertia ratio measuring

Measuring Distance,unit is 0.01 cycle

Inertia ratio, unit is 0.1

Write 1 to save all the parameters Write 2 to save all the parameters and restart servo

MODE

Circle

SET SET

Long Press MODE

▼

LED is blinking, Press MODE can shift.

the parameters below

display in the same way.

Confirm the parameter ,the first dot on the right will

lighten. the parameters below

display in the same way.

SET

SET SET

adjusted by “▼▲”level by level

and will be valid immediately

SET

Long Press MODE

Write automatically after inertia measuring. Or written by user. adjusted by “▼▲”level by level and will be valid immediately

Numeric Display

Internal Address

Variable Name

Meaning

Default Value

Range

Note: Note: Data inputted are valid at once, but must be saved via Tn00. Considering about safety, it is unnecessary to press "SET" to verify when users need to modify stiffness or inertia ratio. Data are also valid but are only adjusted step by step.

5.4 Description of Parameters

Group F000 represents an instruction group, and the parameters in this group cannot be saved.

The address d4.00 is used to save the motor parameters set for Group F004. Note that this group of parameters must be set when customers choose third-party motors, but these parameters need not to be set for the motors delivered and configured by our company. d2.00, d3.00 and d.5.00 represent the same address, and are used to save all setup parameters except those of motors (Group F001/F002/F003/F004/F005). Three numeric objects (d2.00/d3.00/d5.00) are developed to facilitate customers.

Parameter List: Group F000 (To Set Driver Instructions)

d0.00

60600008

Operation_Mode

0.004 (-4): Pulse control mode, including pulse direction (P/D) and double pulse (CW/CCW) modes. 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 signals control the driver.

-4

N/A

d0.01

2FF00508

Control_Word_E asy

000.0: Releases the motor

000.1: Locks the motor

001.0: Clears errors Note: Only applied in the situation where enabling a driver or wrong resetting is not controlled by external signals. After the wrong reset of the driver, the motor must be enabled again.

N/A

d0.02

2FF00910

SpeedDemand_ RPM

Sets the motor’s target rotation speed when the driver works in the ―-3‖ or ―3‖

mode and the address d3.28 is set to 0 (without external analog control).

N/A

d0.03

60710010

CMD_q

Sets input torque instructions (current instructions) when the driver works in the ―4‖ mode and the address d3.30 is set to 0 (without external analog control).

-2047~2047

d0.04

2FF00A10

Vc_Loop_BW

Sets the velocity loop bandwidth. The unit is Hz. This variable can only be set after auto tuning is performed properly; otherwise the actual bandwidth goes wrong, which causes abnormal working of the driver. If the auto tuning result is abnormal, setting this parameter may also cause abnormal working of the driver. Note: This parameter cannot be applied when auto tuning is unavailable. After setting this parameter, apply d2.00 to save the settings as required.

0~600

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 required.

0~100

d0.06

2FF00C10

Tuning_Start

If the variable is set to 11, auto tuning

N/A

starts. All input signals are neglected during auto tuning. The variable is automatically changed to 0 after auto tuning is completed. Sets the variable to other values to end auto tuning.

Numeric Display

Internal Address

Variable Name

Displayed Content

d1.00

2FF00F20

Soft_Version_LED

Software version of numeric display

d1.01

2FF70020

Time_Driver

Accumulated working time of the driver (S)

d1.02

2FF01008

Motor_IIt_Rate

Ratio of real iit to the maximum iit of a motor

d1.03

60F61210

Motor_IIt_Real

Actual data of motor overheat protection

peak

rms

Motor_IIt_Real*512

2047



d1.04

2FF01108

Driver_IIt_Rate

Ratio of real iit to the maximum iit of a driver d1.05

60F61010

Driver_IIt_Real

Actual data of driver overheat protection

d1.06

2FF01208

Chop_Power_Rate

Ratio of actual power to rated power of a braking resistor

d1.07

60F70D10

Chop_Power_Real

Actual power of a braking resistor

d1.08

60F70B10

Temp_Device

Temperature of a driver (°C)

d1.09

60790010

Real_DCBUS

Actual DC bus voltage

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

Filter output of external analog signal 1

d1.14

25021010

Analog2_out

Filter output of external analog signal 2

d1.15

26010010

Error_State

Error state

d1.16

26020010

Error_State2

Error state word 2

d1.17

60410010

Status_Word

Driver status word

d1.18

60610008

Operation_Mode_Buff

Efficient working mode of a driver

d1.19

60630020

Pos_Actual

Actual position of a motor

d1.20

60FB0820

Pos_Error

Position following error

d1.21

25080420

Gear_Master

Count of input pulses before electronic gear

d1.22

25080520

Gear_Slave

Count of executed pulses after electronic gear

d1.23

25080C10

Master_Speed

Pulse speed entered by the master axis (pulse/mS)

d1.24

25080D10

Slave_Speed

Pulse speed of the slave axis (pulse/mS)

Parameter List: Group F001 (To Set Real-Time Display Data)

d1.25

606C0010

Real_Speed_RPM

Real speed (rpm) Internal sampling time: 200 mS

d1.26

60F919

Real_Speed_RPM2

Real speed (0.01 rpm) Internal sampling time: 200 mS

d1.27

60F91A10

Speed_1mS

Speed data (inc/1 mS) Internal sampling time: 1 mS

d1.28

60F60C10

CMD_q_Buff

Internal effective current instruction

d1.29

60F61710

I_q

Actual current

peak

rms

2047



d1.30

60F90E10

K_Load

Load parameter

d1.31

301004

Z_Capture_Pos

Position data captured by encoder index signals

Numeric Display

Internal Address

Variable Name

Meaning

Default Value

Range

d2.00

2FF00108

Store_Loop_ Data

1: Stores all control parameters except motor parameters 10: Initializes all control parameters except motor parameters

N/A

d2.01

60F90110

Kvp

Sets the response speed of velocity loop

N/A

0~32767

d2.02

60F90210

Kvi

Time used to adjust speed control to compensate minor errors

N/A

0~16384

d2.03

60F90308

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.

0~90

d2.04

60F90408

Notch_On

Enable or disable the notch filter 0: Disable the trap filter 1: Enable the trap filter

0~1

d2.05

60F90508

Speed_Fb_N

You can reduce the noise during motor operation by reducing the feedback bandwidth of velocity loop. When the set bandwidth becomes less, the motor responds slower. The formula is F=Speed_Fb_N*20+100. For example, to set the filter bandwidth to "F = 500 Hz‖, you need to set the parameter to 20.

0~45

d2.06

60F90608

Speed_Mode

0: Speed response after traveling through a

0~2

Parameter List: Group F002 (To Set Control Loop Parameters)

low-pass filter 1: Direct speed response without filtering 2: Feedback on output feedback

d2.07

60FB0110

Kpp

Proportional gains on position loop Kpp

1000

0~10000

d2.08

60FB0210

K_Speed_FF

0 indicates no feedforward, and 256 indicates 100% feedforward

255

0~255

d2.09

60FB0310

K_Acc_FF

The data is inversely proportional to the feedforward

32767 (7FF.F)

32767~1 0

d2.10

2FF00610

Profile_Acce_ 16

To set trapezoidal acceleration (rps/s) in the ―3‖

and ―1‖ modes

610

0~2000

d2.11

2FF00710

Profile_Dece_ 16

To set trapezoidal acceleration (rps/s) in the ―3‖

and ―1‖ modes

610

0~2000

d2.12

60F60110

Kcp

To set the response speed of the current loop and this parameters does not require adjusting

N/A

d2.13

60F60210

Kci

Time used to adjust current control to compensate minor errors

N/A

d2.14

60730010

CMD_q_Max

Indicates the maximum value of current instructions

N/A

d2.15

60F60310

Speed_Limit_ Factor

The factor that limits the maximum speed in the torque mode

Actual torque

Set torque

Actual torque Set torque

Actual speed Maximum speed

Actual speed

Maximum speed

V the maximum speed complies with d2.24 Max_Speed_RPM parameter settings

0~1000

d2.16

607E0008

Invert_Dir

Runs polarity reverse 0: Counterclockwise indicates the forward direction 1: Clockwise indicates the forward direction

0~1

d2.17

60F90E10

K_Load

Indicates load parameters

N/A

20~1500 0

d2.18

60F90B10

Kd_Virtual

Indicates the kd of observers

1000

0~32767

d2.19

60F90C10

Kp_Virtual

Indicates the kp of observers

1000

0~32767

d2.20

60F90D10

Ki_Virtual

Indicates the ki of observers

0~16384

d2.21

60F91010

Sine_Amplitu de

Proper increase in this data will reduce the tuning error, but machine vibration will become severer. This data can be adjusted properly according to actual conditions of machines. If the data is too small, the auto tuning error becomes greater, or even causes a mistake.

0~1000

d2.22

60F91110

Tuning_Scale

It is helpful to reduce the auto tuning time by reducing the data, but the result may be unstable.

128

0~16384 d2.23

60F91210

Tuning_Filter

Indicates filter parameters during auto-tuning

1~1000

Numeric Display

Internal Address

Variable Name

Meaning

Default Value

Range

d3.00

2FF00108

Store_Loop_Data

1: Stores all control parameters except motor parameters 10: Initializes all control parameters except motor parameters

N/A

d3.01

20100310

Din1_Function

000.1: Driver enable

000.2: Driver fault reset

000.4: Operation mode control

000.8: P control for velocity loop

001.0: Position positive limit

002.0: Position negative limit

004.0: Homing signal

008.0: Reverse speed demand

010.0: Internal speed control 0

020.0: Internal speed control 1

800.1: Internal speed control 2

040.0: Internal position control 0

080.0: Internal position control 1

800.2: Internal position control 2

800.4 Multi Din 0

800.8 Multi Din 1

801.0 Multi Din 2

802.0 Gain switch 0

804.0 Gain switch 1

100.0: Quick stop

200.0: Start homing

400.0: Activate command

000.1

N/A

d3.02

20100410

Din2_Function

000.2

N/A

d3.03

20100510

Din3_Function

000.4

N/A

d3.04

20100610

Din4_Function

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

N/A

d3.09

2FF00810

Dio_Simulate

Simulates input signals, and enforce output signals for outputting

N/A

d3.10

20000008

Switch_On_Auto

Automatically locks motors when drivers are powered on 0: No control 1: Automatically locks motors when drivers are powered on

0~1

d3.11

20100F10

Dout1_Function

000.1: Ready

000.2: Error

000.4: Position reached

000.8: Zero velocity

000.1

N/A

d3.12

20101010

Dout2_Function

000.2

N/A

d3.13

20101110

Dout3_Function

00a.4

N/A

d3.14

20101210

Dout4_Function

000.8

N/A

Parameter List: Group F003 (To Set Input/Output & Pattern Operation Parameters)

d3.15

20101310

Dout5_Function

001.0: Motor brake

002.0:Velocity reached

004.0: Index

008.0: The maximum speed obtained in the torque mode

010.0: PWM ON

020.0: Position limiting

040.0: Reference found

080.0: Reserved

100.0: Multi Dout 0

200.0: Multi Dout 1

400.0: Multi Dout 2

001.0

N/A

d3.16

20200D08

Din_Mode0

If a digital input is defined as Operation mode control,then this operation mode is selected when the input signal is invalid

-4

N/A

d3.17

20200E08

Din_Mode1

If a digital input is defined as Operation mode control,then this operation mode is selected when the input signal is valid

-3

N/A

d3.18

20200910

Din_Speed0_RPM

Multi-speed control: 0 [rpm]

N/A

d3.19

20200A10

Din_Speed1_RPM

Multi-speed control: 1 [rpm]

N/A

d3.20

20200B10

Din_Speed2_RPM

Multi-speed control: 2 [rpm]

N/A

d3.21

20200C10

Din_Speed3_RPM

Multi-speed control: 3 [rpm]

N/A

d3.22

25020110

Analog1_Filter

Used to smooth the input analog signals

F (Filter Frequency) = 4000/ (2π*

Analog1_Filter)

Τ (Time Constant) = Analog1_Filter/4000

(S)

1~127

d3.23

25020210

Analog1_Dead

Sets dead zone data for external analog signal 1

0~8192

d3.24

25020310

Analog1_Offset

Sets offset data for external analog signal 1

-8192~8 192

d3.25

25020410

Analog2_Filter

Used to smooth the input analog signals Filter frequency: f=4000/(2π* Analog1_Filter) Time Constant: T = Analog1_Filter/4000 (S)

1~127

d3.26

25020510

Analog2_Dead

Sets dead zone data for external analog signal 2

0~8192

d3.27

25020610

Analog2_Offset

Sets offset data for external analog signal 2

-8192~8 192

d3.28

25020708

Analog_Speed_Co n

Chooses analog-speed channels 0: Invalid analog channel 1: Valid analog channel 1 (AIN1) 2: Valid analog channel 2 (AIN2)

10～17：AIN1 for ―Din_Speed (X-10)‖ 20～27：AIN2 for ―Din_Speed (X-20)‖

0~2 10~17 20~27

Valid in mode -3, 3 and 1.

d3.29

25020A10

Analog_Speed_Fa ctor

Sets the proportion between analog signals and output speed

1000

N/A

d3.30

25020808

Analog_Torque_C on

Chooses analog-torque channels 0: Invalid analog channel 1: Valid analog channel 1 (AIN1) 2: Valid analog channel 2 (AIN2) Valid mode 4

0~2

d3.31

25020B10

Analog_Torque_F actor

Sets the proportion between analog signals and output speed (current)

1000

-32768~ 32767

d3.32

25020908

Analog_MaxT_Co n

0: No control 1: Max. torque controlled by AIN 1 2: Max. torque controlled by AIN 2

0~2

d3.33

25020C10

Analog_MaxT_Fac tor

Indicates the max torque factor on analog signal control

8192

0~32767

d3.34

25080110

Gear_Factor

Indicates the numerator to set electronic gears when the operation mode is -4

1000

-32767~ 32767

d3.35

25080210

Gear_Divider

Indicates the denominator to set electronic gears when the operation mode is -4

1000

1~32767

d3.36

25080308

PD_CW

0: Double pulse (CW/CCW) mode

1. Pulse Direction (P/D) mode

2.Incremental encoder mode Note: To change this parameter, you need

to save it with the address ―d5.00‖, and

restarts it later.

0~2

d3.37

25080610

PD_Filter

To flat the input pulse. Filter frequency: f=1000/(2π* PD_Filter) Time constant: T = PD_Filter/1000 Unit: S Note: If you adjust this filter parameter during the operation, some pulses may be lost.

1~32767

d3.38

25080810

Frequency_Check

Indicates the limitation on pulse input frequency (k Hz)

600

0~600

d3.39

25080910

Position_Reach_Ti

Indicates the position reached time window in the pulse mode Unit: mS

0~32767

d3.40

2FF10108

Din_Position_Sele ct_L

To select which parameter will be set.

0. Din_Pos0

1. Din_Pos1

2. Din_Pos2

3. Din_Pos3

4. Din_Pos4

5. Din_Pos5

6. Din_Pos6

7. Din_Pos7

0~7

d3.41

2FF10210

Din_Position_M

Refer to d3.42

N/A

d3.42

2FF10310

Din_Position_N

Din_Pos L(Pulse number) = Din_Position_M *10000+ Din_Position_N

N/A

d3.43

20200F10

Din_Control_Word

Input ―Enable‖ signal controls the control

word.

N/A d3.44

20201810

Din_Speed4_RPM

Multi-speed control: 4 [rpm]

N/A

d3.45

20201910

Din_Speed5_RPM

Multi-speed control: 5 [rpm]

N/A

d3.46

20201A10

Din_Speed6_RPM

Multi-speed control: 6 [rpm]

N/A

d3.47

20201B10

Din_Speed7_RPM

Multi-speed control: 7 [rpm]

N/A

Numeric

display

Internal

Address

Variable Name

Meaning

d4.00

2FF00308

Store_Motor_Data

1: Stores the set motor parameters

d4.01

64100110

Motor_Num

Host computer (ASCII code) numerical display (hexadecimal)

―00‖..... ..... ...303.0

Note: To change this parameter, you need to save it with the address ―d4.00‖, and restart it later.

d4.02

64100208

Feedback_Type

Type of encoders

001.1: Differential ABZ and differential UVW signals

001.0: Differential ABZ and UVW signals of TTL

000.1: ABZ of TTL and differential UVW signals

000.0: ABZ of TTL and UVW signals of TTL

d4.03

64100508

Motor_Poles

Number of motor poles pairs [2p]

d4.04

64100608

Commu_Mode

Searching excitation mode

d4.05

64100710

Commu_Curr

Searching excitation current [dec]

d4.06

64100810

Commu_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 on overheat protection of motors Time: N*256/1000 Unit: S

d4.09

64100B10

Imax_Motor

Indicates max peak current of motors I[Apeak]*10

d4.10

64100C10

L_Motor

Indicates phase inductance of motors L[mH]*10

d4.11

64100D08

R_Motor

Indicates phase resistance of motors R[Ω]*10

d4.12

64100E10

Ke_Motor

Indicates the reverse electromotive force of motors Ke[Vp/krpm]*10

d4.13

64100F10

Kt_Motor

Indicates the torque coefficient of motors

Parameter List: Group F004 (To Set Motor Parameters)

Kt[Nm/Arms]*100

d4.14

64101010

Jr_Motor

Indicates the rotor inertia of motors Jr[kgm^2]*1 000 000

d4.15

64101110

Brake_Duty_Cycle

Indicates the duty cycle of contracting brakes 0~2500[0…100%]

d4.16

64101210

Brake_Delay

Indicates the delay time of contracting brakes Default value: 150 ms

d4.17

64101308

Invert_Dir_Motor

Indicates the rotation direction of motors

d4.18

64101610

Motor_Using

Current using motor type. PC Software Numeric Display Model

"K0"...........................304.B…………....SMH60S-0020-30

"K1"...........................314.B…………….SMH60S-0040-30

"K2"...........................324.B…………….SMH80S-0075-30

"K3"...........................334.B…………….SMH80S-0100-30

"K4"...........................344.B…………….SMH110D-0105-20

"K5"...........................354.B…………….SMH110D-0125-30

"K6"...........................364.B………….....SMH110D-0126-20

"K7"………………......374.B…………….SMH110D-0126-30

"K8"…………………...384.B..................SMH110D-0157-30

"K9"............................394.B…………....SMH110D-0188-30

―KB"…………………...424.B…………....SMH130D-0105-20

―KC"…………………...434.B…………….SMH130D-0157-20 ―KD"…………………...444.B…………….SMH130D-0210-20 ―KE"…………………...454.B……………..SMH150D-0230-20 "S0"…………………...305.3………….130D-0105-20AAK-2LS

"S1"............................315.3…………..130D-0157-20AAK-2LS

"S2"…………………...325.3………….130D-0157-15AAK-2LS

"S3"............................335.3………….130D-0200-20AAK-2HS

"S4"............................345.3…………..130D-0235-15AAK-2HS

"F8"…………………...384.6…………..85S-0045-05AAK-FLFN

"E0".............................304.5………………..SME60S-0020-30

"E1".............................314.5………….........SME60S-0040-30

"E2"..............................324.5………………..SME80S-0075-30

d4.19

64101410

Motor_Num

The same function as d4.01.But it is specially used for configuring motor at the first time,and needn’t restart driver.

Numeri

Display

Internal

Address

Variable Name

Meaning

Default

Value

Note

d5.00

2FF0010 8

Store_Loop_Data

1: Stores all control parameters except motor parameters 10: Initializes all control parameters except motor parameters

d5.01

100B000 8

ID_Com

Station No. of Drivers Note: To change this parameter, you need

to save it with the address ―d5.00‖, and

restart driver later.

d5.00 need

be used to

save and

restart when

users

change this

parameter

d5.02

2FE0001 0

RS232_Bandrate

Sets the baud rate of a serial port 540 19200 270 38400 90 115200 Note: To change this parameter, you need

to save it with the address ―d5.00‖, and

restart driver later.

270

d5.00 need

be used to

save and

restart when

users

change this

parameter

d5.03

2FE1001 0

U2BRG

Sets the baud rate of the serial port 540 19200 270 38400 90 115200 You need not restart driver.

270

Unnecessar

y to restart

d5.04

60F7011 0

Chop_Resistor

Indicates the values of braking resistors

d5.05

60F7021 0

Chop_Power_Rat ed

Indicates the nominal power of a braking resistor

d5.06

60F7031 0

Chop_Filter

Indicates the time constant of a braking resistor Time: N*256/1000 Unit: S

d5.07

2501011 0

ADC_Shift_U

Indicates data configuration of U phase shift Note:Factory parameters

N/A

Please don’t

adjust

d5.08

2501021 0

ADC_Shift_V

Indicates data configuration of V phase shift Note:Factory parameters

N/A

Please don’t

adjust

d5.09

3000011 0

Voltage_200

ADC original data when DC bus voltage is 200 V Note:Factory parameters

N/A

Please don’t

adjust

d5.10

3000021

Voltage_360

ADC original data when DC bus voltage is

N/A

Please don’t

Parameter List: Group F005 (To Set Driver Parameters)

360 V Note:Factory parameters

adjust

d5.11

60F6061 0

Comm_Shift_UVW

Indicates the excitation pointer of a motor Note:Factory parameters

N/A

Please don’t

adjust

d5.12

2600001 0

Error_Mask

Indicates error masks Note:Factory parameters

FFF.F

Please don’t

adjust

d5.13

60F7051 0

RELAY_Time

Indicates the relay operating time of capacitor short-circuits Unit: mS Note:Factory parameters

150

d5.14

2FF0040 8

Key_Address_F00 1

Sets numeric display data

N/A

d5.15

65100B1

RS232_Loop_Ena

ble

0：1 to 1. 1：1 to N

d5.16

2FFD001

User_Secret

User password.16bits.

0～

65535

d5.17

2F81000

CAN_Baudrate

CAN baudrate setting 100:1M 50:500K 25:250K 12:125K 5:50K 1:10K

Need save and restart

d5.18

2FE2001

RS485_Baudrate

Baudrate of RS485 1080: 9600 540: 19200 270: 38400 90: 115200

540

Need save and restart

d5.19

65100C0

RS485_Protocol

RS485 communication protocol select 0: Modbus 1: Same protocol as RS232

Need save and restart

Numeric

Display

Variable Name

Meaning

Default Value

Range

d3.08

Dio_Polarity

Sets IO polarity

N/A

①

②

③

④

Input/output port

selection

0: Output port

1: Input port

Channel

selection

Input: 1-7

Output:

1-5

Reserved

0: The input port is valid when no current passes the port, and the output port is valid when the switch tube is open.. 1: The input port is valid when the current passes the port, and the output port is valid when the switch tube is closed. Other: Check the current status

Chapter 6 Operation on Input/Output Ports

KINCO CD2S servo driver has 7 digital input ports (a digital input port can receive high-level or low-level signals, depending on whether high-level or low-level signals are chosen at the COM terminal) and 5 digital output ports,OUT1-OUT4 ports can drive 100 mA load, and OUT5 port can drive 500 mA load, and can directly drive the internal contracting brake device(There are terminals BR+、BR-、24VB、GND in X2 port

which are used for motor brake.It can drive 500mA load). You can freely configure all functions on digital

input/output ports according to application requirements.

6.1 Digital Input Signals

6.1.1 Polarity Control on Digital Input Signals

Table 6-1: Simplified IO polarity setting variables

Table 6-2 Polarity setting methods for digital input signals

①

② ③ ④

Input/output port selection Set to 1 (input port selected)

Channel selection

Set to 1 (DIN 1 selected)

Reserved

0: D1N1 is enabled when S1

opens

1: D1N1 is enabled when S1

closes

Numeric

Display

Variable Name

Meaning

Default

Value

Rang

d3.09

Dio_Simulate

Simulates input signals, and enforces output signals for outputting

N/A

①

②

③

④

Input/output port selection

0: output port

1: input port

Channel selection

Input: 1-7

Output: 1-4

Reserved

0: No input signal is simulated, and no output signal is compulsorily outputted 1: Input signal is simulated, and output signal is outputted compulsorily Other: Check the current status

Example 6-1: Polarity Setting for Digital Input Signal DIN1

Fig. 6-1 Polarity setting for digital input signal DIN1

Table 6-3 Polarity setting for digital input signal DIN1

Namely, if d3.08 is set to ―110.0‖, it indicates that DIN1 is enabled when no current passes the input port; if

d3.08 is set to ―110.1‖, it indicates that DIN1 is enabled when any current passes the input port.

6.1.2 Simulation of Digital Input Signals

Table 6-4 IO simulation variable

Dio_Simulate (IO simulation) is for the software to simulate inputting of a valid signal. ―1‖ indicates that

the input signal is valid, and ―0‖ indicates that the input signal is invalid.

Table 6-5 Settings on simulation of digital input signals

① ② ③

④

Input/output port selection

Set to 1 (input port

selected)

Channel selection

Set to 1 (DIN 1 selected)

Reserved

0: Invalid DIN1 simulation 1: Valid DIN1 simulation

Numeric Display

Variable Name

Meaning

d1.11

Din_Status

Status of input ports

Numeric

Display

Variable

Name

Meaning

Default Value

d3.01

Din1_Function

000.1: Driver enable

000.2: Driver fault reset

000.4: Operation mode control

000.8: P control for velocity loop

001.0: Position positive limit

002.0: Position negative limit

004.0: Homing signal

008.0: Reverse speed demand

010.0: Internal speed control 0

020.0: Internal speed control 1

800.1: Internal speed control 2

040.0: Internal position control 0

080.0: Internal position control 1

800.2: Internal position control 2

800.4 Multi Din 0

800.8 Multi Din 1

801.0 Multi Din 2

802.0 Gain switch 0

804.0 Gain switch 1

100.0: Quick stop

200.0: Start homing

000.1 (Driver enable)

d3.02

Din2_Function

000.2 (Driver fault reset)

d3.03

Din3_Function

000.4 (Operation mode control)

d3.04

Din4_Function

000.8 (P control for velocity loop)

d3.05

Din5_Function

001.0 (Position positive limit)

d3.06

Din6_Function

002.0 (Position negative limit)

d3.07

Din7_Function

004.0 (Homing signal)

Example 6-2: Simulate digital input DIN1

Table 6-6: Simulate digital input DIN1

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 indicates that DIN1 input signals are simulated.

6.1.3 Status Display of Digital Input Signals

Table 6-7 Variables for status display of digital input signals

Din_Status (hexadecimal) is used to display the status of the actually input external signals in real time.

6.1.4 Addresses & Functions of Digital Input Signals

Table 6-8 Addresses & default functions of digital input signals

400.0: Activate command

Function

Meaning

Disable

Used to cancel the function of this digital input.

Driver enable

By default, the driver enable signal is valid, and the motor shaft is locked.

Driver fault reset

Signals on the rising edge are valid, and alarms are cleared.

Operation mode control

To switch between two 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 and Din_Mode1 (choose 1 for operation mode) of Group F003.

P control for velocity loop

Indicates the control on stopping integration in velocity loop. The control is applied in the occasion where high-speed system stop occurs, but overshooting is not expected. Note: In the ―-3‖ mode, if the signal is valid, fixed errors occur between the actual speed and target speed.

Position positive limit

Indicates the limit of forward running of motors (normally closed contact by default). By default, the driver regards position positive limits as valid, and polarity can be modified to adjust to normally open switches.

Position negative limit

Indicates the limit of inverted running of motors (normally closed contact by default). By default, the driver regards position negative limits as valid, and polarity can be modified to adjust to normally open switches.

Homing signal

To find origins of motors.

Reverse speed demand

To reverse the target speed in the speed mode ("-3" or ―3‖).

Internal speed control 0

To control internal multiple speeds. Note: For details, see Section 7.5 Internal Multi-Speed Control. Internal speed control 1

Internal speed control 2

Internal position control 0

To control internal multiple positions. Note: For details, see Section 7.4 Internal Multi-Position Control. Internal position control 1

Internal position control 2

Multi Din 0

To switch multiple electronic gear Multi Din 1

Multi Din 2

Gain switch 0

To switch multiple gain parameters(P-gain of velocity loop,i-gain of velocity loop,p-gain of position loop)

Gain switch 1

Quick stop

When the signal is valid, the motor shaft releases. After the signal is removed, the driver requires re-enabling.

Start homing

When the rising edge of the signal is detected,it will start homing command.

Note:DinX_Function (X ranges from 1 to 7) is used to define the functions of digital input ports. User can

freely define the functions of the digital input ports according to actual applications.

Table 6-9 Meaning of defined functions of digital input signals

Activate command

When the rising edge of the signal is detected,it will activate the internal position control

Multi Din 2

Multi Din 1

Multi Din 0

Name

Parameter

Name

Address

0 0 0

The 0 electronic

ratio

Molecular 0

25080110

Denominator 0

25080210

0 0 1

The 1st electronic

ratio

Molecular 1

25090110

Denominator 1

25090210

0 1 0

The 2nd electronic

ratio

Molecular 2

25090310

Denominator 2

25090410

0 1 1

The 3rd electronic

ratio

Molecular 3

25090510

Denominator 3

25090610

1 0 0

The 4th electronic

ratio

Molecular 4

25090710

Denominator 4

25090810

1 0 1

The 5th electronic

ratio

Molecular 5

25090910

Denominator 5

25090A10

1 1 0

The 6th electronic

ratio

Molecular 6

25090B10

Denominator 6

25090C10

1 1 1

The 7th electronic

ratio

Molecular 7

25090D10

Denominator 7

25090E10

Gain switch input 1

Gain switch 0

Name

Parameter

Name

Address

6.1.5 Multiple electronic gear ratio switch function and multiple gain switch

function

1. Multiple electronic gear ratio switch function Multiple electronic gear ratio is determined by combined with Multi Din 0, Multi Din 1 and Multi Din 1 defined in I/O.For electronic gear molecular (0~7) and electronic gear denominator (0~7), the default value is 1000. They can not set by panel on the driver temporarily and need to be set via software. When electronic gear ratio changes, the pulse count might deviates. This is normal. Please be careful.

2. Multiple gain switch function For convenience in test, gain switch 0, gain switch 1 are defined in I/O to choose gain. Multiple gain PI pointer (60F92808) is used to display current used gain data. Auto-tuning can only be used to set PI parameter in the group 0. Bandwidth of speed loop (2FF00A100）and bandwidth of position loop (2FF00B10) are only connected with data in group 0. Others need to be set manually. PI_switch (60F90908) is used to automatically switch gain, only in the 0 gain and 1st gain. Under mode -4, 1, 3, when position-to-signal is invalid, the 0 PI can be used. When it is valid, the first PI can be used. If gain switch function is defined in I/O, PI_switch is valid.

0 0 The 0 gain

Kvp 0

60F90110

Kvi 0

60F90210

Kpp 0

60FB0110

0 1 The 1st gain

Kvp 1

23400410

Kvi 1

23400510

Kpp 1

23400610

1 0 The 2nd gain

Kvp 2

23400710

Kvi 2

23400810

Kpp 2

23400910

1 1 The 3rd gain

Kvp 3

23400A10

Kvi 3

23400B10

Kpp 3

23400C10

Numeric Display

Variable Name

Parameter Settings

d3.01

Din1_Function

Set to 000.1

d3.00

Store_Loop_Data

Set to 1

Numeric Display

Variable Name

Parameter Settings

d3.01- d3.07

DinX_ Function (1~7)

None of the digital input port can be set to 000.1, that is, the Enable function is not controlled by any digital input port.

d3.10

Switch_On_Auto

Set to 1

d3.00

Store_Loop_Data

Set to 1

Numeric

Variable Name

Parameter Settings

Example 6-3: Driver Enable Setting

Requirement: The ―driver enable‖ function is controlled through an external digital output port. In this

example, the digital input port DIN1 is defined as the ―driver enable‖ function. Table 6-10 shows the setup

method.

Table 6-10 Digital Input Port DIN1 Defined as the ―Driver Enable‖ Function

Note: Any digital output of DIN1-7 can be defined as ―driver enable‖, and is set to 000.1, that is, bit 0 is valid.

Requirement: 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 Enabling the function of automatically powering on the driver by setting internal parameters in

drivers

Example 6-4: Disabling Position Positive/Negative Limit Settings

When the driver is delivered, the DIN5 of the motor is the position positive limit and DIN6 is the position negative limit by default. If there are no external position positive/negative limit switches, this function must be disabled so that the servo driver can work properly. Table 6-12 describes the setup method.

Table 6-12: Disabling position positive/negative limit settings

Display

d3.05

Din5_Function

Change the default value 001.0 (position positive limit) to 000.0

d3.06

Din6_Function

Change the default value 002.0 (position negative limit) to

000.0

d3.00

Store_Loop_Data

Set to 1

Numeric Display

Variable Name

Parameter Settings

d3.03

Din3_Function

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

Example 6-5: Operation Mode Control on Drivers

Requirements: Defines the input port DIN3 as the operation mode control on drivers, and the operation mode is ―-4‖ (pulse control mode) when DIN3 fails, and is ―-3‖ (instantaneous speed mode) when DIN3 is valid. Table 6-13 describes the setup method.

Table 6-13 Settings on operation mode control on drivers

Note: If the driver is required to operate in some mode with power on, one of the digital input must be set as function ―Operation Mode Control‖. Then you can set the operation modes that require in the parameters d3.16 or d3.37 in Group F003.

6.1.6 Wiring of Digital Input Port

1. NPN wiring diagram (to the controller that supports low level output)

Fig. 6-2 NPN wiring diagram (to the controller that supports low level output)

Numeric Display

Variable Name

Meaning

Default

Value

Range

d3.08

Dio_Polarity

Sets IO polarity

N/A Numeric

Variable Name

Meaning

Default

Range

2. PNP wiring diagram (to the controller that supports high level output)

Fig. 6-3 PNP wiring diagram (to the controller that supports high level output)

6.2 Digital Output Signals

6.2.1 Polarity Control on Digital Output Signals

Table 6-14 Variables for setting simplified IO polarity

Dio_Polarity (simplified IO polarity settings) 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 IO simulation variables

Display

Value

d3.09

Dio_Simulate

Simulates input signals, and the output signal is outputted compulsorily

N/A Numeric Display

Variable Name

Meaning

d1.12

Dout_Status

Status of an output port

Numeric Display

Variable Name

Meaning

Default Value

d3.11

Dout1_Function

000.1: Ready

000.2: Error

000.4: Position reached

000.8: Zero velocity

001.0: Motor brake

002.0:Velocity reached

004.0: Index

008.0: The maximum speed obtained in the torque mode

010.0: PWM ON

020.0: Position limiting

040.0: Reference found

080.0: Reserved

100.0: Multi Dout 0

200.0: Multi Dout 1

400.0: Multi Dout 2

000.1 (Ready)

d3.12

Dout2_Function

000.2 (Error) d3.13

Dout3_Function

00a.4 (Position reached/Velocity reached/Max. velocity limit)

d3.14

Dout4_Function

000.8 (Zero velocity)

d3.15

Dout5_Function

001.0 (Motor brake)

Function

Meaning

Disable

Cancel the function of this digital output

Ready

The driver is ready for operation.

Error

Alarm signals are output, indicating that the driver is faulty.

Position reached

In the ―-4‖ mode of pulse control, the target position data keeps

Dio_Simulate (IO simulation) is to simulate the output of a valid signal. The number ―1‖ indicates that the

output signal is valid, and ―0‖ indicates that the output signal is invalid.

6.2.3 Status Display of Digital Output Signals

Table 6-16 Variables for status display of digital output signals

Din_Status (hexadecimal) displays the status of actual external output signals in real time.

6.2.4 Addresses and Functions of Digital Output Signals

Table 6-17 Addresses and default functions of digital output signals

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 output ports according to actual applications.

Table 6-18 Meanings of the functions defined by digital output signals

unchanged in the window (d3.39) of the time of reaching the target position, and position errors are within the window of reaching the target position.

Zero velocity

After the motor is enabled, it is outputted when the motor speed is 0.

Motor brake

The driver enables the motor, and contracting brake output is valid.

Velocity reached

In the ―-3‖ or "3‖ internal speed control mode, signals are output after they reach the target speed.

Index

Z phase signal output (the speed should not be too high).

Max. velocity limit

In the ―4‖ analog – torque mode, signals are output after the max restricted speed is reached.

PWM ON

The driver enables the motor.

Motor limiting

Motor is in the status of position limiting.

Reference found

Homing is finished.

Multi Dout 0

Position reach for internal multiple position mode. Multi Dout 1

Multi Dout 2

Numeric Display

Variable Name

Parameter Settings

d3.11

Dout1_Function

Set to 000.1

d3.00

Store_Loop_Data

Set to 1

Example 6-6: “Ready” settings

Requirement: The digital output port 1 is defined as the ―Ready‖ function. For details on settings, see

Table 6-19.

Table 6-19: ―Ready‖ settings

6.2.5 Wiring of Digital Output Port

1. Internal circuit diagram of digital output ports

Fig. 6-4 Internal circuit diagram of digital output ports

Note: To apply the OUT3 or OUT4 port, the COMO port must be connected. To apply the BR+/BR- port, both the 24VO and COMO ports must connect to the external input power.

2. NPN wiring (to controllers that support valid low level input)

Fig. 6-5 NPN wiring diagram (to controllers that support valid low level input)

3. PNP wiring (to 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 diode in inverse parallel, as

shown in Fig. 6-7.

Fig. 6-7 Connect a relay to the digital output port (Reverse parallel connect diode)

Note: When OUT3 and OUT4 are used, COM0 must be connected. When ports, BR+/BR-, are used, two ports, 24VB and COMB, must connect with external input.

Chapter 7 Mode Operation

7.1 Pulse Control Mode (“-4” Mode)

7.1.1 Wiring in Pulse Control Mode

1. Wiring diagram of CD2S driver in pulse control mode

Fig. 7-1 Wiring diagram of CD2S driver in pulse control mode

2.Common anode connection (to controllers that support valid low level output)

Fig. 7-3 Common anode connection (to controllers that support valid low level output)

Numeric Display

Variable Name

Meaning

Default Value

Range

d3.34

Gear_Factor

Numerator of electronic gear 0 in mode -4

1000

-32767~32767

d3.35

Gear_Divider

Denominator of electronic gear 0 in mode -4

1000

1~32767

DividerGear

FactorGear__

Numeric

Variable Name

Meaning

Default

Range

DividerGear

FactorGear__

3. Common cathode connection (to controllers that support valid high level output)

Fig. 7-4 Common cathode connection (to controllers that support valid high level output)

7.1.2 Parameters for Pulse Control Mode

1. Parameters for electronic gear ratio

Table 7-1 Parameters for electronic gear ratio

Parameters for electronic gear ratio are used to set the numerator and denominator of electronic gears when the driver operates in mode -4.

Command pulse input Command pulse output

F1 F2

Namely: F2=

* F1

If the electronic gear ratio is 1:1, 10000 pulses are inputted externally (the resolution of encoders is 2500 PPR, quadruple), and the motor turns a circle. If the electronic gear ratio is 2:1, 10000 pulses are inputted externally, and the motor turns two circles.

2. Parameters for pulse mode selection

Table 7-2 Parameters for pulse mode selection

Display

Value

d3.36

PD_CW

0: Double pulse (CW/CCW) mode

1. Pulse direction (P/D) mode

2. Incremental encoder mode Note: To change this parameter, you need to save it with d3.00, and restarts it later.

1 0~2

Forward rotation

Reverse rotation

Forward rotation

Reverse rotation

Effective on the rising edge

Note: CD series doesn’t support AB phase signal. Double pulse (CW/CCW) mode (d3.36 = 0)

Pulse direction (P/D) mode (d3.36 = 1)

Incremental encoder mode (d3.36=2)

3. Parameters for pulse filtering coefficient

Numeric Display

Variable Name

Meaning

Default Value

Range

d3.37

PD_Filter

Used to smooth the input pulses. Filter frequency: f = 1000/(2π* PD_Filter) Time constant: T = PD_Filter/1000 Unit: S Note: If you adjust this parameter during the operation, some pulses may be lost.

1~3276 7

Numeric Display

Variable Name

Meaning

Default Value

Range

d3.38

Frequency_Check

Indicates the limitation on pulse input frequency (kHz)

600

0~600

Numeric Display

Variable Name

Meaning

Default Value

Range

d2.07

Kpp

Indicates the proportional gain Kpp 0 of the position loop

1000

0~10000

d2.08

K_Velocity_FF

0 indicates no feedforward, and 256 indicates 100% feedforward

255

0~255

d2.09

K_Acc_FF

The value is inversely proportional to the feedforward

32767

32767~10

d0.05

Pc_Loop_BW

Sets the bandwidth of the position loop in Hz.

0~100

d2.26

Pos_Filter_N

Average filter parameter

1~255

Table 7-3 Parameters for pulse filtering coefficient

When a driver operates in the pulse control mode, if the electronic gear ratio is set too high, it is required to adjust this parameter to reduce motor oscillation; however, if the parameter adjustment is too great, motor running instructions will become slower.

4. Parameters for pulse frequency control

Table 7-4 Parameters for pulse frequency control

5. Parameters for gain control on position loops and velocity loops

Current loops are related to motor parameters (optimal parameters of the selected motor are default for the driver and no adjusting is required).

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 is at least twice of that of the position loop; otherwise oscillation may occur.

Table 7-5 Parameters for gain control on position loops

Proportional gains of the position loop Kpp: If the proportional gain of the position loops increases, the bandwidth of the position loop is improved, thus reducing both the positioning time and following errors. However, too great bandwidth may cause noise or even oscillation. Therefore, this parameter must be set properly according 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 recommended that Pc_Loop_BW be less than Vc_Loop_BW /4 (Vc_Loop_BW indicates the bandwidth of a velocity loop).

* * _

K_Acc_FF

250000* 2* *

I K Encoder R





Numeric Display

Variable Name

Meaning

Default Value

Range

d2.01

Kvp

Sets the response speed of a velocity loop

0~3276 7

d2.02

Kvi Adjusts speed control so that the time of minor errors is compensated

0~1638 4

d2.05

Speed_Fb_N

You can reduce the noise during motor operation by reducing the feedback bandwidth of velocity loops (smoothing feedback signals of encoders). When the set bandwidth becomes smaller, the motor responds slower. The formula is F=Speed_Fb_N*20+100. For example, to set the filter bandwidth to "F = 500 Hz‖, the parameter should be set to 20.

0~45

Velocity 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 velocity feedforward of a position loop is reduced, motor oscillation during running can be reduced. Acceleration feedback of the position loop K_Acc_FF (adjustment is not recommended for this parameter): If great gains of position loops are required, the acceleration feedback K_Acc_FF can be properly adjusted to improve performance.

Note: K_Acc_FF is inversely proportional to the acceleration

feedforward.

Table 7-6 Parameters for gain control on position loops

Integral gain of velocity loop Kvi: If the integral gain of the velocity loop increases, the low-frequency intensity is improved, and the time for steady state adjustment is reduced; however, if the integral gain is too great, system oscillation may occur.

7.1.3 Examples of Pulse Control Mode

In the pulse control mode, follow the steps below to configure a driver: Step 1: Confirm whether the functions of the driver require enabling through external digital input ports. To enable the driver through external digital input ports, see Table 6-12 in Example 6-3 for settings. If it is not necessary to enable the driver through external digital input ports, you can disable the enabling control function of external digital input ports by referring to Table 6-13 of 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 this case, the numeric display has limit status display. If there is no limit switches,

Numeric Display

Variable Name

Meaning

Parameter Settings

d3.01

Din1_Function

Defines the functions of digital input port 1

000.1 (Driver enable)

d3.02

Din2_Function

Defines the functions of digital input port 2

000.2 (Fault reset)

d3.03

Din3_Function

Defines the functions of digital input port 3

000.4 (Operation mode control )

d3.05

Din5_Function

Defines the functions of digital input port 5

The default value 001.0 changes to 000.0 (position positive limits are disabled)

d3.06

Din6_Function

Defines the functions of digital input port 6

The default value 002.0 changes to 000.0 (position negative limits are disabled)

d3.16

Din_Mode0

Select this operation mode when input signals are invalid

Set to 0.004 (-4) mode (pulse control mode)

d3.17

Din_Mode1

Select this operation mode when input signals are valid

Set to 0.003 (-3) mode (instantaneous speed mode)

d3.34

Gear_Factor

Indicates the numerator to set electronic gears in the ―-4‖ operation mode (pulse control mode)

Set to 2000

d3.35

Gear_Divider

Indicates the denominator to set electronic gears in the ―-4‖ operation mode (pulse control mode)

Set to 1000

d3.36

PD_CW

0: Double pulse (CW/CCW) mode

1. Pulse direction (P/D) mode Note: To change this parameter, you need to save it with the address

Default value is 1 (pulse direction)

please disable the function of limit switches by referring to Example 6-4. Step 3: Confirm mode switching bits and operation modes by referring to the settings in Example 6-5. The factory default settings of the driver are as follows: When no signal is inputted on DIN3, the driver operates in the ―-4‖ mode (pulse control mode). Step 4: After function configuration on digital input ports, it is required to set parameters such as pulse modes and electronic gear ratio.

Step 5: Save parameters.

Example 7-1: Pulse control mode “-4” – enable the driver through external digital input

Requirement: DIN1 is used for enabling the driver, DIN2 is used for error resetting, and DIN3 controls the operation modes of the driver (the mode is ―-4‖ when no signal is inputted, and the mode is ―-3‖ when signal is inputted). Limit switches are unavailable. The pulse form is pulse/direction, and the electronic rear ratio is 2:1. Table 7-7 describes the setup method. Table 7-7: Pulse control mode ―-4‖ – enable the driver through external digital input

―d3.00‖, and restarts it later.

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

Numeric Display

Variable Name

Meaning

Parameter Settings

d3.01d3.07

DinX_ Function (1~7)

Defines the functions of digital input ports 1-7

None of the digital input port can be set to 000.1, that is, the Enable function is not controlled by any digital input port.

d3.02

Din2_Function

Defines the functions of digital input port 2

000.2 (Error resetting)

d3.03

Din3_Function

Defines the functions of digital input port 3

000.4 (Control on operation modes for the driver)

d3.05

Din5_Function

Defines the functions of digital input port 5

The default value 001.0 changes to 000.0 (position positive limits are disabled)

d3.06

Din6_Function

Defines the functions of digital input port 6

The default value 002.0 changes to 000.0 (position negative limits are disabled)

d3.10

Switch_On_Auto

0: No control 1:Automatically locks the motor when the driver is powered on

Set to 1 d3.16

Din_Mode0

Select this operation mode when input signals are invalid

Set to 0.004 (-4) mode (pulse control mode)

d3.17

Din_Mode1

Select this operation mode when input signals are valid

Set to 0.003 (-3) mode (instantaneous speed mode)

d3.34

Gear_Factor

Indicates the numerator to set electronic gears in the ―-4‖ operation mode (pulse control 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

Default value is 1

Example 7-2 Pulse control mode “-4” – enable the driver automatically after driver power on

Requirement: The auto power-on function of the driver is enabled, DIN2 is used for error resetting, and DIN3 controls the operation modes of a driver (the mode is ―-4‖ when no signal is inputted, and the mode is ―3‖ when signal is inputted). Limit switches are unavailable. The pulse form is pulse/direction, and the electronic rear ratio is 1:2. Table 7-8 describes the setup method. Table 7-8 Pulse control mode ―-4‖ – enable driver automatically after driver power on

1. Pulse direction (P/D) mode Note: To change this parameter, you need to save it with the address ―d3.00‖, and restarts it later.

(pulse direction)

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

7.2 Speed Mode (“-3” or “3” Mode)

In the instantaneous speed mode (―-3‖ mode), the actual speed reaches the target speed instantly. As a contrast, in the speed mode with acceleration/deceleration (―3‖ mode), the actual speed gradually increases

until it reaches the target speed. Both the acceleration and deceleration (trapeziform shape) are configured

respectively by d2.10 and d2.11. In the ―3" mode, you can set Kpp to enable/disable position loops. If a

position loop is enabled, speed oscillation is less than that when the loop is disabled. If Kpp is 0, it indicates that the position loop is closed.

Fig. 7-5 The speed mode ―3‖ with acceleration/deceleration

7.2.1 Wiring in 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/(2π*

Analog1_Filter) Time Constant (T) = Analog1_Filter/4000 (S)

1~127

d3.23

Analog1_Dead

Sets dead zone data for external analog signal 1

0~10V

d3.24

Analog1_Offset

Sets offset data for external analog signal 1

-10~10V

d3.25

Analog2_Filter

Used to smooth the input analog signals.

Filter frequency: f=4000/(2π*

Analog1_Filter) Time Constant (T) = Analog2_Filter/4000 (S)

1~127

d3.26

Analog2_Dead

Sets dead zone data for external analog signal 2

0~10V

d3.27

Analog2_Offset

Sets offset data for external analog signal 2

-10~10V

Fig. 7-6 Wiring diagram of CD2S Servo in analog–speed mode

7.2.2 Parameters for Analog – Speed Mode

Table 7-9 Parameters for analog – speed mode

d3.28

Analog_Speed_Con

Chooses analog-speed channels 0: Invalid analog channel 1: Valid analog channel 1 (AIN1) 2: Valid analog channel 2 (AIN2)

10～17：AIN1 for ―Din_Speed (X-10)‖ 20～27：AIN2 for ―Din_Speed (X-20)‖ Valid in mode -3, 3 and 1.

0~2 10~17 20~27

d3.29

Analog_Speed_Factor

Sets the proportion between analog signals and output speed

d3.32

Analog_MaxT_Con

0: No control 1: Max torque that Ain1 can control 2: Max torque that Ain2 can control

0~2

d3.33

Analog_MaxT_Factor

Indicates the max torque factor for analog signal control

8192

0~3276 7

shift

dead

external

ernal

int ernal

int

Offset

Dead zone

7.2.3 Analog Signal Processing

Fig. 7-8 Analog signal processing Electrical control on internal variables is available only after ADC conversion and offset of external analog signals, and judgment of dead zone signals. For offset processing, see the left part in Fig. 7-6; for dead zone processing, see the right part in Fig. 7-6.

7.2.4 Examples of Analog – Speed Mode

In the analog – speed mode, follow the steps below to set a driver: Step 1: Confirm whether it is necessary to enable the driver through external digital input ports. To enable the driver through external digital input ports, see Table 6-12 in Example 6-3 for settings. If the driver does not require enabling through external digital input ports, you can disable the enabling function of external digital input ports by referring to Table 6-13 of Example 6-3, and enable the auto power-on function of 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

Numeric Display

Variable Name

Meaning

Default Value

Range

d3.22

Analog1_Filter

Used to smooth the input analog signals.

Filter frequency: f=4000/(2π*

Analog1_Filter)

Time Constant: τ = Analog1_Filter/4000

(S)

1~127

being powered on. In this 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 positions and operation modes by referring to the settings in Example 6-5. The factory default settings are as follows: When no signal is inputted to DIN3, the driver operates in the ―-4‖ mode (d3.16 = -4); when signal is inputted to DIN3, the driver operates in the ―-3‖ mode (d3.17 = -3). If the driver is required to operate in the speed mode after being powered on, set d3.16 to -3 or 3. Step 4: After configuring functions on digital input ports, select the analog – speed channel, and set parameters such as analog – speed factors, dead zone, offset and filtering. Step 5: Save parameters.

7.3 Torque Mode (“4” Mode)

7.3.1 Wiring in Analog – Torque Mode

Fig. 7-13 Wiring diagram of CD2S Servo in analog – torque mode

7.3.2 Parameters for Analog – Torque Mode

Table 7-16 Parameters for analog – torque mode

d3.23

Analog1_Dead

Sets dead zone data for external analog signal 1

0~10V

d3.24

Analog1_Offse t

Sets offset data for external analog signal 1

-10~1 0V

d3.25

Analog2_Filter

Used to smooth the input analog signals.

Filter frequency: f=4000/(2π*

Analog1_Filter) Time Constant (T) = Analog2_Filter/4000 (S)

1~127

d3.26

Analog2_Dead

Sets dead zone data for external analog signal 2

0~10V

d3.27

Analog2_Offse t

Sets offset data for external analog signal 2

-10~1 0V

d3.30

Analog_Torqu e_Con

Selects analog - torque channels 0: Invalid analog channel 1: Valid analog channel 1 (AIN1) 2: Valid analog channel 2 (AIN2) Valid mode 4

0~2

d3.31

Analog_Torque _Factor

Sets the proportion between analog signals and output torque (current)

d2.15

Speed_Limit_F actor

The factor that limits the maximum speed in the torque mode

max_speed

complies with d2.24

Max_Speed_RPM parameter settings.

d2.24

Max_Speed_R PM

Limits the max rotation speed of the motor

5000

0~100 00rpm

Ipeak

Motor Model

(Nm/A)

Driver Model

Ipeak

(A)

SMH40S-0050-30AXK-4LKH

0.265

CD412S-AA-000

7.3.3 Analog Signal Processing

In the analog – torque mode, external analog command signals are directly inputted to the current loops in the driver, thus directly controlling target current through the internal current loop. Analog signal is processed in the same way as that in the analog – speed mode.

Table 7-17

and

parameters

SMH40S-0010-30AXK-4LKH

0.265

SMH60S-0020-30AXK-3LKX

0.48

CD422S-AA-000

SMH60S-0040-30AXK-3LKX

0.48

SMH80S-0075-30AXK-3LKX

0.662

SME60S-0020-30AXK-3LKX

0.48

SME60S-0040-30AXK-3LKX

0.48

SME80S-0075-30AXK-3LKX

0.662

SMH80S-0100-30AXK-3LKX

0.562

CD432S-AA-000

27.5

SMH110D-0105-20AXK-4LKX

0.992

SMH110D-0126-20AXK-4LKX

1.058

SMH130D-0105-20AXK-4HKX

1.1578

SMH130D-0157-20AXK-4HKX

1.191

SMH110D-0126-30AXK-4HKX

1.058

CD622S-AA-000

SMH110D-0157-30AXK-4HKX

0.992

SMH110D-0188-30AXK-4HKX

1.058

SMH130D-0105-20AXK-4HKX

1.1578

SMH130D-0157-20AXK-4HKX

1.191

SMH130D-0210-20AXK-4HKX

1.3232

SMH150D-0230-20AXK-4KHX

1.65

7.3.4 Examples of Analog – Torque Mode

In the analog – torque mode, follow the steps below to configure a driver: Step 1: Confirm whether it is necessary to enable the driver through external digital input ports. To enable the driver through external digital input ports, see Table 6-12 in Example 6-3 for settings. If the driver does not require enabling through external digital input ports, you can disable the enabling function of external digital input ports by referring to Table 6-13 of Example 7-3, and enable the auto power-on function of the driver by setting its internal parameters. Step 3: Confirm mode switching positions and operation modes by referring to the settings in Example 6-5. The factory default settings for the driver are as follows: When no signal is inputted to DIN3, the driver operates in the ―-4‖ mode (d3.16 = -4); when signal is inputted to DIN3, the driver operates in the ―-3‖ mode (d3.17 = -3). If the driver is required to operate in the torque mode (―4‖ mode), please set d3.16 or d3.17 to 4. In case d3.16 = 4, if DIN3 has no input signals when the driver is powered on, the driver operates in the ―4‖ mode. In case d3.17 = 4, if DIN3 has input signals, the driver operates in the ―4‖ mode. Step 3: After configuring functions on digital input ports, select the analog – torque channel, and set parameters such as analog – torque factors, dead zone, offset, filtering, speed limit factors, and max speed limits. Step 4: Save parameters.

Numeric Display

Variable Name

Meaning

Parameter Settings

d3.01

Din1_Function

Defines the functions of digital input port 1

000.1 (Driver enable)

d3.02

Din2_Function

Defines the functions of digital input port 2

000.2 (Error resetting)

d3.03

Din3_Function

Defines the functions of digital 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 operation mode when input signals are valid

Set to 0.003 (3) mode (speed mode with acceleration/deceleration)

d3.25

Analog2_Filter

Used to smooth the input analog signals. Filter frequency:

f=4000/(2π*

Analog1_Filter) Time Constant: T = Analog2_Filter/4000 (S)

Default value is 5

d3.26

Analog2_Dead

Sets dead zone data for external analog signal 2

Set to 0

d3.27

Analog2_Offset

Sets offset data for external analog signal 2

Set to 0

d3.31

Analog_Torque_Factor

Sets the proportion between analog signals and output torque (current)

Set to 515

d3.30

Analog_Torque_Con

Selects analog - torque channels 0: Invalid analog channel 1: Valid analog channel 1 (AIN1) 2: Valid analog channel 2 (AIN2) Valid mode 4

Set to 2

d3.00

Store_Loop_Data

1: Storing all configured parameters for the control loop

Set to 1

Table 7-18 Parameter settings in Example 7-7

10: Initializing all parameters for the control loop

Internal position

Corresponding

position

Position section

numberic display

Corresponding

speed

Numberic

display

0 0 0

Din_Pos0

d3.40select position section sequence number d3.41select position section high bit d3.42select position section low bit

Din_Speed0_RPM

d3.18

0 0 1

Din_Pos1

Din_Speed1_RPM

d3.19

0 1 0

Din_Pos2

Din_Speed2_RPM

d3.20

0 1 1

Din_Pos3

Din_Speed3_RPM

d3.21

1 0 0

Din_Pos4

Din_Speed4_RPM

d3.44

1 0 1

Din_Pos5

Din_Speed5_RPM

d3.45

1 1 0

Din_Pos6

Din_Speed6_RPM

d3.46

1 1 1

Din_Pos7

Din_Speed7_RPM

d3.47

7.4 Internal Multi-position Control Modes (“1” Mode)

In Internal Multi-position control mode, we can activate internal set target position though an external signal to control motors. The activation has two preconditions: 1, Multi-position control mode can only be activated in Mode 1, it can’t be activated in other modes. 2, At least one of the external input signal is defined as ―Internal position control 0‖, ―Internal position control 1

― or ―Internal position control 2 ―, which means at least one address of digital tubes-d3.01 ~ d3.07 is set to ―040.0‖’, ―080.0‖ or ―800.2.

―Internal position control 0‖ , ―Internal position control 1‖ and ―Internal position control 2 ―, these three

signals will be combined into binary codes used to select a target position between ―Position 0~7‖.

Table 7-20 Internal Multi-position Control Mode Parameter Table

Note: In this control mode, ―position section X‖ can be positive or negative, it can be flexibly set; while the corresponding speed must be positive. Other parameters such as acceleration, deceleration, etc, can use the default value; also can be changed through digital tube.

DIN1

The driver is enabled, the motor shaft is locked

DIN3

Driver working mode（invalid 1，valid-3）

DIN4

Internal position 0

DIN5

Internal position 1

DIN6

Internal position 2

DIN6:DIN5:DIN4=0:0:0

Select position and speed in section 0

DIN6:DIN5:DIN4=0:0:1

Select position and speed in section 1

DIN6:DIN5:DIN4=0:1:0

Select position and speed in section 2

DIN6:DIN5:DIN4=0:1:1

Select position and speed in section 3

DIN6:DIN5:DIN4=1:0:0

Select position and speed in section 4

DIN6:DIN5:DIN4=1:0:1

Select position and speed in section 5

DIN6:DIN5:DIN4=1:1:0

Select position and speed in section 6

DIN6:DIN5:DIN4=1:1:1

Select position and speed in section 7

DIN6

Activate command（execute the selected

position section）

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

Din5_Function

080.0（Internal position control 1）

d3.06

Din6_Function

800.2 (Internal position control 2)

d3.07

Din7_Function

400.0（Activate command）

d3.16

Din_mode 0

Set 0001（1）Mode Internal Multi-position control mode

d3.17

Din_mode 1

Set 0.004 (-4) Mode Pulse-control mode

Example7-8: Internal Multi-position control mode

A motor needs to go eight position sections. In position section 0, it should reach the 5000 pulse location at the speed of 100RPM.In position section 1, it should reach the 15000 pulse location at the speed of 150RPM.In position section 2, it should reach the 28500 pulse location at the speed of 175RPM.In position section 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 -30550 pulse location at the speed of 325RPM. In position section 6, it should reach the 850 pulse location at the speed of 275RPM. In position section 7, it should reach the 15000 pulse location at the speed of 460RPM.

Table 7-21 Internal Multi-position Control Mode Demand

1. Define the meanings of the input points: Table 7-22 Internal Multi-position Control Mode Configuration

d3.00

Storage parameters

1(Storage configuration parameters)

2. Set position and speed:

Numberic

display

Variable Name

Parameters Settings

d3.43

Relative / Absolute position selection

Set to 2F(absolute location)

d3.40

Multi-position control L(The range of L is 0 to 7, which presents 7 positions(0-7))

L (0~7)

d3.41

Set position M（M*10000）

Set to 0

d3.42

Set position N

Set to 5000（set the position of section 0 t0 5000）

d3.18

Set the speed of section 0

Set to 100（ set the speed of section 0 to 100）

d3.41

Set position M（M*10000）

Set to 1

d3.42

Set position N

Set to 15000（set the position of section 1 t0 15000））

d3.19

Set the speed of position section 1

Set to 150（ set the speed of section 1 to 150）

d3.41

Set position M（M*10000）

Set to 2

d3.42

Set position N

Set to 28500（set the position of section 2 t0 28500）

d3.20

Set the speed of position section 2

Set to 175（ set the speed of section 2 to 175）

d3.41

Set position M （M*10000）

Set to -1 (0.001)

d3.42

Set position N

Set to -500 (0.500) (set the position of section 3 to -10500)

d3.21

Set the speed of position section 3

Set to 200（ set the speed of section 3 to 200）

d3.41

Set position M （M*10000）

Set to -2 (0.002)

d3.42

Set position N

Set to -680 (0.680) (set the position of section 4 to -20680)

d3.44

Set the speed of position section 4

Set to 300（ set the speed of section 4 to 300）

d3.41

Set position M （M*10000）

Set to -3(0.003)

d3.42

Set position N

Set to -550 (0.550) (set the position of section 5 to -30550

d3.45

Set the speed of position section 5

Set to 325 (Set the speed of

Table 7-23 Internal Multi-position and Speed Configuration

section 5 to 325)

d3.41

Set position M （M*10000）

Set to 0

d3.42

Set position N

Set to 850 (Set the position of section 6 to 850)

d3.46

Set the speed of position section 6

Set to 275 (Set the speed of section 6 to 275)

d3.41

Set position M （M*10000）

Set to 1

d3.42

Set position N

Set to 5000 (Set the position of section 7 to 15000)

d3.47

Set the speed of position section 7

Set to 460 (set the speed of section 7 to 460)

d2.10

Acceleration

Default 610 rps/s

d2.11

Deceleration

Default 610 rps/s

d3.00

Save control loop parameters

Set to 1

Internal Speed Control 0 (Din_Sys.Bit8)

Internal Speed Control 1 (Din_Sys.Bit9)

Meaning

Numeric Display

Valid Object (numeric display operation)

0 0 Multi-speed control: 0 [rpm]

d3.18 Din_Speed0_RPM

1 0 Multi-speed control 1 [rpm]

d3.19 Din_Speed1_RPM

Set all these parameters, then：

1. Enable the driver, which means to make the digital input DIN1 high-level.

2. Select the position section, which means to change the electrical level of DIN4,DIN5 and DIN6.

3. Activate instructions and execute the program, which means to make the digital input DIN7 high-level.

Notice: In Multi-position control mode, select location method by setting the different value of the digital tube d3.43.If you choose absolute positioning mode, set it to ―F‖; if the instructions require immediate updating, set it

to ―2F‖; if you choose relative positioning method, set it to ―4F‖.To change these parameters successfully,

you have to save the value of d3.00,and then restart.

7.5 Internal Multi-speed Control Modes (“-3” or “3” Mode)

In this control mode, external input signals are used to activate the internally configured target speed to

control the motor. There are two prerequisites for activation:

1. Multi-speed control is available in the ―-3‖ or ―3‖ mode, and is unavailable in other modes.

2. Set d3.28 to 0. In this case, the analog – speed channel is invalid.

3. At least one external input signal DinX_Function defines Bit8 or Bit9.

For example, define Din2_Function corresponding to Din2 as 010.0, and Din3_Function corresponding to Din3 as 020.0. In this way, the combination of the two above signals is used to choose any one of Din_Speed0_RPM, Din_Speed1_RPM, Din_Speed2_RPM or Din_Speed3_RPM as the target speed.

Table 7-24 Parameters for internal Multi-speed control modes

0 1 Multi-speed control 2 [rpm]

d3.20 Din_Speed2_RPM

1 1 Multi-speed control 3 [rpm]

d3.21 Din_Speed3_RPM

Parameter

Description

Setting

d3.28 Analog_Speed_Con

Analog signal control speed 0: Invalid 1: Ain 1 Control Speed 2: Ain 2 Control Speed 10~17: Ain 1 control the "Din_Speed[x-10]" 20~27: Ain 1 control the "Din_Speed[0~20]" Valid at operation mode 1, 3 or -3.

If d3.28 is set to 10~17, Ain1 is valid, which corresponds to multi speed control 0~7; If d3.28 is set to 20~27, Ain2 is valid, which corresponds to multi speed control 0~7

DIN6:DIN7=0:0

To execute the multi-step 1 speed (100 rpm)

DIN6:DIN7=1:0

To execute the multi-step 2 speed (200 rpm)

DIN6:DIN7=0:1

To execute the multi-step 3 speed (300 rpm)

DIN6:DIN7=1:1

To execute the multi-step 3 speed (400 rpm)

DIN1

To enable the driver, and lock the motor shaft

DIN2

To control operation modes of the driver (the mode is ―3‖

when the driver is valid, and is ―-3‖ when the driver is

invalid)

Numeric Display

Variable Name

Setting Method

d3.01 Din1_Function

Set to 000.1 (Driver enable)

Note: If you need to set the target speed precisely, it is required to set Din_Speed0, Din_Speed1, Din_Speed2 and Din_Speed3 with a host computer. The four data units are internal units and are suitable for users who are familiar with drivers. Din_SpeedX_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.

Multi-speed control (0-7) data can be controlled by external analog signal mapping. When analog signals control speed, original data of influenced speed will be covered by analog signal's value. Its setting is shown below:

Example 7-4: Internal Multi-speed control

Requirement: You need to define the digital input ports DIN6 and DIN7 as internal speed control, DIN1 as

driver enabling and DIN2 as operation mode control of the driver (the mode is ―3‖ when the driver is valid, and

is ―-3‖ when the driver is invalid). For detailed requirements, see Table 7-25. For the setting method, see

Table 7-26.

Table 7-25 Requirements on internal Multi-speed control

Table 7-26 Setting methods for internal Multi-speed control

d3.02 Din2_Function

Set to 000.4 (control over operation modes of drivers)

d3.06 Din6_Function

Set to 010.0 (internal speed control 0)

d3.07 Din7_Function

Set to 020.0 (internal speed control 1)

d3.16 Din_Mode0

Set to 0.003 (3) mode (speed mode with acceleration/deceleration)

d3.17 Din_Mode1

Set to 0.003 (-3) mode (instantaneous speed mode)

d3.18

Din_Speed0_RPM

Set to 100 [rpm]

d3.19

Din_Speed1_RPM

Set to 200 [rpm]

d3.20

Din_Speed2_RPM

Set to 300 [rpm]

d3.21

Din_Speed3_RPM

Set to 400 [rpm]

d3.00

Store_Loop_Data

Set to 1

7.7 Homing Mode (“6” Mode)

1, Summary

To make a system execute positioning in accordance with its absolute positioning, the first step is to define the origin. For instance, as shown in the following XY plane, to navigate to (X, Y) = (100mm, 200mm), you must define the origin of the machine firstly. It’s necessary to define the origin.

2, Procedure of homing

Use the following steps to homing:

1. Set the external I / O parameters, and then save.

2. Set the data for homing, and then save.

3. Execute homing.

3, Configuration of the data for homing

Here are simple descriptions of the data for executing homing.

0x607C0020

Home_Offset

Home offset

In Homing mode, set the offset relative to the zero point.

0x60980008

Homing_Method

Homing method

Select the homing method

0x60990120

Homing_Speed_Switch

Speed for searching the limit switch

Set the speed for searching the limit switch which defined as homing signal.

0x60990220

Homing_Speed_Zero

Speed for searching the Zero point.

Only valid when find Index signal.

0x60990308

Homing_Power_On

Homing when power on

Every time after power on,it will start homing once.

0x609A0020

Homing_Accelaration

Homing acceleration

Control the acceleration of homing

CD has 27 methods for homing, referring the CANopen’s definition of DSP402. 1st-14th methods use Z signal as homing signal. 17th-30th methods use external signal as homing signal.

Method 1: Homing on the negative limit switch and index pulse

Using this method, the initial direction of movement is leftward if the negative limit switch is inactive (here shown as low). The home position is at the first index pulse to the right of the position where the negative limit switch becomes inactive.

Method 2: Homing on the positive limit switch and index 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 position where the positive limit switch becomes inactive.

Methods 3 and 4: Homing on the positive home switch and index pulse

Using methods 3 or 4, the initial direction of movement is dependent on the state of the home switch. The home position is at the index pulse to either the left or right of the pint where the home switch changes state. If the initial position is sited so that the direction of movement must reverse during homing, 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 direction of movement is dependent on the state of the home switch. The home position is at the index pulse to either the left or the right of the point where the home switch changes state. If the initial position is sited so that the direction of movement must reverse during homing, the point at which the reversal takes place is anywhere after a change of state of the home switch.

Methods 7 to 14: Homing on the home switch and index pulse

These methods use a home switch that is active over only a portion of the travel; in effect the switch has a ―momentary‖ action as the axle position sweeps past the switch. Using methods 7 to 10, the initial direction of movement is to the right, 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 the edge being sought. The home position is at the index pulse on either side of the rising or falling edges of the home switch, as shown in the following two diagrams. If the initial direction of movement leads away from the home switch, the drive must reverse on encountering the relevant limit switch.

Methods 15 and 16: Reserved

These methods are reserved for future expansion of the homing mode.

Methods 17 to 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 switch transitions. For example, methods 19 and 20 are similar to methods 3 and 4, as shown in the following diagram:

Methods 31 and 32: Reserved

These methods are reserved 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 and -18: Use the mechanical terminal as reference point

Numberic display

Parameter Name

meaning

Setting Value

d3.01

Din1_Function

000.1: Driver enabled

000.2: Driver error reset

000.4: Operation mode

001.0:Positive limit

002.0:Negative limit

004.0:Origin signal

200.0:Start homing

000.1

（Driver enabled）

d3.02

Din2_Function

000.2

（Driver error reset）

d3.03

Din3_Function

000.4

（Driver 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

004.0:Index signal appears

004.0

(Index signal appears)

d3.15

Dout4_Function

040.0:Origin found

040.4

(origin found)

d3.16

Din_Mode0

Select this mode when the input signal is invalid

0.004 (-4)

d3.17

Din_Mode1

Select this mode when the input signal is valid

0.003 (-3)

d3.00

Store_Loop_Data

1：Storage all the setting

parameters except those of motor

10：Initialize all the setting

parameters except those of

0001 (1)

Example 7-5：Using method 7 for homing.

1. Set parameters.

motor

At this time, computer software shows:

Notice: The 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 mode can be normally used. Computer monitoring status is：

2. Set parameters for homing.

In common circumstance, only need to set up the model of origin and the rest of the parameters are default.

In some case, ―Electrify and then find the origin‖ is set 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 shown below:

(2). Send ―Start finding the origin‖ signal to motor, which means the digital input point 4 is set to high-level. The computer motoring picture is shown below:

Note: ―Start finding 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 picture is as follows:

(5). Driver searches 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. Computer monitoring

picture is shown 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 picture is as shown:

Chapter 8 Control Performance

Numeric Display

Variable Name

Meaning

Default Value

Range d2.01

Kvp

Sets the response speed of a velocity loop

0~32767

d2.02

Kvi

Adjusts speed control so that the time of minor errors is compensated

0~16384

8.1 Driver Performance Tuning

Fig. 8-1 Schematic diagram for control loop adjustment

As shown in Fig. 8-1, a typical servo system contains three control loops, namely, a position loop, a velocity loop, and a current loop.

Current loops are related to motor parameters (optimal parameters of the selected motor are default for the driver and no adjusting is required).

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 is at least twice of that of the position loop; otherwise oscillation may occur.

8.1.1 Manual Adjustment

1. Parameters for velocity loop

Table 8-1 Parameters for velocity loop

d2.05

Speed_Fb_N

Reduces the noise during motor operation by reducing the feedback bandwidth of velocity loops (smoothing feedback signals of encoders). When the set bandwidth becomes smaller, the motor responds slower. The formula is F=Speed_Fb_N*20+100. For example, to set the filter bandwidth to

"F = 500 Hz‖, you need to set the

parameter to 20.

7 0~45

* * _

Vc_Loop_BW Kvp *

*204800000* 2*2

I K Encoder R





Vc_Loop_BW

Left 1

Right 1

Proportional gain of velocity loop Kvp: If the proportional gain of the velocity loop increases, the responsive bandwidth of the velocity loop also increases. The bandwidth of the velocity loop is directly proportional to the speed of response. Motor noise also increases when the velocity loop gain increases. If the gain is too great, system oscillation may occur. Integral gain of velocity loop Kvi: If the integral gain of the velocity loop increases, the low-frequency intensity is improved, 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 bandwidth of velocity loop Convert the load inertia of the motor into the inertia Jl of the motor shaft, and then add the inertia Jr of the motor itself to obtain Jt = Jr + Jl. Put the result into the formula:

according to the adjusted the gain of velocity loop Kvp, only adjust Kvi according to actual

requirements. Adjust the impact of Kvp and Kvi, as shown in Fig. 8-2. For the effect of Kvp adjustment, see the first to the fourth from left of Fig. 8-2. Kvp gradually increases from the first to the fourth from left. The value of Kvi is 0. For the effect of Kvi adjustment, see the first to the fourth from right of Fig. 8-2. Kvi gradually increases from the first to the fourth from right. The value of Kvp remains unchanged.

To calculate the bandwidth of the velocity loop

Left 2

Right 2

Left 3

Right 3

Right 4

Left 4

Fig. 8-2 Schematic diagram of gain adjustment of velocity loop

Step 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 filter of the velocity loop; however, the bandwidth F of the feedback filter of velocity loop must be at least three times of the bandwidth

Numeric Display

Variable Name

Meaning

Default Value

Range

d2.07

Kpp

Indicates the proportional gain of the position loop Kpp

1000

0~16384

d2.08

K_Velocity_FF

0 indicates no feedforward, and 255 indicates 100% feedforward

255

0~255

d2.09

K_Acc_FF

The value is inversely proportional to the feedforward

32767

(7FF.F)

32767~10

d0.05

Pc_Loop_BW

Sets the bandwidth of the position loops in Hz

0~100

d2.26

Pos_Filter_N

Average filter parameter

N=1

1~255

* * _

K_Acc_FF

250000* 2* *

I K Encoder R





of velocity loop; otherwise oscillation may occur. The formula for calculating the bandwidth of feedback filter of velocity loop is F = Speed_Fb_N*20+100 (Hz).

2. Parameters for position loop

Table 8-2 Parameters for position loop

Proportional gain of the position loop Kpp: If the proportional gain of the position loop increases, the bandwidth of the position loop is improved, thus reducing both the positioning time and following errors. However, too great bandwidth may cause noise or even oscillation. Therefore, this parameter must be set properly according 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 recommended that Pc_Loop_BW be less than Vc_Loop_BW /4 (Vc_Loop_BW indicates the bandwidth of a velocity loop).

Velocity 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 velocity feedforward of a position loop is reduced, motor oscillation during running can be reduced. Acceleration feedback of the position loop K_Acc_FF (adjustment is not recommended for this parameter): If great gains of position rings are required, the acceleration feedback K_Acc_FF can be properly adjusted to

improve performance.

acceleration feedforward. Adjustment steps: Step 1: Adjust the proportional gain of a position loop. After adjusting the bandwidth of the velocity loop, it is recommended to adjust Kpp according to actual requirements (or directly fill in the required bandwidth in Pc_Loop_BW, and the driver will automatically calculate the corresponding Kpp). In the formula Kpp = 103*Pc_Loop_BW, the bandwidth of the position loop is less than or equal to that of the velocity loop. For a common system, Pc_Loop_BW is less than Vc_Loop_BW /2; for the CNC system, it is recommended that Pc_Loop_BW is less than Vc_Loop_BW /4. Step 2: Adjust velocity feedforward parameters of the position loop.

Velocity feedforward parameters (such as K_Velocity_FF) of the position loop are adjusted according to position errors and coupling intensities accepted by the machine. The number 0 represents 0% feedforward, and 256 represents 100% feedforward.

3. Parameters for pulse filtering coefficient

Note: K_Acc_FF is inversely proportional to the

Numeric Display

Variable Name

Meaning

Default Value

Range

d3.37

PD_Filter

Used to smooth the input pulses. Filter frequency: f = 1000/(2π* PD_Filter) Time constant: T = PD_Filter/1000 Unit: S Note: If you adjust this filter parameter during the operation, some pulses may be lost.

1~32767

Numeric Display

Variable Name

Meaning

Default Value

Range

d2.03

Notch_N

100. For example, if the mechanical resonance frequency is F = 500 Hz, the parameter should be set to 40.

0~90

d2.04

Notch_On

Enable or disable the notch filter 0: Disable the notch filter 1: Enable the notch filter

0~1

Table 8-3 Parameters for pulse filtering coefficient

When a driver operates in the pulse control mode, if the electronic gear ratio is set too high, this parameter must be adjusted to reduce motor oscillation; however, if the parameter adjustment is too great, motor running instructions will become slower.

8.2 Oscillation Inhibition

If resonance occurs during machine operation, you can adjust a notch filter to inhibit resonance. If resonance frequency is known, you can directly set Notch_N to (BW-100)/10. Note that you need to set Notch_On to 1 to enable the notch filter. If you do not know exactly the resonance frequency, you can firstly set the max value of d2.14 current instruction to a low one, so that the oscillation amplitude is within the acceptable range; then try to adjust Notch_N to check whether resonance disappears.

If machine resonance occurs, you can calculate the resonance frequency by observing the waveform of the target current with the oscilloscope function of the driver.

Table 8-5 Parameters for oscillation inhibition

8.3 Auto reverse

In this mode,motor will run forward and reverse continuously according to the setting mode.User can set parameters in velocity loop and position loop in this mode.Please make sure auto forward/reverse is allowed in the machine before using this mode and make sure the power of driver can be cut off anytime to avoid accident. Operation procedure for auto reverse: 1：Use KincoServo software to online according to chapter 7. 2：Set speed mode control according to 7.2. 3：Click the menu “Driver-Operation mode-Auto Reverse” and set the parameter for auto reverse.

Set “Auto_Reverse” as 0 for no control.

Set “Auto_Reverse” as 1 for position control.The motor will run between the position “Auto_Rev_Pos” and”Auto_Rev_Neg”.The unit is inc.The speed depends on target velocity.

Set “Auto_Reverse” as 3 for time control.The motor will run between time “Auto_Rev_Pos” and” Auto_Rev_Neg”.The unit is ms.The speed depends on target velocity.

Following figure shows the parameters need to set.In this figure,the servo will run between -10000 inc and 10000 at speed 100RPM.

8.4 Debugging example

8.4.1 Oscilloscope

1. Enter oscilloscope

2. Parameters for Oscilloscope

8.4.2 Procedure for Parameter Adjustment

1.Velocity Loop Adjustment (1) Adjust Kvp according to the load. ① Set motor running at Auto Reverse mode by position(Operation mode -3),then open oscilloscope and set the parameters to observe the curve.As shown in following figures. ② Adjust Kvp and observe the speed curve.Following figures show the different curve in different Kvp.According to the curve,it shows that the bigger value of Kvp,the faster response of speed. (2) Adjust Kvi according to load. (3) Adjust Speed_Fb_N to reduce system noise. Speed_Fb_N:This parameter is used to reduce system noise.But the bigger value of this parameter,the slower response of system. In Auto Reverse mode,Kvp=40

The oscilloscope is shown as follows:actual speed response is 33.88ms

In Auto Reverse mode,Kvp=110

The oscilloscope is shown as follows:actual speed response is 10.00ms

2.Position Loop Adjustment (1) Adjust Kpp. (2)Adjust Vff（K_Velocity_FF） Adjust Vff parameter according to the allowable position error and coupling performance of machine. Normally Vff is 100%.If system doesn’t need high response for position,then this parameter can be decreased to reduce overshoot. (3)Use oscilloscope to observe curve. Set motor running at Auto Reverse mode by time (Operation mode 3),set parameters of oscilloscope as following figure. In Fig.(1) and Fig.(2),Vff is 100%,When Kpp is 30,the response of position loop is faster than the one when Kpp is 10.Meanwhile the following error is also less,but overshoot is bigger. Fig.(3),Kpp is 30,Vff is 50%.Compare with Fig.(2),the following error is bigger,but response becomes slower and there is almost no overshoot.

Internal position mode,target position is 50000 inc. Fig.(1) Kpp=10,Vff=100%

100

The oscilloscope is as following: max. following error is 69 inc.

Fig.(2) Kpp=30,Vff=100%

Kinco CD2S Series, CD412S, CD422S, CD432S, CD622S User Manual

Specifications and Main Features

Frequently Asked Questions

User Manual