1
Kinco JD Series Servo User Manual
Content
Chapter 1 Product Acceptance & Model Description . ............................................................................... 5
1.1 Product Acceptance ......................................................................................................................... 5
1.1.1 Items for Acceptance (Wires Included) . .................................................................................... 5
1.1.2 Nameplate of Servo Driver ........................................................................................................ 5
1.1.3 Nameplate of Servo Motor ........................................................................................................ 6
1.2 Component Names .......................................................................................................................... 7
1.2.1 Component Names of JD Series Servo Driver . ........................................................................ 7
1.2.2 Component Names of Servo Motor . ......................................................................................... 8
1.3 Model Description of Servo Motors and Drivers .............................................................................. 8
1.3.1 Servo Drivers............................................................................................................................. 8
1.3.2 Servo Motors ............................................................................................................................. 8
1.3.3 Power,Brake and Encoder cable of Motors . ............................................................................. 9
Chapter 2 Precautions and Installation Requirements . ........................................................................... 1 0
2.1 Precautions .................................................................................................................................... 1 0
2.2 Environmental Conditions .............................................................................................................. 1 0
2.3 Mounting Direction & Spacing ........................................................................................................ 1 0
Chapter 3 Interfaces and Wirings of JD Driver . ...................................................................................... 1 2
3.1 Interfaces of JD Driver ................................................................................................................... 1 2
3.2 External Wirings of JD Driver ......................................................................................................... 1 3
3.3 I/O Interface of JD Driver ............................................................................................................... 1 4
3.4 X9 Interface(STO) of JD Servo ...................................................................................................... 1 5
3.4.1 Overview ................................................................................................................................. 1 5
3.4.2 Interface Descriptions ........................................................................................................... 1 5
3.4.3 STO Function Descriptions ................................................................................................... 1 5
3.5 X1～X6 Interface of JD Driver ........................................................................................................ 16
3.5.1 X1 Interface（Encoder out） ................................................................................................ 17
3.5.2 X2 Interface（RS485） ........................................................................................................ 17
3.5.3 X3 Interface（RS232） ........................................................................................................ 17
3.5.4 X4 Interface (CAN) ............................................................................................................... 1 8
3.5.5 X5 Interface (Master Encoder) . ............................................................................................ 1 8
3.5.6 X6 Interface (Encoder in) ...................................................................................................... 1 9
Chapter 4 Digital Operation Panel ........................................................................................................... 2 0
4.1 Introduction .................................................................................................................................... 2 0
4.2 Operation on Digital Operation Panel . .......................................................................................... 2 2
Chapter 5 JD-PC Software Introductions ................................................................................................. 2 4
5.1 Software Installation ....................................................................................................................... 2 4
5.2 Quick Start ..................................................................................................................................... 2 4
5.2.1 Hardware Configuration for Running JD-PC . ......................................................................... 2 4
5.2.2 JD-PC Software Online ........................................................................................................... 2 4
2
Kinco JD Series Servo User Manual
5.3 Menu Introductions ....................................................................................................................... 27
5.4 Driver Control ................................................................................................................................ 28
5.4.1 Basic Operate ......................................................................................................................... 28
5.4.2 Control Loop ........................................................................................................................ 29
5.4.3 I/O Port ................................................................................................................................... 30
5.4.4 Operation Mode ...................................................................................................................... 32
5.4.5 Data Object ............................................................................................................................ 33
5.4.6 Driver Config .......................................................................................................................... 34
5.4.7 ECAN Setting（CANopen PDO Setting） .............................................................................. 35
5.4.8 Oscilloscope ........................................................................................................................... 36
5.4.9 Error Control ........................................................................................................................... 41
5.4.10 Error History ......................................................................................................................... 42
5.4.11 Control Panel ........................................................................................................................ 42
5.4.12 Initialize/Save ................................................................................................ ....................... 42
5.4.13 Driver Property ..................................................................................................................... 43
Chapter 6 Motor Selection,Trial Operation and Parameter List .............................................................. 44
6.1 Driver and motor configuration ...................................................................................................... 44
6.1.1 Configuration Table for JD Servo Driver and Motor ................................................................ 44
6.1.2 Procedure for Motor configuration .......................................................................................... 45
6.2 Trial Operation .............................................................................................................................. 47
6.2.1 Objective ................................................................................................................................ 47
6.2.2 Precautions ............................................................................................................................ 47
6.2.3 Operating Procedure .............................................................................................................. 47
6.2.4 Diagram of Trial Operation ..................................................................................................... 48
6.3 Descriptions of Parameters ........................................................................................................... 48
Parameter List: Group F000 (To Set Driver Instructions) ................................................................. 48
Parameter List: Group F001 (To Set Real-Time Display Data) ........................................................ 49
Parameter List: Group F002 (To Set Control Loop Parameters) ..................................................... 51
Parameter List: Group F003 (To Set Input/Output & Pattern Operation Parameters) ...................... 53
Parameter List: Group F004 (To Set Motor Parameters) ................................................................. 56
Parameter List: Group F005 (To Set Driver Parameters) ................................................................ 58
Chapter 7 Operation on Input/Output Ports ............................................................................................ 61
7.1 Digital Input ................................................................................................................................... 61
7.1.1 Polarity Control on Digital Input Signals ................................................................................. 61
7.1.2 Simulation of Digital Input Signals .......................................................................................... 62
7.1.3 Status Display of Digital Input Signals .................................................................................... 63
7.1.4 Addresses & Functions of Digital Input Signals ...................................................................... 63
7.1.5 Wirings of Digital Input Port .................................................................................................... 67
7.2 Digital Output ................................................................................................................................ 68
7.2.1 Polarity Control on Digital Output Signals .............................................................................. 68
7.2.2 Simulation of Digital Output Signals（More details please refer to 7.1.2） ............................ 69
7.2.3 Status Display of Digital Output Signals ................................................................................. 69
7.2.4 Addresses and Functions of Digital Output Signals ................................................................ 69
7.2.5 Wiring of Digital Output Port ................................................................................................... 70
3
Kinco JD Series Servo User Manual
Chapter 8 Operation Mode ..................................................................................................................... 74
8.1 Position mode（Mode 1） ............................................................................................................ 74
8.2 Speed Mode（Mode -3 or 3） ...................................................................................................... 74
8.3 Master-slave mode（Mode -4） ................................................................................................... 75
8.4 Torque Mode（Mode 4） .............................................................................................................. 75
8.5 Homing mode（Mode 6） ............................................................................................................ 76
8.6 Driver Status Display ..................................................................................................................... 77
Chapter 9 Control Performance .............................................................................................................. 78
9.1 Auto Reverse ................................................................................................................................ 78
9.2 Driver Performance Tuning ........................................................................................................... 79
9.2.1 Manual Adjustment ................................................................................................................. 79
9.2.2 Auto Adjustment (Only for Velocity Loops) ........................................................................... 82
9.3 Oscillation Inhibition ...................................................................................................................... 84
9.4 Debugging Example ...................................................................................................................... 85
9.4.1 Oscilloscope ........................................................................................................................... 85
9.4.2 Procedure for Parameter Adjustment ..................................................................................... 87
Chapter 10 Communication .................................................................................................................... 93
10.1 RS232 Communication ............................................................................................................... 93
10.1.1 RS232 Communication Interface .......................................................................................... 93
10.1.2 RS232 Communication Parameters ..................................................................................... 93
10.1.3 Transport Protocol ................................................................................................................ 94
10.1.3.1 Data Protocol ..................................................................................................................... 95
10.1.4 RS232 Communication Address of Servo Parameters ......................................................... 96
10.2 RS485 Communication ............................................................................................................... 96
10.2.1 RS485 Communication Interface .......................................................................................... 97
10.2.2 RS485 Communication Parameters ..................................................................................... 97
10.2.3 MODBUS RTU ..................................................................................................................... 97
10.2.4 RS485 Communication Address of Servo Parameters ......................................................... 99
10.3 CANopen Communication .......................................................................................................... 99
10.3.1 Hardware Introduction ........................................................................................................ 100
10.3.2 Software Introduction ......................................................................................................... 101
10.3.1.1 EDS ................................................................................................................................. 101
10.3.1.2 SDO ................................................................................................................................ 101
10.3.1.3 PDO ................................................................................................................................ 101
10.3.3 CANopen Communication Parameters .............................................................................. 105
10.3.4 CANopen Communication Address of Servo Parameters .................................................. 105
Chapter 11 Alarm and Troubleshooting ................................................................................................ 106
11.1 Alarm Messages ........................................................................................................................ 106
Table 11-1 Fault codes ......................................................................................................................... 106
11.2 Alarm Causes & Troubleshooting .............................................................................................. 107
Chapter 12 Appendix ............................................................................................................................ 108
4
Kinco JD Series Servo User Manual
Appendix 1:Example for CANopen Communication ......................................................................... 108
Appendix 2:Example for RS485 Communication .............................................................................. 117
Appendix 3:Example for RS232 Communication .............................................................................. 122
Appendix 4：Master-Slave Example ................................................................................................ 124
Appendix 5:Homing method .............................................................................................................. 129
Appendix 6：Use JD-PC software to import and export driver parameters. ..................................... 134
Appendix 6：Conversion between engineering unit and internal unit of common objects. ............... 138
Appendix 8：Common Objects List .................................................................................................. 139
Appendix 9：Selection for Brake Resistor ........................................................................................ 146
Appendix 10：Selection for Fuse ..................................................................................................... 147
5
Kinco JD Series Servo User Manual
Chapter 1 Product Acceptance & Model Description
1.1 Product Acceptance
1.1.1 Items for Acceptance (Wires Included)
Table 1-1 Product acceptance
Item for Acceptance
Remark
Whether the model of a delivered CD 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
wirings are purchased
1.1.2 Nameplate of Servo Driver
Fig. 1-1 Nameplate of a servo driver
6
Kinco JD Series Servo User Manual
1.1.3 Nameplate of Servo Motor
Fig. 1-2 Nameplate of a servo motor
7
Kinco JD Series Servo User Manual
1.2 Component Names
1.2.1 Component Names of JD Series Servo Driver
Fig. 1-3 Component Names of JD Series Servo Driver
8
Kinco JD Series Servo User Manual
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
9
Kinco JD Series Servo User Manual
1.3.3 Power,Brake and Encoder cable of Motors
10
Kinco JD Series Servo User Manual
Chapter 2 Precautions and Installation
Requirements
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;
For safety, do not use any damaged servo driver or any driver with damaged parts.
2.2 Environmental Conditions
Table 2-1 Environmental conditions
Environment
Condition
Temperature
Operating temperature: 0C - 40C (ice free)
Storage temperature: - 10C - 70C (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
2.3 Mounting Direction & Spacing
Please install the servo driver correctly according to following figure,or it will cause faults.
The servo driver should be vertically installed on wall.Take fully into account heat dissipation when using
any heating components (such as braking resistors) so that the servo driver is not affected.
11
Kinco JD Series Servo User Manual
Fig. 2-1 Installing a servo driver
12
Kinco JD Series Servo User Manual
Chapter 3 Interfaces and Wirings of JD Driver
3.1 Interfaces of JD Driver
Table 3-1 Interfaces of a JD driver
Interface
Applicable
Driver
Symbol
Function
X1
JD430,JD620
ENCODER OUT
Encouder output interface
X2
JD430,JD620
RS485
RS485 interface
X3
JD430,JD620
RS232
RS232 interface，
X4
JD430,JD620
CAN
CAN bus interface
X5
JD430,JD620
MASTER
ENCODER
Encoder input,pulse/direction input
X6
JD430,JD620
ENCODER IN
Motor encoder input
X7
JD430,JD620
A
24VS
External logic power (24 V +/- 15%) interface with a
minimum of 0.5 A current output
GNDS
COMI1
Common port of digital input signals
DIN1
Digital input interface
Valid signal：12.5V～24V
Invalid signal：less than 5V
DIN2
DIN3
DIN4
COMI2
DIN5
DIN6
DIN7
DIN8
OUT7+
Maximum output current：100mA
Maximum voltage：24V
OUT7-
B
GA
Gound signal of analog input
AIN1
Analog signal input interface 1. Input impedance: 200 K
AIN2
Analog signal input interface 2. Input impedance: 200 K
OUT1+
Digital output
interface 1+
Maximum output current：100mA
Maximum voltage：24V
OUT1-
Digital output
interface 1-
OUT2+
Digital output
interface 2+
Maximum output current：100mA,
Maximum voltage：24V
OUT2-
Digital output
interface 2-
OUT3
Digital output
Maximum output current：500mA,
13
Kinco JD Series Servo User Manual
interface 3
Maximum voltage：24V
OUT4
Digital output
interface 4
Maximum output current：500mA,
Maximum voltage：24V
OUT5
Digital output
interface 5
Maximum output current：500mA,
Maximum voltage：24V
24VO
Power input of digital output signals
COMO
Common terminal of digital output signals
OUT6+
Digital output
interface 6+
Maximum output current： 500mA， mainly
used for motor brake
OUT6-
Digital output
interface 6-
X8
JD430,JD620
U/V/W/PE
Power cable interface of motor
X9
JD430,JD620
STO
Safty interface（STO）
X10
JD430,JD620
R/S/T;RB+/RB-;DC
+/DC-
Main power interface （ 220VAC ） ； Power circuit
interface,DC bus circuit interface
3.2 External Wirings of JD Driver
Fig. 3-1 External wirings diagram of JD driver
Power
supply
DC 24V
14
Kinco JD Series Servo User Manual
3.3 I/O Interface of JD Driver
Fig. 3-2 I/O interface of JD driver
Fig. 3-3 Wirings of the I/O interface of JD driver
15
Kinco JD Series Servo User Manual
3.4 X9 Interface(STO) of JD Servo
3.4.1 Overview
STO（safety torque off）function is used to force to close the signal of internal power
circuit in servo driver,so that it can cut off the motor’s current to cut off the output torque
of motor for safty.
JD series servo provide two channels of STO input signal control.The driver will cut off
the motor’s current and motor output torque when one of the STO signals is valid.
If users don’t want to use this function,please refer to 3.4.3 to forbid STO function,or the driver will
appear alarm 200.0.
3.4.2 Interface Descriptions
3.4.3 STO Function Descriptions
STO function forbidden:
Fig. 3-4 STO function forbidden of JD Servo
Note:When it need to forbid STO function,please use the short-circuit plates with the servo driver to
short-circuit the terminal as shown in Fig.3-4.
Name
Signal
Descriptions
STO
+24V
DC 24V power input
STOA+
STO function enable input A
STOA-
STOB+
STO function enable input B
STOB-
GND
Signal ground
16
Kinco JD Series Servo User Manual
In order to realize the safty function of driver,STO interface can be used to connect to safty
controllers,safty switches,safty sensors and so on.
Fig.3-5 Connection diagram between STO interface and safty controller
3.5 X1～X6 Interface of JD Driver
X1～X6 interface of JD driver use D-SUB connector.The styles of different D-SUB connectors are
shown in following figure.
Fig.3-6 D-SUB connector diagram of driver
17
Kinco JD Series Servo User Manual
3.5.1 X1 Interface（Encoder out）
3.5.2 X2 Interface（RS485）
3.5.3 X3 Interface（RS232）
Name
Pin
Signal
Descriptions
Function
Encoder out
（9-Pin female）
1
+5V
Power
Encodder
output
5
Z2
Open collector output
signal of encoder
6
GND
Signal ground
2
A
To output A phase
signal of encoder
7
/A 3 B
To output B phase
signal of encoder
8
/B 4 Z
To output index Z
signal of encoder
9
/Z
Name
Pin
Signal
Descriptions
Function
RS485
（9-Pin female）
1
NC
N/A
RS485
interface
5
GND
Signal ground
6
+5V
Power
2
RX
Receive data
7
/RX 3 TX
Send data
8
/TX 4 NC
N/A
9
NC
Name
Pin
Signal
Descriptions
Function
RS232
（9-Pin female）
1
NC
N/A
RS232
interface
2
TX
Send data
3
RX
Receive data
4
NC
N/A 5 GND
Signal ground
6
NC
N/A
7
NC 8 NC
N/A
9
NC
18
Kinco JD Series Servo User Manual
3.5.4 X4 Interface (CAN)
3.5.5 X5 Interface (Master Encoder)
Name
Pin
Signal
Descriptions
Function
CAN
（9-Pin male）
1
NC
CAN bus
interface
5
NC 6
NC 2
CAN_L
CAN_L
7
CAN_H
CAN_H
3
GND
Signal ground
8
NC 4
NC 9
NC
Name
Pin
Signal
Descriptions
Function
Master Encoder
（ Triple rows
15-Pin female）
4
Pul+/A1+/CW+
Pulse,A1 signal of encoder
input.
Support orthogonal pulse
signal input 输入
Master
encoder
input/pulse
input
5
Pul-/A1-/CW10
Dir+/B1+/CCW+
Pulse,B1 signal of encoder
input.
Support orthogonal pulse
signal input 输入
15
DIR-/B1-/CCW9
Z1
Z1 phase signal of encoder
input
14
/Z1 1 +5V
Power supply
2
GND
Signal ground
3
NA
N/A 8 A
A phase of encoder input
13
/A 7 B
B phase of encoder input
12
/B 6 Z
Z phase of encoder input
11
/Z
19
Kinco JD Series Servo User Manual
3.5.6 X6 Interface (Encoder in)
Name
Pin
Signal
Descriptions
Function
Encoder in
（ Double
rows
15-Pin
female）
1
+5V
5V output
Motor
encoder
input
9
GND
0V 8 PTC_IN
PTC of motor input
2
A
A phase of encoder
input
10
/A 3 B
B phase of encoder
input
11
/B 4 Z
Z phase of encoder
input
12
/Z 5 U
U phase of encoder
input
13
/U 6 V
V phase of encoder
input
14
/V 7 W
W phase of encoder
input
15
/W
20
Kinco JD Series Servo User Manual
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
Number/
Point/Key
Function
①
Indicates whether data is positive or negative. If it is on, it indicates negative; otherwise it
indicates positive.
②
Distinguishes the current object group and the address data in this object group during
parameter settings.
Indicates the higher 16 bits of the current 32-bit data when internal 32-bit data is displayed
in real time.
Indicates the earliest error when history records of errors (F007) are displayed.
③
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.
Indicates the latest error when the history records of errors (F007) are displayed.
④
If it is on, it indicates that internal data is currently displayed.
If it flickers, it indicates that the power part of the driver is in the working status.
MODE
Switches basic menus.
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
Enters the selected menu by pressing this key.
Keeps current parameters in the enabled status.
Confirms input parameters after parameters are set.
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.
21
Kinco JD Series Servo User Manual
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.
22
Kinco JD Series Servo User Manual
4.2 Operation on Digital Operation Panel
Power ON
Press MODE
Switching of basic menus
Parameter display (current speed is
displayed by default)
Press
Press
Press
Press
Press
Press
Press
Press
Press
Press
Press
Press
Press
Press
Press
Press
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
Figure 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.
23
Kinco JD Series Servo User Manual
Example 4-1: Set the denominator of electronic gear ratio to 10000 with
number system switching
Press MODE. The main menu is displayed. Choose F003.
Press ENTER. The interface for selecting addresses is displayed.
Press ▲ to adjust data as d3.35.
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.
Press ▲ again. The content of numeric display changes to “271.0”, and the 3
rd
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.
Figure 4-2 Number system conversion
Example 4-2: Set the speed to 1000 RPM/-1000 RPM with separate
regulation of bits
Press MODE. The main menu is displayed. Choose F000.
Press ENTER. The interface for selecting addresses is displayed.
Press ▲ to adjust data as d0.02.
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.
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.
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.
Kinco JD 伺服系列使用手册
Chapter 5 JD-PC Software Introductions
5.1 Software Installation
This software doesn’t need to install.Users can download JD-PC software from our website:
www.kinco.cn.
5.2 Quick Start
5.2.1 Hardware Configuration for Running JD-PC
JD-PC software can be used to configure all the parameters of JD Series servo driver via
RS232 or CANopen port.Please refer to Chapter 3 to connect servo driver and motor before using
it.
● System configuration for programming via RS232.
JD series servo driver such as JD430.
24VDC power supply for driver.
Serial programming cable,whose wiring diagram is as following figure.
PC JD Servo RS232 Interface(X3)
RxD 2 ---------------------------------- TXD 2
TxD 3 ---------------------------------- RXD 3
GND 5 ---------------------------------- GND 5
● System configuration for programming via CANopen.
JD series servo driver such as JD430.
24VDC power supply for driver.
PEAK series USB or LPT adapter from PEAK company.
CANopen communication cable,its wiring diagram is as following figure:
Pecan JD Servo CAN Interface(X4)
CAN_L 2 ---------------------------------- CAN_L 2
CAN_H 7 ---------------------------------- CAN_H 7
5.2.2 JD-PC Software Online
1.Open the folder of JD-PC and double click the icon ,then it will open the window as following figure:
Kinco JD 伺服系列使用手册
25
Kinco JD Series Servo User Manual
2.New Project.
3.It will popup dialog box “Commutation Way”,if it uses serial port,then select “RS232C”and click “Next”.
If it uses CAN tools such as PEAK-CAN,then select “CAN” and click “Next”.
Kinco JD 伺服系列使用手册
26
Kinco JD Series Servo User Manual
4．Enter communication property interface.Set the parameters like COM,Baudrate,Driver ID corresponding to
the actual value in servo driver.Then click Comm Status button 。
If it uses CAN connection,set the parameters like Baudrate,Driver ID.Then click Comm Status
button .
5.Check the informations in the lower-right side.If the informations are like “Comm Status:Open COM1
38400” and the Comm Status turns green,it means JD-PC software is online successfully.
Kinco JD 伺服系列使用手册
27
Kinco JD Series Servo User Manual
When it uses CAN connection,if the informations in the lower-right side are like “Comm Status:Open 500K
Bit/S” and the Comm Status turns green,it means JD-PC software is online successfully.
5.3 Menu Introductions
Open JD-PC software as following figure:
Kinco JD 伺服系列使用手册
28
Kinco JD Series Servo User Manual
The descriptions of Menu bar are as following table.
Name
Descriptions
File
Used to New,Open,Save project.
Computer
Used to set communication property.
Driver
Used to control driver,more details please refer to 5.4
Motor
Used to configure motor parameters,more detail please refer to 6.1.3
Extend
Used to change language and read/write driver parameters.
5.4 Driver Control
5.4.1 Basic Operate
In this menu,it can do some basic control operation for driver.About more details of operation
mode,please refer to Chapter8.
Kinco JD 伺服系列使用手册
29
Kinco JD Series Servo User Manual
Example 5-1：Use JD-PC software to control servo running in speed mode
by manual.
Step 1:Cancel the default setting of DIN1 and DIN3 according to Example 5-2.
Step 2:Set the basic parameters according to “Speed Mode” in Chapter 8.As shown on the red
line in the figure,it means the driver is in speed mode.And the speed is 100RPM.Set the
SpeedDemand_RPM as negative value when need to run reversed.
5.4.2 Control Loop
In this menu,it is used to adjust parameters for driver’s control performance.More details
please refer to chapter 9.
Please be careful for parameters setting in Current Loop!If users use JD servo driver together
with the servo motors provided by Kinco Company,then it needn’t set the parameters in Current
Loop.
Kinco JD 伺服系列使用手册
30
Kinco JD Series Servo User Manual
5.4.3 I/O Port
In this menu,it is used to set the functions and polarity of I/O ports,monitor the status of I/O ports and simulate
the I/O ports.
Example 5-2：Use JD-PC software to set the functions of I/O port
Requirement:Cancel the functions of DIN1,DIN3 and DIN5.Set DIN2 as default reset,DIN4 as emergency
stop and OUT2 as Reference found.Others are set as default.
Step 1:Click the button beside DIN1.Cancel the function “Driver enable” in the popup
window as following figure,then click OK.
Kinco JD 伺服系列使用手册
31
Kinco JD Series Servo User Manual
Step 2:Set all the functions of other I/O ports with the similar operations as step 1.Then select
Driver -> Initialize/Save and click “Save control parameters”.The final settings of I/O ports
are as following figure:
Kinco JD 伺服系列使用手册
32
Kinco JD Series Servo User Manual
5.4.4 Operation Mode
In this menu,it is used to set and monitor the objects in each operation mode.More details please refer to
chapter 9.Following figure is the menu for pulse mode.
Kinco JD 伺服系列使用手册
33
Kinco JD Series Servo User Manual
5.4.5 Data Object
In this menu,it can be used to query the address and descriptions of all the objects in JD driver.As
shown in above picture,there are Index,Subindex address and the name of the objects on the left
side.On the right side,there are the descriptions of the object.
Example 5-3：Use JD-PC Software to Add an Object
Requirement:Add an address in any menu.Here we will add “CANopen baudrate” in “Basic Operate”.
Step 1:Open “Basic Operate”,then righ click in the window of “Basic Operate”.Select
“add”,then it will popup a window of “Data Object”.
Step 2:Enter “baudrate” in “Find what”,then click “Find next”.It will jump to the object
“CAN_Baudrate” whose index address is 2F81.There are the descriptions of this object in the
rightside. As shown in following figure.
Kinco JD 伺服系列使用手册
34
Kinco JD Series Servo User Manual
Step 3:Double click the object to add this object into “Basic operate” menu.
Step 4:If you need to delete the object in the menu.Right click the object and select “del”to
delete the object.If you need to know more details of the object,then right click the object
and select “help” to show the details.
5.4.6 Driver Config
In this menu,it is used to set the parameters such as User Password,Brake resistor,RS232 communication
and so on.
Kinco JD 伺服系列使用手册
35
Kinco JD Series Servo User Manual
Example 5-4：Use JD-PC to set an User Password
Step 1:Set the number “1234”as password in the object “User_Secret” as shown in the red
box in the figure above.
Step 2:Click “Save all control parameters” in Driver->Initialize/Save to save parameters,then
Click “Reboot driver”.
Step 3:The password will be activated after rebooting driver.Then users can not set any parameters before
entering the correct password in the object “User_Secret”in “Driver Config”.
Step 4:Enter 0 in the object “User_Secret” to cancel the password after entering correct password.
5.4.7 ECAN Setting（CANopen PDO Setting）
This menu is used to set CANopen communication parameters.About details please refer to chapter 10.
Kinco JD 伺服系列使用手册
36
Kinco JD Series Servo User Manual
5.4.8 Oscilloscope
Oscilloscope can help you adjust servo’s parameters better by observing the curve of speed,position and so
on.
There are two ways to open oscilloscope as following figures.
Fig.1.Oscilloscope shotcut in toolbar
Kinco JD 伺服系列使用手册
37
Kinco JD Series Servo User Manual
Fig.2.Menu bar---Driver--Oscilloscope
Kinco JD 伺服系列使用手册
38
Kinco JD Series Servo User Manual
Follows are the parameters instructions in Oscilloscope.
Kinco JD 伺服系列使用手册
39
Kinco JD Series Servo User Manual
Kinco JD 伺服系列使用手册
40
Kinco JD Series Servo User Manual
Kinco JD 伺服系列使用手册
41
Kinco JD Series Servo User Manual
5.4.9 Error Control
This menu is used to monitor the current error information.As shown in following figure,The
Hex data is the same error code as shown in LED display on servo driver.The small box is used
to choose whether to shield error or not.There is error when the lamp is red.The text is the
descriptions of error.About more details please refer to chapter 11.
Note:Please be careful for shielding error,and not all the errors can be shielded.
Kinco JD 伺服系列使用手册
42
Kinco JD Series Servo User Manual
5.4.10 Error History
JD servo driver provides 7 groups of historical error informations.Users can query the informations such as
error code,voltage,current,temperature,speed,operation mode,driver accumulated working time and so on.
5.4.11 Control Panel
This menu is used to set and query all the parameters which are corresponding to the parameters
from Group F000 to F007 in servo driver.
5.4.12 Initialize/Save
This menu is used to save and initialize parameters and reboot servo driver.
Kinco JD 伺服系列使用手册
43
Kinco JD Series Servo User Manual
5.4.13 Driver Property
This menu is used to display the informations such as driver model,software version,serial number and so on.
Kinco JD 伺服系列使用手册
44
Kinco JD Series Servo User Manual
Chapter 6 Motor Selection,Trial Operation and Parameter
List
6.1 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 in 6.1.1 when setting the motor model.
6.1.1 Configuration Table for JD Servo Driver and Motor
PC
LED
Motor Model
Suitable Servo
LED Code:d4.19
JD430
JD630
JD620
JD640
K@
404.b
Do not configure motor
Display FFF.F if not enable
Display 800.0 if enable
L2
324.c
57S-0008-08AAK-FDFH
L3
334.c
57S-0015-08AAK-FDFH
L4
344.c
SME60S-0020-30AAK-3DK
H
L5
354.c
57S-0010-10AAK-FDFH
K0
304.b
SMH60S-0020-30A■K-3LK□
√ K1
314.b
SMH60S-0040-30A■K-3LK□
√ K2
324.b
SMH80S-0075-30A■K-3LK□
√ K3
334.b
SMH80S-0100-30A■K-3LK□
√
K4
344.b
SMH110D-0105-20A■K-4L
√
K5
354.b
SMH110D-0125-30A■K-4LK
□
√
K6
364.b
SMH110D-0126-20A■K-4LK
□
√
K7
374.b
SMH110D-0126-30A■K-4H
K□
√
K8
384.b
SMH110D-0157-30A■K-4H
K□
√ K9
394.b
SMH110D-0188-30A■K-4H
K□
√ KB
424.b
SMH130D-0105-20A■K-4H
K□
√
√
KC
434.b
SMH130D-0157-20A■K-4H
K□
√
√
KD
444.b
SMH130D-0210-20A■K-4H
K□
√ KE
454.b
SMH150D-0230-20A■K-4H
K□
√ KF
464.b
SMH150D-0300-20A■K-4H
K□
√
KG
474.b
SMH150D-0380-20A■K-4H
K□
√
KH
484.b
SMH180D-0350-20A■K-4H
K□
√
KI
494.b
SMH180D-0440-20A■K-4H
K□
√
E0
304.5
SME60S-0020-30A■K-3LK□
Kinco JD 伺服系列使用手册
45
Kinco JD Series Servo User Manual
6.1.2 Procedure for Motor configuration
If there is no motor type set in driver,then the driver will appear error FFF.F or 800.0.There are two way
to set the motor type in driver as follows:
1.Panel operation.
E1
314.5
SME60S-0040-30A■K-3LK□
E2
324.5
SME80S-0075-30A■K-3LK□
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
85S-0045-05AAK-FLFO-KT
Note： ■=A: No brake □= H：Direct cable connector √：Recommended
Configuration
=B: With brake =N：HFO series standard connector of Servo and Motor
= C：YL22 series standard connector
= M：2*M17 series Intercontec connector
= D ： M17+M23 (Power M23 Intercontec connector, Encoder M17 Intercontec
connector)
Kinco JD 伺服系列使用手册
46
Kinco JD Series Servo User Manual
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.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.
Kinco JD 伺服系列使用手册
47
Kinco JD Series Servo User Manual
6.2 Trial Operation
6.2.1 Objective
The trial operation allows you to test whether the driver works properly, and whether the motor runs stably.
6.2.2 Precautions
Ensure the motor type is set correctly.
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.
Ensure that motor cables, motor encoder cables, and power circuits (power lines and control power lines) are
properly connected. For details, see Chapter 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.
During the trial operation, the system automatically adopts the instantaneous speed mode, that is, the “-3”
mode.
After the trial operation, Group F006 exits automatically. To enter Group F006 again, you must re-activate the
trial operation.
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.
If there is problem in the keys,then trial operation can not be used.
6.2.3 Operating Procedure
Please make sure the correct wiring of STO(refer to chanpter 3.4.3) before using trial operation,or the driver
will display error 200.0.
Operate by panel:
Press MODE to enter Group F004. Select the object address “d4.18”, and check the motor type.
Press MODE to enter Group F000. Select the object address “d0.02”, and set the target speed to
“SpeedDemand_RPM".
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.
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.
The motor set counter clockwise as positive direction.If the direction is not fit for the requirement ,users can
change the direction through the parameter d2.16 in Group F002.
Operate by CD-PC software:
1：Set motor mode in “Motor” in the software.
2：Refer to Fig.5-1 to operate by manual.
Kinco JD 伺服系列使用手册
48
Kinco JD Series Servo User Manual
6.2.4 Diagram of Trial Operation
Fig.6-1 Trial operation
6.3 Descriptions 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)
Numeric
Display
Internal
Address
Variable Name
Meaning
Default
Value
Range
d0.00
6060000
8
Operation_Mo
de
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
-4
/
Kinco JD 伺服系列使用手册
49
Kinco JD Series Servo User Manual
mode where no external signals
control the driver.
d0.01
2FF0050
8
Control_Word_
Easy
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.
0
/
d0.02
2FF0091
0
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).
0
/
d0.03
6071001
0
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).
0
-2047～
2047
d0.04
2FF00A
10
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.
60
0～600
d0.05
2FF00B
10
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.
10
/
d0.06
2FF00C
10
Tuning_Start
If the variable is set to 11, auto tuning
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.
0
/
Parameter List: Group F001 (To Set Real-Time Display Data)
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
Kinco JD 伺服系列使用手册
50
Kinco JD Series Servo User Manual
Numeric
Display
Internal
Address
Variable Name
Displayed Content
The formula of conversion between display value and
actual current(Average value):
peak
rms
I
Motor_IIt_Real*512
I*
2047
2
peak
I
is the max. peak value of the output current
of driver.
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
bit0：Ready to switch on
bit1：Switch on
bit2：Operation enable
bit3：Falt
bit4：Voltage Disable
bit5：Quick Stop
bit6：Switch on disable
bit7：Warning
bit8：Reserved
bit9：Reserved
bit10：Target reach
bit11：Internal limit active
bit12：Step.Ach./V=0/Hom.att.
bit13：Foll.Err/Res.Hom.Err.
bit14：Commutation Found
bit15：Referene Found
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)
d1.25
606C0010
Real_Speed_RPM
Real speed (rpm)
Internal sampling time: 200 mS
d1.26
60F91910
Real_Speed_RPM2
Real speed (0.01 rpm)
Internal sampling time: 200 mS
d1.27
60F91A10
Speed_1mS
Speed data (inc/1 mS)
Kinco JD 伺服系列使用手册
51
Kinco JD Series Servo User Manual
Numeric
Display
Internal
Address
Variable Name
Displayed Content
Internal sampling time: 1 mS
d1.28
60F60C10
CMD_q_Buff
Internal effective current instruction
d1.29
60F61710
I_q
Actual current
The formula of conversion between display value
andactual current:
peak
rms
I
_
I*
2047
2
Iq
peak
I
is the max. peak value of the output current
of driver.
d1.30
60F90E10
K_Load
Load parameter
d1.31
30100420
Z_Capture_Pos
Position data captured by encoder index signals
Parameter List: Group F002 (To Set Control Loop Parameters)
Numeric
Display
Internal
Address
Variable
Name
Meaning
Default
Value
Range
d2.00
2FF0010
8
Store_Lo
op_Data
1: Stores all setup parameters except those of
a motor
10: Initializes all setup parameters except
those of a motor
0
/
d2.01
60F9011
0
Kvp
Sets the response speed of velocity loop
0～
32767
d2.02
60F9021
0
Kvi
Time used to adjust speed control to
compensate minor errors
0～
16384
d2.03
60F9030
8
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.
45
0～90
d2.04
60F9040
8
Notch_O
n
Enable or disable the notch filter
0: Disable the trap filter
1: Enable the trap filter
0
/
d2.05
60F9050
8
Speed_F
b_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
60F9060
8
Speed_M
ode
0: Speed response after traveling through a
low-pass filter
1: Direct speed response without filtering
2: Feedback on output feedback
0
/
d2.07
60FB011
0
Kpp
Proportional gains on position loop Kpp
1000
0～
16384
d2.08
60FB021
K_Speed
0 indicates no feedforward, and 256 indicates
256
0～
Kinco JD 伺服系列使用手册
52
Kinco JD Series Servo User Manual
Numeric
Display
Internal
Address
Variable
Name
Meaning
Default
Value
Range
0
_FF
100% feedforward
256
d2.09
60FB031
0
K_Acc_F
F
The data is inversely proportional to the
feedforward
7FF.F
32767
～10
d2.10
2FF0061
0
Profile_A
cce_16
To set trapezoidal acceleration (rps/s) in the
“3” and “1” modes
610
0～
2000
d2.11
2FF0071
0
Profile_D
ece_16
To set trapezoidal acceleration (rps/s) in the
“3” and “1” modes
610
0～
2000
d2.12
60F6011
0
Kcp
To set the response speed of the current loop
and this parameters does not require adjusting
/
/
d2.13
60F6021
0
Kci
Time used to adjust current control to
compensate minor errors
/ / d2.14
6073001
0
CMD_q_
Max
Indicates the maximum value of current
instructions
/
/
d2.15
60F6031
0
Speed_Li
mit_Fact
or
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
Actual speed
Maximum speed
Maximum speed
V the maximum speed complies with d2.24
Max_Speed_RPM parameter settings
10
0～
1000
d2.16
607E000
8
Invert_Dir
Runs polarity reverse
0: Counterclockwise indicates the forward
direction
1: Clockwise indicates the forward direction
0
/
d2.17
60F90E1
0
K_Load
Indicates load parameters
/
20～
15000
d2.18
60F90B1
0
Kd_Virtu
al
Indicates the kd of observers
1000
0～
32767
d2.19
60F90C1
0
Kp_Virtu
al
Indicates the kp of observers
1000
0～
32767
d2.20
60F90D1
0
Ki_Virtual
Indicates the ki of observers
0
0～
16384
d2.21
60F9101
0
Sine_Am
plitude
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.
64
0～
1000
d2.22
60F91110
Tuning_S
cale
It is helpful to reduce the auto tuning time by
reducing the data, but the result may be
unstable.
128
0～
16384
d2.23
60F9121
0
Tuning_F
ilter
Indicates filter parameters during auto-tuning
64
1～
1000
d2.24
6080001
0
Max_Spe
ed_RPM
Limits the maximum rotation speed of motors
5000
0～
6000
Kinco JD 伺服系列使用手册
53
Kinco JD Series Servo User Manual
Parameter List: Group F003 (To Set Input/Output & Pattern Operation
Parameters)
Numeric
Display
Internal
Address
Variable Name
Meaning
Default
Value
Range
d3.00
2FF0010
8
Store_Loop_Dat
a
1: Stores all setup parameters
except motors
10: Initializes all setup parameters
except motors
0
/
d3.01
2010031
0
Din1_Function
000.0:Cancel 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
100.0: Quick stop
200.0:Start homing
400.0:Activate command
Note:DinX_Function(X is 1-7) is
used to define the function of
digital inputs.
000.1
/
d3.02
2010041
0
Din2_Function
000.2
/
d3.03
2010051
0
Din3_Function
000.4
/
d3.04
2010061
0
Din4_Function
000.8
/
d3.05
2010071
0
Din5_Function
001.0
/
d3.06
2010081
0
Din6_Function
002.0
/
d3.07
2010091
0
Din7_Function
004.0
/
d3.08
2FF00D1
0
Dio_Polarity
Sets IO polarity
0
/
d3.09
2FF0081
0
Dio_Simulate
Simulates input signals, and
enforce output signals for
outputting
0
/
d3.10
2000000
8
Switch_On_Auto
Automatically locks motors when
drivers are powered on
0: No control
1: Automatically locks motors
when drivers are powered on
0
/
d3.11
20100F1
0
Dout1_Function
000.0:Cancel function
000.1: Ready
000.2: Error
000.4: Position reached
000.8: Zero velocity
001.0: Motor brake
002.0:Velocity reached
000.1
/
d3.12
2010101
0
Dout2_Function
000.0
/
Kinco JD 伺服系列使用手册
54
Kinco JD Series Servo User Manual
Numeric
Display
Internal
Address
Variable Name
Meaning
Default
Value
Range
d3.13
20101110
Dout3_Function
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
Note:DoutX_Function(X is 1-5) is
used to define functions of the
digital outputs.
00a.4
/
d3.14
2010121
0
Dout4_Function
000.8
/
d3.15
2010131
0
Dout5_Function
000.0
/
d3.16
20200D0
8
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 / d3.17
20200E0
8
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
/
d3.18
2020091
0
Din_Speed0_RP
M
Multi-speed control: 0 [rpm]
0
/
d3.19
20200A1
0
Din_Speed1_RP
M
Multi-speed control: 1 [rpm]
0
/
d3.20
20200B1
0
Din_Speed2_RP
M
Multi-speed control: 2 [rpm]
0
/
d3.21
20200C1
0
Din_Speed3_RP
M
Multi-speed control: 3 [rpm]
0
/
d3.22
2502011
0
Analog1_Filter
Used to smooth the input analog
signals
F (Filter Frequency) = 4000/ (2π*
Analog1_Filter)
Τ (Time Constant) =
Analog1_Filter/4000 (S)
5
1～127
d3.23
2502021
0
Analog1_Dead
Sets dead zone data for external
analog signal 1
0
0～
8192
d3.24
2502031
0
Analog1_Offset
Sets offset data for external analog
signal 1
0
-8192
～8192
d3.25
2502041
0
Analog2_Filter
Used to smooth the input analog
signals
Filter frequency: f=4000/(2π*
Analog1_Filter)
Time Constant: T =
Analog1_Filter/4000 (S)
5
1～127
d3.26
2502051
0
Analog2_Dead
Sets dead zone data for external
analog signal 2
0
0 ～
8192
d3.27
2502061
0
Analog2_Offset
Sets offset data for external analog
signal 2
0
-8192
～8192
d3.28
2502070
8
Analog_Speed_
Con
Chooses analog-speed channels
0: Invalid analog channel
1: Valid analog channel 1 (AIN1)
2: Valid analog channel 2 (AIN2)
Valid mode -3 and 3
0
/
d3.29
25020A1
0
Analog_Speed_F
actor
Sets the proportion between
analog signals and output speed
1000
/
Kinco JD 伺服系列使用手册
55
Kinco JD Series Servo User Manual
Numeric
Display
Internal
Address
Variable Name
Meaning
Default
Value
Range
d3.30
2502080
8
Analog_Torque_
Con
Chooses analog-torque channels
0: Invalid analog channel
1: Valid analog channel 1 (AIN1)
2: Valid analog channel 2 (AIN2)
Valid mode 4
0
/
d3.31
25020B1
0
Analog_Torque_
Factor
Sets the proportion between
analog signals and output speed
(current)
1000
/
d3.32
2502090
8
Analog_MaxT_C
on
0: No control
1: Max. torque controlled by AIN 1
2: Max. torque controlled by AIN 2
0
/
d3.33
25020C1
0
Analog_MaxT_F
actor
Indicates the max torque factor on
analog signal control
8192
/
d3.34
2508011
0
Gear_Factor
Indicates the numerator to set
electronic gears when the
operation mode is -4
1000
-32767
～
32767
d3.35
2508021
0
Gear_Divider
Indicates the denominator to set
electronic gears when the
operation mode is -4
1000
1～
32767
d3.36
2508030
8
PD_CW
Pulse mode control
0...CW/CCW
1...Pulse/Direction
2...Incremental encoder
10..CW/CCW(RS422 type)
11..Pulse/Direction(RS422 type)
12.. Incremental encoder (RS422
type)
Note:0,1,2 are used for PIN4,5,9,
10,14,15 of Master_Encoder
interface,they are TTL signal.
10,11,12 are used for PIN6,7,8,11,
12,13,they are differential signal.
After changing this parameter,it
needs to save by
d2.00/d3.00/d5.00 and then reboot
driver.
1
/
d3.37
2508061
0
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.
3
1～
32767
d3.38
2508081
0
Frequency_Chec
k
Indicates the limitation on pulse
input frequency (k Hz)
600
0～600
d3.39
2508091
0
PD_ReachT
Indicates the position reached time
window in the pulse mode
Unit: mS
10
0～
32767
d3.40
2FF1010
8
Din_Position_Sel
ect_L
Select which internal position will
be set.(The range of L is 0-7)
Din_Pos0
Din_Pos1
Din_Pos2
Din_Pos3
Din_Pos4
0
Kinco JD 伺服系列使用手册
56
Kinco JD Series Servo User Manual
Numeric
Display
Internal
Address
Variable Name
Meaning
Default
Value
Range
Din_Pos5
Din_Pos6
Din_Pos7
d3.41
2FF1021
0
Din_Position_M
Refer to d3.42
0
d3.42
2FF1031
0
Din_Position_N
The position of internal position set
in Din_Position_Select_L
Din_Pos =
Din_Position_M*10000+Din_Positi
on_N
0
d3.43
20200F1
0
Din_Control_Wor
d
Absolute positioning/Relative
positionin gsetting
2F:Absolute positioning
4F:Relative positioning
Note:This parameter needs to
save and reboot driver after
change.
2F
d3.44
2020181
0
Din_Speed4_RP
M
Multi-speed control: 4 [rpm]
0 d3.45
2020191
0
Din_Speed5_RP
M
Multi-speed control: 5 [rpm]
0 d3.46
20201A1
0
Din_Speed6_RP
M
Multi-speed control: 6 [rpm]
0
d3.47
20201B1
0
Din_Speed7_RP
M
Multi-speed control: 7 [rpm]
0
d3.48
20101D1
0
Din8_Function
Define the function of digital input
8,refer to d3.01-d3.07.
000.0
d3.49
20101E1
0
Dout6_Function
Define the function of digital output
6,refer to d3.11-d3.15
001.0
d3.50
20101F1
0
Dout7_Function
Define the function of digital output
7,refer to d3.11-d3.15
000.2
Parameter List: Group F004 (To Set Motor Parameters)
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
About the motor number please refer to
chapter 6.1.1.
Note: 1.Set the motor parameters refer to
chapter 6 before operating.
2.It must use capital letter when set this
parameter by PC.
3.It needs to save by d4.00 and reboot driver
after changing this parameter.
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
Kinco JD 伺服系列使用手册
57
Kinco JD Series Servo User Manual
Numeric
display
Internal
Address
Variable Name
Meaning
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
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
“S0”.....3053...130D-0105-20AAK-2LS
“S1”.....3153...130D-0157-20AAK-2LS
“S2”.....3253...130D-0157-15AAK-2LS
“S3”.....3353...130D-0200-20AAK-2HS
“S4”.....3453...130D-0235-15AAK-2HS
Kinco JD 伺服系列使用手册
58
Kinco JD Series Servo User Manual
Parameter List: Group F005 (To Set Driver Parameters)
Numeric
Display
Internal
Address
Variable Name
Meaning
Default
Value
d5.00
2FF00108
Store_Loop_Data
1: Stores all control parameters
except motor parameters
10: Initializes all control parameters
except motor parameters
0
d5.01
100B0008
ID_Com
Station No. of Drivers
Note: To change this parameter, you
need to save it with the address
“d5.00”, and restart it later.
1
d5.02
2FE00010
RS232_Bandrate
Set the baud rate of RS232 port
540 19200
270 38400
90 115200
Note: To change this parameter, you
need to save it with the address
“d5.00”, and restarts it later.
270
d5.03
2FE10010
U2BRG
Sets the baud rate of RS232 port
540 19200
270 38400
90 115200
You need not restart it,but it can’t be
saved.
270
d5.04
60F70110
Chop_Resistor
Indicates the values of braking
resistors
0
d5.05
60F70210
Chop_Power_Rated
Indicates the nominal power of a
braking resistor
0
d5.06
60F70310
Chop_Filter
Indicates the time constant of a
braking resistor
Time: N*256/1000 Unit: S
60
d5.07
25010110
ADC_Shift_U
Indicates data configuration of U
phase shift.
Note:Factory parameters
/
d5.08
25010210
ADC_Shift_V
Indicates data configuration of V
phase shift
Note:Factory parameters
/
d5.09
30000110
Voltage_200
ADC original data when DC bus
voltage is 200 V
Note:Factory parameters
/
d5.10
30000210
Voltage_360
ADC original data when DC bus
voltage is 360 V
Note:Factory parameters
/
d5.11
60F60610
Comm_Shift_UVW
Indicates the excitation pointer of a
motor
Note:Factory parameters
/
d5.12
26000010
Error_Mask
Indicates error masks
Note:Factory parameters
FFF.F
d5.13
60F70510
RELAY_Time
Indicates the relay operating time of
capacitor short-circuits
Unit: mS
Note:Factory parameters
150
d5.14
2FF00408
Key_Address_F001
Sets numeric display data
/
d5.15
65100B08
RS232_Loop_Enabl
e
0：1 to 1
1：1 to N
0
Kinco JD 伺服系列使用手册
59
Kinco JD Series Servo User Manual
d5.16
2FE20010
RS485_Bandrate
Set the baudrate of RS485 port
1080 9600
540 19200
270 38400
90 115200
Note: To change this parameter, you
need to save it with the address
“d5.00”, and restarts it later.。
540
d5.17
2F810008
CAN_Bandrate
Set the baudrate of CAN port
100：1M 12：125k
50：500k 5： 50k
25：250k 1： 10k
Note: To change this parameter, you
need to save it with the address
“d5.00”, and restarts it later.
50
Kinco JD 伺服系列使用手册
60
Kinco JD Series Servo User Manual
Kinco JD 伺服系列使用手册
61
Kinco JD Series Servo User Manual
Chapter 7 Operation on Input/Output Ports
KINCO JD servo driver has 8 digital input ports and 7 digital output ports (the OUT1,OUT2,OUT7 ports can
drive 100 mA, and OUT3-OUT6 port can drive 500 mA load,and can directly drive the brake device). You can
freely configure all functions on digital input/output ports according to application requirements.
7.1 Digital Input
7.1.1 Polarity Control on Digital Input Signals
Note:all the digital inputs are normally open by default.
Table 7-1 Simplified IO polarity setting variables
Numeric Display
Variable Name
Meaning
d3.08
Dio_Polarity
Sets IO polarity
Table 7-2 Polarity setting methods for digital input signals
① ② ③
④
Input/output port
selection
0: Output port
1: Input port
Channel
selection
Input: 1-8
Output: 1-7
Reserved
0：The inputs are normally close
1：The inputs are normally open
Others:Check the current status
Example 7-1: Polarity Setting for Digital Input Signal DIN1
Fig.7-1 Polarity setting for digital input signal DIN1
7.1.1.1 Use panel to change the polarity
Table 7-3 Polarity setting for digital input signal DIN1
Kinco JD 伺服系列使用手册
62
Kinco JD Series Servo User Manual
① ② ③
④
Input/output port
selection
Set to 1 (input port
selected)
Channel selection
Set to 1 (DIN 1
selected)
Reserv
ed
0: DIN1 is enabled
when S1 opens
1: DIN1 is enabled
when S1 closes
Namely, if d3.08 is set to “110.0”, it indicates that DIN1 is normally close.If d3.08 is set to “110.1”, it indicates
that DIN1 is normally open.
7.1.1.2：Use PC software to change polarity
Use the PC software to connect to JD servo and then open I/O port.The LED under polarity are green,it
indicates that the inputs are normally open.As following figure,if you change the LED of DIN5 and DIN6 into
red,it indicates that DIN5 and DIN6 are normally close.
Fig.7-2 Digital I/O in PC software
7.1.2 Simulation of Digital Input Signals
Table 7-4 IO simulation variable
Numeric
Display
Variable Name
Meaning
d3.09
Dio_Simulate
Simulates input signals, and enforces
Kinco JD 伺服系列使用手册
63
Kinco JD Series Servo User Manual
output signals for outputting
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 7-5 Settings on simulation of digital input signals
① ② ③
④
Input/output port
selection
0: output port
1: input port
Channel
selection
Input: 1-8
Output: 1-7
Reser
ved
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 7-2: Simulate digital input DIN1
Table 7-6: Simulate digital input DIN1
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
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.
7.1.3 Status Display of Digital Input Signals
Table 7-7 Variables for status display of digital input signals
Numeric Display
Variable Name
Meaning
d1.11
Din_Status
Status of input ports
Din_Status (hexadecimal) is used to display the status of the actually input external signals in real time.
7.1.4 Addresses & Functions of Digital Input Signals
Table 7-8 Addresses & default functions of digital input signals
Numeric
Display
Variable Name
Meaning
Default Value
d3.01
Din1_Function
000.0:Cancel 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
000.1（Driver enable）
d3.02
Din2_Function
000.2（Driver fault reset）
Kinco JD 伺服系列使用手册
64
Kinco JD Series Servo User Manual
d3.03
Din3_Function
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
100.0: Quick stop
200.0:Start homing
400.0:Activate command
Note:DinX_Function(X is 1-7)
is used to define the function
of digital inputs.
000.4 （ Operation mode
control）
d3.04
Din4_Function
000.8 （ Operation mode
control）
d3.05
Din5_Function
001.0（Position positive limit）
d3.06
Din6_Function
002.0（Position positive limit）
d3.07
Din7_Function
004.0（Position positive limit）
d3.48
Din8_Function
000.0
Table 7-9 Meaning of defined functions of digital input signals
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”) or reverse
the target torque in torque mode(4).
Internal speed
control 0
To control internal multiple speeds.
Note: For details, see Section 7.5 Internal Multi-Speed Control in CD
Servo manual.
Internal speed
control 1
Internal speed
Kinco JD 伺服系列使用手册
65
Kinco JD Series Servo User Manual
Function
Meaning
control 2
Internal position
control 0
To control internal multiple positions.
Note: For details, see Section 7.4 Internal Multi-Position Control in CD
Servo manual.
Internal position
control 1
Internal position
control 2
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.
Activate command
When the rising edge of the signal is detected,it will activate the internal
position control
Example 7-3: 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 7-10 shows the setup method.
Table 7-10 Digital Input Port DIN1 Defined as the “Driver Enable” Function
Numeric Display
Variable Name
Parameter
Settings
d3.01
Din1_Function
Set to 000.1
d3.00
Store_Loop_Data
Set to 1
Note: Any digital output of DIN1-8 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 7-11 describes the setup method.
Table 7-11 Enabling the function of automatically powering on the driver by setting internal parameters in
drivers
Numeric
Display
Variable Name
Parameter Settings
d3.01- d3.07
d3.48
DinX_ Function
(1~8)
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
Users can also use PC software to define I/O functions.Open the I/O port menu,click the button in
red box as shown in following figure,then select the required function.
Kinco JD 伺服系列使用手册
66
Kinco JD Series Servo User Manual
Fig.7-2 Set digital I/O function in PC software
Example 7-4: 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 7-12 describes the setup method.
Table 7-12: Disabling position positive/negative limit settings
Numeric
Display
Variable Name
Parameter Settings
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
Example 7-5: Operation Mode Control on Drivers
Requirements: Defines the input port DIN3 as the operation mode control on drivers, and the operation mode
Kinco JD 伺服系列使用手册
67
Kinco JD Series Servo User Manual
is “-4” (pulse control mode) when DIN3 fails, and is “-3” (instantaneous speed mode) when DIN3 is valid.
Table 7-13 describes the setup method.
Table 7-13 Settings on operation mode control on drivers
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
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.
7.1.5 Wirings of Digital Input Port
1. NPN wiring diagram (to the controller that supports low level output)
Fig.7-4 NPN wiring diagram (to the controller that supports low level output)
2. PNP wiring diagram (to the controller that supports high level output)
Kinco JD 伺服系列使用手册
68
Kinco JD Series Servo User Manual
Fig.7-5 PNP wiring diagram (to the controller that supports high level output)
7.2 Digital Output
7.2.1 Polarity Control on Digital Output Signals
Note:All the digital output are normally open by default.
Table 7-14 Variables for setting simplified IO polarity
Numeric
Display
Variable Name
Meaning
d3.08
Dio_Polarity
Sets 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.
Example 7-6：Polarity setting for digital output OUT1
7.2.1.1：Use panel to change polarity
Table 7-15 Polarity setting for digital output OUT1(Default is ready function)
① ② ③
④
Kinco JD 伺服系列使用手册
69
Kinco JD Series Servo User Manual
Input/output port
selection
Set to 0 (Output port
selected)
Channel selection
Set to 1 (OUT1
selected)
Reserv
ed
0: OUT1 is normally
close
1: OUT1 is normally
open.
Namely, if d3.08 is set to “010.0”, it indicates that OUT1 is normally close.If d3.08 is set to “010.1”, it indicates
that OUT1 is normally open.
7.2.1.2：Use PC software to change polarity,please refer to 7.1.1.2.
7.2.2 Simulation of Digital Output Signals（More details please refer to 7.1.2）
Table 7-16 IO simulation variables
Numeric
Display
Variable Name
Meaning
d3.09
Dio_Simulate
Simulates input signals, and force the
output signal
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.
7.2.3 Status Display of Digital Output Signals
Table 7-17 Variables for status display of digital output signals
Numeric Display
Variable Name
Meaning
d1.12
Dout_Status
Status of an
output port
Din_Status (hexadecimal) displays the status of actual external output signals in real time.
7.2.4 Addresses and Functions of Digital Output Signals
Table 7-18 Addresses and default functions of digital output signals
Numeric
Display
Variable Name
Meaning
Default Value
d3.11
Dout1_Function
000.0: Disable
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: Max. velocity limit
010.0: PWM ON
020.0:Motor limiting
040.0:Reference found
000.1 (Ready)
d3.12
Dout2_Function
000.0 (No function)
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
000.0（No function）
Kinco JD 伺服系列使用手册
70
Kinco JD Series Servo User Manual
d3.49
Dout6_Function
001.0（Motor brake）
d3.50
Dout7_Function
000.2（Error）
Table 7-19 Meanings of the functions defined by digital output signals
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
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.
Example 7-7：“Ready” settings
Requirement: The OUT1 is defined as the “Ready” function. For details on settings, see Table 7-19。
Table 7-20 “Ready” settings
Numeric Display
Variable Name
Parameter Settings
d3.11
Dout1_Function
Set to 000.1
d3.00
Store_Loop_Data
Set to 1
7.2.5 Wiring of Digital Output Port
1. Internal circuit diagram of digital output ports
Kinco JD 伺服系列使用手册
71
Kinco JD Series Servo User Manual
Fig.7-6 Internal circuit diagram of digital output
Note:1.OUT3,OUT4 and OUT5 use the same common terminal(COMO).
2.It must connect external power supply to terminals 24VO and COMO when using OUT6.
2.NPN Wiring Diagram（OUT1-OUT7 all support this）
Kinco JD 伺服系列使用手册
72
Kinco JD Series Servo User Manual
Fig.7-7 NPN wiring diagram (to controllers that support valid low level input)
3. PNP wiring diagram (Only OUT1,OUT2 and OUT7 support this wiring)
Fig.7-8 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.7-9.
Kinco JD 伺服系列使用手册
73
Kinco JD Series Servo User Manual
Fig.7-9 To connect a relay to the digital output port
Kinco JD 伺服系列使用手册
74
Kinco JD Series Servo User Manual
Chapter 8 Operation Mode
8.1 Position mode（Mode 1）
Take this mode for example: In the coordinate system shown below, the red arrow indicates the current
position = 450. If it is defined as absolute motion, when the target position is set to 700, the motor will move to
the position of coordinate = 700; if it is defined as relative motion, when the target position is set to 700, the
motor will move to the position of coordinate = 1150.
Fig.8.1 Absolute/Relative positioning
In mode 1, the following objects have to be defined:
CANopen Address
Modbus
Address
Value
Meaning
60600008
0x3500
1
Set as position mode
60810020
0x4A00
User setting
Profile velocity
60830020
0x4B00
User setting
Acceleration
60840020
0x4C00
User setting
Deceleration
607A0020
0x4000
User setting
Target position
60400010
0x3100
2F -> 3F
4F -> 5F
103F
105F
Start absolute positioning
Start relative positioning
Start absolute positioning while target
position change
Start relative positioning while target
position change
More details please refer to “Mode and Control” and “Target Object” in Appendix.
About position mode controlled by communication,please refer to communication example in Appendix.
8.2 Speed Mode（Mode -3 or 3）
Mode 3 implements velocity control over the motor. The operation curve consists of three sequences:
acceleration, uniform velocity, and deceleration, as shown below. The acceleration time can be calculated on
the basis of initial velocity, uniform velocity, and acceleration velocity.
Vt＝Vo＋at Vt－Uniform velocity
Vo－Initial velocity
a - Acceleration or deceleration
t - Acceleration time
S＝Vot + (1/2) at2 S－Acceleration displacement
Kinco JD 伺服系列使用手册
75
Kinco JD Series Servo User Manual
In mode -3, when a new value is assigned to the target velocity, the motor will run at the new velocity
immediately, without a definable acceleration/deceleration as described in mode 3.
In speed mode, the following objects have to be defined:
CANopen地址
Modbus
Address
Value
Meaning
60600008
0x3500
3 or -3
Set as speed mode
60FF0020
0x6F00
User setting
Target velocity
60830020
0x4B00
User setting
Acceleration
60840020
0x4C00
User setting
Deceleration
60400010
0x3100
F
Start running
More details please refer to “Mode and Control” and “Target Object” in Appendix.
About position mode controlled by communication,please refer to communication example in Appendix.
8.3 Master-slave mode（Mode -4）
In this mode, the movement of the motor is directly controlled by the external encoder, pulse/direction,
CW/CCW pulse signal from the X5 interface of the drive. If the system receives signal from the external
encoder, set the drive to master/slave mode. The drive will serve as the slave and the motor shaft will be the
slave shaft to follow the encoder master shaft signal of the X5 interface to perform the following movement.
The velocity rate of the following movement can be set by the electronic gear ratio.
In mode -4, the following objects have to be defined:
CANopen
Address
Modbus
Address
Value
Meaning
60600008
0x3500
-4
Set as master-slave mode
25080110
0x1910
User setting
Factor of electronic gear
25080210
0x1920
User setting
Divider of electronic gear
25080310
0x1930
User setting
Pulse mode
0...CW/CCW mode
1... Pulse/Direction mode
2...Incremental encoder mode
Note:This parameter must save
after change.
60400010
0x3100
F
Start running
More details please refer to “Mode and Control” , “Target Object” and “Master-slave mode” in Appendix.
8.4 Torque Mode（Mode 4）
In this mode, the motor will output at constant torque. The output torque depends on the value of target
torque.The conversion formula is
*
2
demand
demand t
I
TK
，
t
K
is torque constant,users can find it in the
Kinco JD 伺服系列使用手册
76
Kinco JD Series Servo User Manual
catalog.
demand
I
is peak current.
In mode 4, the following objects have to be defined:
CANopen
Address
Modbus
Address
Value
Meaning
60600008
0x3500
-4
Set as torque mode
60710010
0x3C00
User setting
Target torque
60730010
0x3D00
User setting
Max. current
60800010
0x4900
User setting
Max. speed
60400010
0x3100
F
Start running
More details please refer to “Mode and Control” and “Target Object” in Appendix.
Warning: Before locking the motor shaft, pay attention to the drive. Because it has constant torque output,
the motor velocity is only restricted by the value of target torque. Make sure the load is correctly installed and
in normal operation before any operation. Remember to set the maximum velocity.
8.5 Homing mode（Mode 6）
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.
In mode 6, the following objects have to be defined:
CANopen
Address
Modbus
Address
Value
Meaning
60600008
0x3500
6
Set as homing mode
607C0020
0x4100
User setting
Home offset
60980008
0x4D00
User setting
Homing method
60990120
0x5010
User setting
Homing speed for searching
home signal
60990220
0x5020
User setting
Homing speed for searching
index signal
609A0020
0x5200
User setting
Homing acceleration
60400010
0x3100
F->1F
Start running
More details about homing method please refer to homing methods in Appedix.
Kinco JD 伺服系列使用手册
77
Kinco JD Series Servo User Manual
8.6 Driver Status Display
JD servo driver uses object 60410010(Modbus address is 0x3200) to indicate the current status
of driver.The definitions of every bit are as following:
bit
Definition
Meaning
Value
0
Ready to Switch on
Ready to switch on
60410010＝0x0001
1
Switched On
Already switched on
60410010＝0x0002
2
Operation Enable
Operation enable
60410010＝0x0004
3
Fault
Driver fault
60410010＝0x0008
4
Voltage Disable
Voltage output disable
60410010＝0x0010
5
Quick Stop
Emergency stop
60410010＝0x0020
6
Switch On Disable
Switch on disable
60410010＝0x0040
7
Warning
Warning
60410010＝0x0080
8
Manufacturer specific 1
Reserved
60410010＝0x0100
9
Reserved 1
Reserved 1
60410010＝0x0200
10
Target Reached
Target position reach
60410010＝0x0400
11
Internal Limit Active
Internal limit active
60410010＝0x0800
12
Setp.Ach./v=0/Hom.att.
Pulse response
60410010＝0x1000
13
Foll.Err./Res.Hom.Err.
Following
error/Reference error
60410010＝0x2000
14
Commutation Found
Commutation found
60410010＝0x4000
15
Reference Found
Reference found
60410010＝0x8000
Kinco JD 伺服系列使用手册
78
Kinco JD Series Servo User Manual
Chapter 9 Control Performance
9.1 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
advoid accident.
Operation procedure for auto reverse:
1：Use JD-PC software to online according to chapter 5.
2：Set speed mode control according to 5.4.1.
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 下图-10000 inc
and 10000 at speed 100RPM.
Kinco JD 伺服系列使用手册
79
Kinco JD Series Servo User Manual
9.2 Driver Performance Tuning
Fig. 9-1 Schematic diagram for control loop adjustment
As shown in Fig. 9-1, a typical servo system contains three control loops, namely, position loop, velocity loop,
and current loop.
Current loop are related to motor parameters (optimal parameters of the selected motor are default for the
driver and no adjusting is required).
Parameters for velocity loop and position loop should be adjusted properly according to load 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.
9.2.1 Manual Adjustment
1. Parameters for velocity loop
Table 9-1 Parameters for velocity loop
Numeric
Display
Variable Name
Meaning
Default
Value
Range
d2.01
Kvp
Sets the response speed of a velocity loop
100
0~32767
d2.02
Kvi
Adjusts speed control so that the time of minor
errors is compensated
2
0~16384
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.
45 0~45
Kinco JD 伺服系列使用手册
80
Kinco JD Series Servo User Manual
For example, to set the filter bandwidth to "F =
500 Hz”, you need to set the parameter to 20.
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:
* * _
Vc_Loop_BW Kvp *
*204800000* 2 *2
pt
t
I K Encoder R
J
To calculate the bandwidth of the velocity loop
Vc_Loop_BW
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.9-2.
For the effect of Kvp adjustment, see the first to the fourth from left of Fig. 9-2. 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. 9-2. Kvi gradually increases from
the first to the fourth from right. The value of Kvp remains unchanged.
Left 1
Right 1
Left 2
Right 2
Kinco JD 伺服系列使用手册
81
Kinco JD Series Servo User Manual
Fig.9-2 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 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 9-2 Parameters for position loop
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 256
indicates 100% feedforward
256
0~256
d2.09
K_Acc_FF
The value is inversely proportional to
the feedforward
7FF.F
32767~10
d0.05
Pc_Loop_BW
Sets the bandwidth of the position
loops in Hz
0
N/A
/
Pos_Filter_N
Set the average filter
1
1~255
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
Left 4
Right 4
Right 3
Left 3
Kinco JD 伺服系列使用手册
82
Kinco JD Series Servo User Manual
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.
* * _
K_Acc_FF
250000* 2* *
pt
t
I K Encoder R
J
Note: K_Acc_FF is inversely proportional to the
acceleration feedforward.
Pos_Filter_N is used for average filter of the speed produced by target position.Setting this parameter as N
means to average N data.
Adjustment procedure:
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
Table 9-3 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 filter parameter during the
operation, some pulses may be lost.
3
1~32767
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.
9.2.2 Auto Adjustment (Only for Velocity Loops)
Auto adjustment is only available for velocity loops (see Section 8.11 for manual adjustment of position loops)
when both forward rotation and reverse rotation of a motor are allowable, and the loadings do not change
much during the operation. You can determine the total inertia of motor loadings through gain auto tuning,
and then manually enter the desired bandwidth. The driver will automatically calculate appropriate Kvp and
Kvi values. The motion curve is in the shape of a sine curve, as shown in Fig. 9-3.
Kinco JD 伺服系列使用手册
83
Kinco JD Series Servo User Manual
Fig.9-3 Speed curve
K_Load represents the internal data that displays the actual inertia of the system.
* * _
_
62500* 2 *
pt
t
I K Encoder R
K Load
J
In the above formula:
Ip represents the maximum peak output current in units of “A”;
Kt represents the torque constant of the motor in units of “Nm/Arms”;
Encoder_R represents the resolution of a motor encoder in units of “inc/r”;
Jt represents the total inertia of the motor and loadings in units of “kg*m^2”.
Table 9-4 Parameters for controlling gain auto tuning
Numeric
Display
Variable Name
Meaning
Default
Value
Range
d0.06
Tuning_Start
Auto tuning starts after the variable is set to
11. All input signals are ignored 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.
0
/
d0.04
Vc_Loop_BW
Sets the bandwidth of the velocity loop in
Hz. The 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.
0
0~600
d2.17
K_Load
Indicates loading parameters
/
20~1500
0
d2.21
Sine_Amplitude
Proper increase in this data will reduce the
tuning error, but machine vibration will
become severer. This data can be adjusted
64
0~1000
Kinco JD 伺服系列使用手册
84
Kinco JD Series Servo User Manual
properly according to actual conditions of
machines. If the data is too small, the auto
tuning error becomes greater, or even
causes a mistake
d2.22
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
Tuning_Filter
Indicates filter parameters during
auto-tuning
64
1~1000
Auto tuning is a process where the suitable and stable K_Load value is automatically calculated. In the auto
tuning mode, the data of numeric display is automatically switched to the real-time display mode of K_Load
data. When K_Load data gradually becomes stable, the driver automatically adjusts Kvp and Kvi data of a
velocity loop, so that the actual bandwidth of the velocity loop is 50Hz. When K_Load data becomes stable,
the driver automatically stops auto tuning operation; then you need to customize Vc_Loop_BW, representing
the desired bandwidth of the velocity ring. Finally, run the test system in the actual environment, and save the
parameters.
Precautions:
Auto tuning applies when both forward rotation and reverse rotation of a motor are allowable, and the
loadings do not change much during the operation. When forward rotation or reverse rotation of the motor is
not allowable on a device, it is recommended to adjust the parameters manually.
During auto tuning operation, pulse signals, digital input signals, and analog signals of the external controller
are temporarily unavailable, so safety must be ensured.
Before auto tuning operation, it is recommended to properly adjust the Kvp, Kvi and Speed_Fb_N (a
feedback filter parameter) values of the velocity loop to prevent visible oscillations when the system works in
the speed mode. If necessary, adjust the data of d2.03 notch filter to inhibit resonance.
The time for different load tuning varies, and generally a few seconds is required. The auto tuning time can be
reduced by presetting the K_Load value to a predicted value that is close to the actual value.
Vc_Loop_BW can be written only after successful auto tuning, otherwise the driver may work improperly.
After you write the desired bandwidth of the velocity loop in Vc_Loop_BW, the driver automatically calculates
the corresponding values of Kvp, Kvi and Speed_Fb_N. If you are dissatisfied with low-speed smoothness,
you can manually adjust Kvi. Note that auto tuning does not automatically adjust the data of a notch filter.
In the following circumstances, auto tuning parameters should be adjusted:
When the friction in a rotation circle of the motor is uneven, it is required to increase the amplitude of d2.21
sine wave to reduce the impacts caused by uneven friction. Note that d2.21 increases when the oscillation
amplitude of the loadings increase.
If auto tuning lasts for a long time, initial evaluation of the total inertia is available. It is recommended to set
K_Load to an evaluation value before auto tuning.
If auto tuning is unstable, the stability of auto tuning increases when d2.22 increases properly, but the time for
auto tuning slightly increases.
In the following conditions, auto adjustment goes wrong. In this case, you can only set parameters manually:
The load inertia is featured by great fluctuation.
Mechanical connection rigidity is low.
Clearances exist in the connection between mechanical elements.
The load inertia is too great, while Kvp values are set too low.
If the load inertia is too great, K_Load data will be less than 20; if the load inertia is too little, K_Load data will
be greater than 15000.
9.3 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
Kinco JD 伺服系列使用手册
85
Kinco JD Series Servo User Manual
target current with the oscilloscope function of the driver.
Table 8-5 Parameters for oscillation inhibition
Numeric
Display
Variable Name
Meaning
Default
Value
Rang
e
d2.03
Notch_N
Notch/filtering frequency setting for a velocity
loop, used to set the frequency of the internal
notch filter, so as to eliminate the mechanical
resonance produced when the motor drives
the machine. The formula is F = Notch_N*10 +
100.
For example, if the mechanical resonance
frequency is F = 500 Hz, the parameter should
be set to 40.
45
0~90
d2.04
Notch_On
Enable or disable the notch filter
0: Disable the notch filter
1: Enable the notch filter
0
/
9.4 Debugging Example
9.4.1 Oscilloscope
1.Enter oscilloscope
Kinco JD 伺服系列使用手册
86
Kinco JD Series Servo User Manual
2.Parameters for Oscilloscope
Kinco JD 伺服系列使用手册
87
Kinco JD Series Servo User Manual
9.4.2 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
Kinco JD 伺服系列使用手册
88
Kinco JD Series Servo User Manual
In Auto Reverse mode,Kvp=110
The oscilloscope is shown as follows:actual speed response is 10.00ms
Kinco JD 伺服系列使用手册
89
Kinco JD Series Servo User Manual
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.
Kinco JD 伺服系列使用手册
90
Kinco JD Series Servo User Manual
Internal position mode,target position is 50000 inc.
Fig.(1) Kpp=10,Vff=100%
The oscilloscope is as following: max. following error is 69 inc.
Kinco JD 伺服系列使用手册
91
Kinco JD Series Servo User Manual
Fig.(2) Kpp=30,Vff=100%
The oscilloscope is as following:max. following error is 53 inc.
Fig.(3) Kpp=30,Vff=50%
Kinco JD 伺服系列使用手册
92
Kinco JD Series Servo User Manual
The oscilloscope is as following:max. following error is 230 inc.
Kinco JD 伺服系列使用手册
93
Kinco JD Series Servo User Manual
Chapter 10 Communication
JD Servo supports powerful communication capabilities and adopts the control mode based on an object
dictionary. All controls come down to the configuration of internal objects. The configuration can be
implemented by multiple methods including RS232, RS485 and CANopen. It supports the connection of
multiple sites and simultaneous operation of multiple communication ports.
Notice:
1.DIN1 is set as driver enable function and DIN3 is set as operation mode control function by default.Before
using communication control,it must cancel the functions of these two DIN.
2.There are internal unit and engineering unit.All the parameters use internal unit when using communication
control,so it need to convert the unit.About more details about the relationship of the units please refer to
Appendix.
3.When using read/write function of SDO of CANopen,RS232 and RS485 communication,make sure there is
only one command in the network at the same time,and good communication error handling, etc., in order to
avoid communication into an infinite loop.
10.1 RS232 Communication
10.1.1 RS232 Communication Interface
The wiring diagram between PC and single JD servo is as following:
PC JD Servo RS232(X3)
2 RxD ---------------------------------- TXD 2
3 TxD ---------------------------------- RXD 3
5 GND --------------------------------- GND 5
The wiring diagram between PC and multiple JD servo is as following：（ D05.15 must be set as 1,and restart
driver after setting）
Note:1.It is the same way to connect JD servo to HMI or other controllers.(The PIN definition of HMI or other
controllers may be different from PC’s).
2.When using the wiring of multiple JD servo,all the JD servo will receive the command at the same time.
10.1.2 RS232 Communication Parameters
LED
Display
Internal
Address
Name
Meaning
Default
value
d5.00
2FF00108
Store_Loop_Data
1：Store all control parameters except
0
Kinco JD 伺服系列使用手册
94
Kinco JD Series Servo User Manual
motor parameters
10 ： Initialzie all control parameters
except motor parameters
d5.01
100B0008
ID_Com
Station No. of Drivers
Note: To change this parameter, you
need to save it with the address “d5.00”,
and restart it later.
1
d5.02
2FE00010
RS232_Bandrate
Set the baud rate of RS232 port
540 19200
270 38400
90 115200
Note: To change this parameter, you
need to save it with the address “d5.00”,
and restarts it later.
270
d5.15
65100B08
RS232_Loop_Enabl
e
0：1:1
1：1:N
Note:It needs to restart driver after
changing
this parameter.
0
Other parameters
Data bit = 8
Stop bit = 1
Parity = None
Consta
nt
10.1.3 Transport Protocol
The RS-232C communication of the JD servo driver strictly follows a master/slave protocol. The host
computer can send any data to JD driver. The driver configured with ID No. will calculate such data and return
a reply.
This transport protocol of RS232 uses a data packet with fixed length of10 bytes.
ID CHKS8 byte data
byte 0 byte 9
ID is the ID No. of the slave
CHKS = - SUM(byte0,…,byte8), CHKS is the lowest byte of the calculation result.
The host sends:
ID CHKS8 byte host data
byte 0 byte 9
When D5.15 is 0,JD servo sends:
ID CHKS8 byte slave data
byte 0 byte 9
When D5.15 is 1,JD servo sends:
ID CHKS8 byte host data
byte 0 byte 9
ID CHKS8 byte slave data
byte 0 byte 9
Note: Each 10-byte packet has its own CHKS.
If the host sends an ID not existed in the network to the JD servo driver, no JD servo driver will make a reply.
After the host sends the data correctly, the slave will find the data packets in compliance with its own ID and
check the CHKS value. If the checksum does not match, the slave will not make a response.
Kinco JD 伺服系列使用手册
95
Kinco JD Series Servo User Manual
10.1.3.1 Data Protocol
A data protocol is different from a transport protocol. It contains 8 bytes of all 10 bytes of the above RS-232.
Definition of CD servo driver internal data complies with the CANopen international standard. All parameters,
values and functions are expressed by index and subindex.
A:Download. the host sends a command to write values into the objects in the slave, and the host generates
an error message when the value is downloaded to a non-existent object.
The host sends:
CMD Specifies the direction of data transfer and the volume of data.
23(0x16) Sends 4-byte data (bytes 4...7 contain 32 bits)
2b(0x16) Sends 2-byte data (bytes 4, 5 contain 16 bits)
2f(0x16) Sends 1-byte data (bytes 4 contains 8 bits)
INDEX Index in the object dictionary where data should be sent
SUB INDEX Subindex in object dictionary where data should be sent
In all four bytes in data, the lower-order bits are arranged before the higher-order bits. To write 7650 inc into
“Target Position” in the slave, the unit of 607A0029 is inc, 7650 is in decimal system, and 1DE2 is in
hexadecimal system.Since the length of the object to be written is 4 bytes and the calculation result 1D E2
has only 2 bytes,zero shall be filled to the higher-order bits. Therefore, the final result = 00 00 1D E2.
DATA： byte4=E2
byte5=1D
byte6=00
byte7=00
Slave responds：
RES: Displays slave response:
60(0x16) Data successfully sent
80(0x16) Error, bytes 4…7 contain error cause
INDEX 16-bit value, same as that sent by the master
SUBINDEX 8-bit value, same as that sent by the master
RES Reserved
For example:
Host sends:
01 23 7A 60 00 E2 1D 00 00 03 （This command is to write data into target position 607A0020）
Slave responds:
01 60 7A 60 00 E2 1D 00 00 C6
Means:
01－Station No. of slave is 1
60－Data successfully sent.And data are saved in byte4…byte5.
byte4=E2，byte5=1D，byte6=00，byte7=00
Then,DATA= byte7 byte6 byte5 byte4 = 1DE2（hex）=7650 inc
B:Upload. Upload refers to that the master sends a command to read object address in the slave and the
Kinco JD 伺服系列使用手册
96
Kinco JD Series Servo User Manual
master will generate an error if a non-existent target address is uploaded.
The host sends:
CMD Specifies the direction of data transfer
40(0x16)
INDEX 16-bit value
SUBINDEX 8-bit subindex
RESERVED Bytes 4…7 not used
The slave responds:
RES Displays slave response:
43(0x16) bytes 4...7 contain 32-bit data
4B(0x16) bytes 4, 5 contain 16-bit data
4F(0x16) byte 4 contains 8-bit data
80(0x16) error, bytes 4…7 contain error cause
INDEX 16-bit value, same as that sent by the master
SUBINDEX 8-bit value, same as that sent by the maste
If the data contains no error, byte 4…byte 7 save the object value read from the slave, with the lower-order
bits arranged before the higher-order bits. Correct value = byte7, byte6, byte5, byte4. If there is an error, data
contained in these four types is no longer object values read from the slave.
For example:
Host sends:
01 40 7A 60 00 00 00 00 00 E5 （This command is to read data of target position 607A0020）
Slave responds
01 43 7A 60 00 E2 1D 00 00 E3
Means:
01－Station No. of slave is 1
43－Receive 4 bytes of data and save into byte4…byte5.
byte4=E2，byte5=1D，byte6=00，byte7=00
Then DATA= byte7 byte6 byte5 byte4 = 1DE2（hex）=7650 inc
10.1.4 RS232 Communication Address of Servo Parameters
About the objects of each operation mode please refer to chapter8.
About common object address please refer to object list in Appendix.
About all the communication address please refer to parameters list.
About RS232 communication example please refer to Appendix.
10.2 RS485 Communication
Kinco JD 伺服系列使用手册
97
Kinco JD Series Servo User Manual
10.2.1 RS485 Communication Interface
The X2 interface of JD servo driver supports RS485 and RS422 communication.The wiring diagram is shown
in following figure.
10.2.2 RS485 Communication Parameters
LED
Display
Name
Meaning
Default Value
d5.01
ID_Com
Station No. of Drivers
Note: To change this parameter,
you need to save it with the
address “d5.00”, and restart it later.
1
d5.16
RS485_Bandrate
Set the baud rate of RS232 port
1080 9600
540 19200
270 38400
90 115200
Note: To change this parameter,
you need to save it with the
address “d5.00”, and restarts it
later.
540
Other parameters
Data bit = 8
Stop bit = 1
Parity = None
Constant
10.2.3 MODBUS RTU
The RS485 interface of JD servo driver supports Modbus RTU protocol.
Modbus RTU protocol format
Start(No less than 3.5
characters of
messages interval)
Station
No.
Function
code
Data
CRC
1 Byte
1 Byte
N Bytes
2 Bytes
Function code of Modbus
0x03：Read data registers
Request format：
! 485 KincoServo
RS485_Protocol ( 065100) “0”!
Kinco JD 伺服系列使用手册
98
Kinco JD Series Servo User Manual
Station No.
Function
Code
High Byte
of Start
Address
Low Byte
of Start
Address
High byte of
Address
Length
(Word)
Low byte
of
Address
Length
(Word)
CRC
check
1 Byte
03
1 Byte
1 Byte
1 Byte
1 Byte
2 Bytes
Normal response format:
Station
No.
Function
Code
Return data
length(Bytes)
High byte of
Register 1
Low byte of
Register 1
…
CRC
check
1 Byte
03
1 Byte
1 Byte
1 Byte
…
2 Bytes
If there is error such as non-exist address,then it will return function code 0x81.
For example:Send message 01 03 32 00 00 02 CA B3
Meaning:
01： Station NO.
03： Function code:read data registers
32 00 ： Read address starting from 4x3200(Hex).This is the modbus address corresponding to
parameter“Status word”(60410010)
00 02：Read 2 words of data
CA B3：CRC check.
0x06：Write single data register
Request format:
Station
No.
Functi
on
Code
High Byte
of Register
Low Byte of
Register
High byte of
writing
value
Low byte of
writing
value
CRC check
1 Byte
06
1 Byte
1 Byte
1 Byte
1 Byte
1 Bytes
Response format:If writing successful,then return the same message.
If there is error such as address over range,non-exist address and the address is read only,then it will return
function code 0x86.
For example:Send message 01 06 31 00 00 0F C7 32
Meaning:
01： Station No.
06： Function code,write single WORD
31 00： Modbus address for writing data.This is the address corresponding to parameter “control
word”(60400010)
00 0F： Write data 000F(Hex)
C7 32： CRC check.
0x10：Write multiple registers
Request format:
Station
No.
Function
Code
High Byte
of Start
Address
Low
Byte of
Start
Address
High
byte of
Address
Length
(Word)
Low
byte of
Address
Length
(Word)
Data
length
(Bytes
)
High
byte of
Data 1
Low
byte of
Data 1
…
CRC
check
1 Byte
10
1 Byte
1 Byte
1 Byte
1 Byte
1 Byte
1 Byte
1 Byte
…
2
Bytes
Normal respons format:
Station No.
Function
Code
High Byte of
Start
Address
Low Byte
of Start
Address
High byte
of Address
Length
(Word)
Low byte
of Address
Length
(Word)
CRC
check
1 Byte
10
1 Byte
1 Byte
1 Byte
1 Byte
2 Bytes
Kinco JD 伺服系列使用手册
99
Kinco JD Series Servo User Manual
If there is error such as address over range,non-exist address and the address is read only,then it will return
function code 0x90
For example:Send message 01 10 6F 00 00 02 04 55 55 00 08 1A 47
Meaning:
01： Station No.
10： Function code,write multiple WORDs
6F 00： Modbus address for writing data. This is the address corresponding to parameter “Target
Velocity”(60FF0020)
00 02: Address length is 2 WORD.
04： Data length is 4 Bytes(2 words)
55 55 00 08：Write data 00085555(Hex) into address.
1A 47： CRC check
10.2.4 RS485 Communication Address of Servo Parameters
About the objects of each operation mode please refer to chapter8.
About common object address please refer to object list in Appendix.(Not all the objects support RS485)
About RS485 communication example please refer to Appendix.
10.3 CANopen Communication
CANopen is one of the most famous and successful open fieldbus standards.It has been widely recognized
and applied a lot in Europe and USA. In 1992,CiA (CANinAutomation) was set up in Germany,and began to
develop application layer protocol CANopen for CAN in automation. Since then, members of CiA developed a
series of CANopen products,and applied in a large number of applications in the field of machinery
manufacturing such as railway, vehicles, ships, pharmaceutical, food processing etc..Nowadays CANopen
protocol has been the most important industrial fieldbus standard EN-50325-4 in Europe
The JD series servo supports standard CAN (slave device), strictly follow CANopen2.0A / B protocol, any
host computer which support this protocol can communicate with it. JD servo uses of a strictly defined object
list, we call it the object dictionary, this object dictionary design is based on the CANopen international
standards, all objects have a clear definition of the function. Objects said here similar to the memory address,
we often say that some objects, such as speed and position,can be modified by an external controller, some
object were modified only by the drive itself, such as status and error messages.
These objects are as following:
For example:
Index Sub Bits Attribute Meaning
6040 00 16(=0x10) RW Control word
6060 00 8(=0x08) RW Operation mode
607A 00 32(=0x20) W Target position
6041 00 16(=0x10) MW Status word
The attributes of objects are as follows:
1. RW:The object can be both read and written.
2. RO:The object can be read only
3. WO:The object can be written only.
4. M:The object can be mapping,similar to indirect addressing.
Kinco JD 伺服系列使用手册
100
Kinco JD Series Servo User Manual
5. S:The object can be stored in Flash-ROM without lost after power failure.
10.3.1 Hardware Introduction
CAN communication protocol describes a way of transmitting information between devices, The definition of
CAN layer is the same as the open systems interconnection model OSI, each layer communicates with the
same layer in another device, the actual communication takes place adjacent layers in each device,but the
devices only interconnect by the physical media of thephysical layer in the model.CAN standard defines data
link layer and physical layer in the mode. The physical layer of CAN bus is not strictly required, it can use a
variety of physical media such as twisted pair Fibre. The most commonly used is twisted pair signal, sent by
differential voltage transmission (commonly used bus transceiver). The two signal lines are called CAN_H
and CAN_L. The static voltage is approximately 2.5V, then the state is expressed as a logical 1, also called
hidden bit. It represents a logic 0 when CAN_H is higher than the CAN_L, we called it apparent bit,then the
voltage is that CAN_H = 3.5V and CAN_L= 1.5V,apparent bit is in high priority.
The standard CAN interface is as following figure:
Pin
Name
Description
1
NC
Reserved
2
CAN_L
CAN_L bus (low dominant )
3
CAN_GND
CAN ground
4
NC
Reserved
5
CAN_SHLD
Optional shield for CAN
6
GND
Optional ground
7
CAN_H
CAN_H bus（high dominant )
8
NC
Reserved
9
CAN_V+
NC
■Note:
1、All CAN_L and CAN_H of slaves connect directly by using series connection, not star connection.
2、There must be connected a 120 ohm resistance in start terminal(master) and end terminal(slave).
3、All JD servo driver don’t need external 24VDC supply for CAN interface.
4、Please use the shield wires for communication cable,and make good grounding(Pin.3 is advised to
grounding when
communication is in long distance and high baudrate）.
5、The max. distance at different baudrate are shown in following table:
GND
CAN_V+
Loading...