Kinco CD420 User Manual
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Kinco CD420 User Manual

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Chapter 1 Product Acceptance & Model Description ............................................................................................. 4
1.1 Product Acceptance .......................................................................................................................... 4
1.1.1 Items for Acceptance (Wires Included) ............................................................................ 4
1.1.2 Nameplate of Servo Driver ............................................................................................... 4
1.1.3 Nameplate of Servo Motor ............................................................................................... 5
1.2 Component Names ........................................................................................................................... 6
1.2.1 Component Names of CD420/CD430/CD620 Servo Driver ............................................. 6
1.2.2 Component Names of Servo Motor .................................................................................. 7
1.3 Model Description of Servo Motors and Drivers ................................................................................ 7
1.3.1 Servo Drivers ................................................................................................................... 7
1.3.3 Power,Brake and Encoder cable of Motors ...................................................................... 8
Chapter 2 Precautions and Installation Requirements .......................................................................................... 9
2.1 Precautions ....................................................................................................................................... 9
2.2 Environmental Conditions ................................................................................................................. 9
2.3 Mounting Direction & Spacing ........................................................................................................... 9
2.3.1 Precautions ...................................................................................................................... 9
2.3.2 Servo Driver Installation ................................................................................................. 10
Chapter 3 Interfaces and Wirings of CD Driver ................................................................................................... 12
3.1 Interfaces of CD Driver .................................................................................................................... 12
3.2 External Wirings of CD Driver ......................................................................................................... 14
3.3 X1 Interface of CD Driver ................................................................................................................ 15
3.4 Power Interfaces (CD420/X2, CD430/CD620/X2 and X5) of CD Driver .......................................... 16
3.5 X3/X4 Interfaces of CD Driver ......................................................................................................... 17
3.5.1 X3 Interface.................................................................................................................... 17
3.5.2 X4 Interface.................................................................................................................... 17
Chapter 4 Digital Operation Panel ....................................................................................................................... 18
4.1 Introduction ..................................................................................................................................... 18
4.2 Operation on Digital Operation Panel .............................................................................................. 20
switching ................................................................................................................................. 20
Chapter 5 Trial Operation & Parameter Introduction ........................................................................................... 23
5.1 Trial Operation ................................................................................................................................. 23
5.1.1 Objective ........................................................................................................................ 23
5.1.2 Precautions .................................................................................................................... 23
5.1.3 Operating Steps ............................................................................................................. 23
5.1.4 Diagram of Trial Operation ............................................................................................. 24
5.1.1 Diagram of trial operation ........................................................................................................................... 24
5.2 Description of Parameters ............................................................................................................... 25
Parameter List: Group F000 (To Set Driver Instructions) ........................................................ 25
Parameter List: Group F001 (To Set Real-Time Display Data) ............................................... 27
Parameter List: Group F002 (To Set Control Loop Parameters) ............................................. 28
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Summary of Contents for Kinco CD420

  • Page 1: Table Of Contents

    3.2 External Wirings of CD Driver ......................14 3.3 X1 Interface of CD Driver ........................ 15 3.4 Power Interfaces (CD420/X2, CD430/CD620/X2 and X5) of CD Driver .......... 16 3.5 X3/X4 Interfaces of CD Driver ......................17 3.5.1 X3 Interface........................17 3.5.2 X4 Interface........................
  • Page 2 Parameter List: Group F004 (To Set Motor Parameters) ............33 Parameter List: Group F005 (To Set Driver Parameters) ............34 Chapter 6 Operation on Input/Output Ports ......................35 6.1 Digital Input Signals ......................35 6.1.1 Polarity Control on Digital Input Signals ................. 35 Example 6-1: Polarity Setting for Digital Input Signal DIN1 .............
  • Page 3 Example 7-8: Analog – torque mode (setting the dead zone voltage and offset voltage) ..67 7.4 Internal Multi-position Control Modes (―1‖ Mode) ................68 Example7-9: Internal multi-position control mode ..............69 7.5 Internal Multi-speed Control Modes (―-3‖ or ―3‖ Mode) ..............71 Example 7-10: Internal multi-speed control ................

  • Page 4: Chapter 1 Product Acceptance & Model Description

    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 Check the nameplate of a servo motor and servo system consistent with the...

  • Page 5: Nameplate Of Servo Motor

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

  • Page 6: Component Names

    1.2 Component Names 1.2.1 Component Names of CD420/CD430/CD620 Servo Driver Fig. 1-3 Component Names of CD420/CD430/CD620 Servo Driver...

  • Page 7: Component Names Of Servo Motor

    1.2.2 Component Names of Servo Motor Fig. 1-4 Component names of a servo motor (brakes excluded) 1.3 Model Description of Servo Motors and Drivers 1.3.1 Servo Drivers 1.3.2 Servo Motors...

  • Page 8: Power,Brake And Encoder Cable Of Motors

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

  • Page 9: Chapter 2 Precautions And Installation Requirements

    Chapter 2 Precautions and Installation Requirements A Kinco CD series servo driver is installed on a base. If a driver is not installed properly, some faults may occur. To avoid this, install the driver by abiding by the following precautions.

  • Page 10: Servo Driver Installation

    2.3.2 Servo Driver Installation 1. Installing a servo driver: Fig. 2-1 Installing a servo driver 2. Installing multiple servo drivers: Ensure that there is enough space between a servo driver and the inner wall of a control cabinet. Additionally, install cooling fans at the upper part of the servo driver. To prevent localized overheating of the environmental temperature on the servo driver, you need to keep an even temperature in the control cabinet.
  • Page 11 Install the servo driver vertically on a wall. Take fully into account heat dissipation when using any heating components (such as braking resistors) so that the servo driver is not affected. Fig. 2-3 Installation direction...

  • Page 12: Chapter 3 Interfaces And Wirings Of Cd Driver

    If the input voltage is 24 V, the DIR+ Direction or negative interface is cascaded to the 2K pulse interface (+) resistance. DIR- Direction or negative CD420 pulse interface (-) CD430 GNDA Analog signal ground CD620 AIN1 Analog signal input interface 1. Input impedance: 200 K AIN2 Analog signal input interface 2.
  • Page 13 5+ Maximum output current: 800 mA OUT5- Digital output interface 5- U/V/W/PE Power cable interface of a motor CD420 Main power interface (single-phase 220 VAC) RB+/RB- Braking resistor interface CD430 U/V/W/PE Power cable interface of a motor CD620 CD420...

  • Page 14: External Wirings Of Cd Driver

    Power line Shielded wiring terminal Protective tube Braking resistor DC bus Note: For the CD420/CD430/CD620, all interfaces are the same except for X2 and X5 power interfaces. For details, see Figure 3-4. Fig. 3-1 External wirings of a CD driver...

  • Page 15: X1 Interface Of Cd Driver

    3.3 X1 Interface of CD Driver Fig. 3-2 X1 interface of a CD driver Fig. 3-3 Wirings of the X1 interface of a CD driver...

  • Page 16: Power Interfaces (Cd420/X2, Cd430/Cd620/X2 And X5) Of Cd Driver

    3.4 Power Interfaces (CD420/X2, CD430/CD620/X2 and X5) of CD Driver Fig. 3-4 Power interfaces of a CD driver...

  • Page 17: X3/X4 Interfaces Of Cd Driver

    3.5 X3/X4 Interfaces of CD Driver 3.5.1 X3 Interface Interface Signal Description Function To receive data RS232 To transmit data communication interface Ground of signal output phase-A (9-pin signal of encoder Output female output phase-B interface of connector) signal of encoder encoder in output index...

  • Page 18: Chapter 4 Digital Operation Panel

    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/ Function Point/Key...
  • Page 19 Activates position positive/negative limit signals. Pn.L Overall Indicates that an error occurs on the driver, and is in the alarm state. Flicking 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.

  • Page 20: Operation On Digital Operation Panel

    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 Set driver instructions Press Press Set real-time display of data Press Press Set control loop parameters Press I/O parameters Press...

  • Page 21: Example 4-2: Set The Speed To 1000 Rpm/-1000 Rpm With Separate Regulation Of Bits

    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 1 number at the right side is flickering. Short press MODE for three times to move to the first position on the left.
  • Page 22 Fig. 4-3 Separate regulation of bits...

  • Page 23: Chapter 5 Trial Operation & Parameter Introduction

    Chapter 5 Trial Operation & Parameter Introduction 5.1 Trial Operation 5.1.1 Objective The trial operation allows you to test whether the driver works properly, and whether the motor runs stably. 5.1.2 Precautions 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.

  • Page 24: Diagram Of Trial Operation

    5.1.4 Diagram of Trial Operation Press MODE Enter the list of motor parameters F004 Press ENTER Check motor types d4.18 Press MODE Enter the list of driver F000 instructions Press ENTER Choose speed instructions d0.02 Set target speed (Unit: RPM) Both positive and negative (Refer to the example of setting the speed) speed can be set...

  • Page 25: Description Of Parameters

    5.2 Description of Parameters Group F000 represents an instruction group, and the parameters in this group cannot be saved. The address d4.00 is used to save the motor parameters set for Group F004. Note that this group of parameters must be set when customers choose third-party motors, but these parameters need not to be set for the motors delivered and configured by our company.
  • Page 26 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.

  • Page 27: Parameter List: Group F001 (To Set Real-Time Display Data)

    Parameter List: Group F001 (To Set Real-Time Display Data) Numeric Internal Address Variable Name Displayed Content Display d1.00 2FF00F20 Soft_Version_LED Software version of numeric display d1.01 2FF70020 Time_Driver Accumulated working time of the driver d1.02 2FF01008 Motor_IIt_Rate Ratio of real iit to the maximum iit of a motor d1.03 60F61210...

  • Page 28: Parameter List: Group F002 (To Set Control Loop Parameters)

    d1.27 60F91A10 Speed_1mS Speed data (inc/1 mS) Internal sampling time: 1 mS d1.28 60F60C10 CMD_q_Buff Internal effective current instruction d1.29 60F61710 Actual current  peak 2047 d1.30 60F90E10 K_Load Load parameter d1.31 301004 Z_Capture_Pos Position data captured by encoder index signals Parameter List: Group F002 (To Set Control Loop Parameters) Numeric...
  • Page 29 d2.08 60FB0210 K_Speed_FF 0 indicates no feedforward, and 256 indicates 0~256 100% feedforward d2.09 60FB0310 K_Acc_FF The data is inversely proportional to the 7FF.F 32767~1 feedforward To set trapezoidal acceleration (rps/s) in the ―3‖ d2.10 2FF00610 Profile_Acce_ 0~2000 and ―1‖ modes To set trapezoidal deceleration (rps/s) in the ―3‖...

  • Page 30: Parameter List: Group F003 (To Set Input/Output & Pattern Operation Parameters)

    Parameter List: Group F003 (To Set Input/Output & Pattern Operation Parameters) Numeric Internal Variable Name Meaning Default Range Display Address Value d3.00 2FF00108 Store_Loop_Data 1: Stores all setup parameters except motors 10: Initializes all setup parameters except motors d3.01 20100310 Din1_Function 000.1: Driver enable 000.1...
  • Page 31 d3.17 20200E08 Din_Mode1 If a digital input is defined as Operation mode control,then this operation mode is selected when the input signal is valid d3.18 20200910 Din_Speed0_RP Multi-speed control: 0 [rpm] d3.19 20200A10 Din_Speed1_RP Multi-speed control: 1 [rpm] d3.20 20200B10 Din_Speed2_RP Multi-speed control: 2 [rpm] d3.21...
  • Page 32 d3.33 25020C10 Analog_MaxT_Fa Indicates the max torque factor on analog 8192 ctor signal control d3.34 25080110 Gear_Factor Indicates the numerator to set electronic 1000 -32767~3 gears when the operation mode is -4 2767 d3.35 25080210 Gear_Divider Indicates the denominator to set electronic 1000 1~32767 gears when the operation mode is -4...

  • Page 33: Parameter List: Group F004 (To Set Motor Parameters)

    Parameter List: Group F004 (To Set Motor Parameters) Numeric Internal Variable Name Meaning display Address d4.00 2FF00308 Store_Motor_Data 1: Stores the set motor parameters d4.01 64100110 Motor_Num Host computer (ASCII code) numerical display (hexadecimal) ―00‖.....303.0 Note: To change this parameter, you need to save it with the address ―d4.00‖, and restart it later.

  • Page 34: Parameter List: Group F005 (To Set Driver Parameters)

    Current using motor type. d4.18 64101610 Motor_Using 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"......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 Parameter List: Group F005 (To Set Driver Parameters) Numeric Internal Variable Name Meaning Default Display...

  • Page 35: Chapter 6 Operation On Input/Output Ports

    Chapter 6 Operation on Input/Output Ports KINCO CD servo driver has 7 digital input ports (a digital input port can receive high-level or low-level signals, depending on whether high-level or low-level signals are chosen at the COM terminal) and 5 digital output ports (the OUT1-OUT4 ports can drive 100 mA load, and OUT5 port can drive 800 mA load, and can directly drive the internal contracting brake device).

  • Page 36: Example 6-1: Polarity Setting For Digital Input Signal Din1

    Table 6-2 Polarity setting methods for digital input signals ① ② ③ ④ Input/output port Channel Reserved 0: The input port is valid when no current passes the selection selection port, and the output port is valid when the switch tube 0: Output port Input: 1-7 is open..

  • Page 37: Example 6-2: Analog-To-Digital Output Port: Din1

    Dio_Simulate (IO simulation) is for the software to simulate inputting of a valid signal. ―1‖ indicates that the input signal is valid, and ―0‖ indicates that the input signal is invalid. Table 6-5 Settings on simulation of digital input signals ①...
  • Page 38 d3.03 Din3_Function 000.8: P control for velocity loop 000.4 (Operation mode control) 001.0: Position positive limit 002.0: Position negative limit d3.04 Din4_Function 000.8 (P control for velocity 004.0: Homing signal loop) 008.0: Reverse speed demand d3.05 Din5_Function 001.0 (Position positive limit) 010.0: Internal speed control 0 020.0: Internal speed control 1 040.0: Internal position control 0...

  • Page 39: Example 6-3: Driver Enable Setting

    Internal position control 0 To control internal multiple positions. Note: For details, see Section 7.4 Internal Multi-Position Control. Internal position control 1 Internal position control 2 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.

  • Page 40: Example 6-5: Operation Mode Control On Drivers

    Example 6-5: Operation Mode Control on Drivers Requirements: Defines the input port DIN3 as the operation mode control on drivers, and the operation mode is ―-4‖ (pulse control mode) when DIN3 fails, and is ―-3‖ (instantaneous speed mode) when DIN3 is valid.

  • Page 41: Digital Output Signals

    Fig. 6-3 PNP wiring diagram (to the controller that supports high level output) 6.2 Digital Output Signals 6.2.1 Polarity Control on Digital Output Signals Table 6-14 Variables for setting simplified IO polarity Numeric Variable Name Meaning Default Range Display Value d3.08 Dio_Polarity Sets IO polarity...

  • Page 42: Status Display Of Digital Output Signals

    6.2.3 Status Display of Digital Output Signals Table 6-16 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. 6.2.4 Addresses and Functions of Digital Output Signals Table 6-17 Addresses and default functions of digital output signals Numeric...

  • Page 43: Example 6-6: "Ready" Settings

    In the ―4‖ analog – torque mode, signals are output after the Max. velocity limit 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 6-6: “Ready”...
  • Page 44 Fig. 6-5 NPN wiring diagram (to controllers that support valid low level input) PNP wiring (to controllers that support valid low level input) Fig. 6-6 PNP wiring diagram (to controllers that support valid low level input) To connect a relay to the digital output port, do remember to connect a diode in inverse parallel, as shown in Fig.

  • Page 45: Chapter 7 Mode Operation

    Chapter 7 Mode Operation 7.1 Pulse Control Mode (“-4” Mode) 7.1.1 Wiring in Pulse Control Mode 1. Interfaces in pulse control mode Fig. 7-1 Interface in pulse control pattern 2. Common anode connection (to controllers that support valid low level output) Fig.

  • Page 46: Parameters For Pulse Control Mode

    Fig. 7-3 Common cathode connection (to controllers that support valid high level output) 7.1.2 Parameters for Pulse Control Mode 1. Parameters for electronic gear ratio Table 7-1 Parameters for electronic gear ratio Numeric Variable Name Meaning Default Value Range Display d3.34 Gear_Factor Indicates...
  • Page 47 Numeric Variable Name Meaning Default Range Display Value d3.36 PD_CW 0: Double pulse (CW/CCW) mode 1. Pulse direction (P/D) mode Note: To change this parameter, you need to save it with d3.00, and restarts it later. Note: AB phase signals are not supported. Double pulse (CW/CCW) mode (d3.36 = 0) Effective rising edge...
  • Page 48 Current loops are related to motor parameters (optimal parameters of the selected motor are default for the driver and no adjusting is required). Parameters for velocity loops and position loops should be adjusted properly according to loading conditions. During adjustment of the control loop, ensure that the bandwidth of the velocity loop is at least twice of that of the position loop;...

  • Page 49: Examples Of Pulse Control Mode

    When the set bandwidth becomes smaller, the motor responds slower. The formula is F=Speed_Fb_N*20+100. For example, to set the filter bandwidth to "F = 500 Hz‖, the parameter should be set to 20. Proportional gain of velocity loop Kvp: If the proportional gain of the velocity loop increases, the responsive bandwidth of the velocity loop also increases.

  • Page 50: Example 7-2 Pulse Control Mode --4‖ - Enable The Driver Automatically After Driver Power On

    port 2 d3.03 Din3_Function Defines the functions of digital input 000.4 (Operation mode port 3 control ) d3.05 Din5_Function Defines the functions of digital input The default value 001.0 port 5 changes to 000.0 (position positive limits are disabled) d3.06 Din6_Function Defines the functions of digital input The default value 002.0...

  • Page 51: Speed Mode ("-3" Or "3" Mode)

    port 2 d3.03 Din3_Function Defines the functions of digital input 000.4 (Control on operation port 3 modes for the driver) d3.05 Din5_Function Defines the functions of digital input The default value 001.0 port 5 changes to 000.0 (position positive limits are disabled) d3.06 Din6_Function Defines the functions of digital input...

  • Page 52: Wiring In Analog - Speed Mode

    Fig. 7-4 The speed mode ―3‖ with acceleration/deceleration 7.2.1 Wiring in Analog – Speed Mode Fig. 7-5 Interfaces in analog –speed mode 7.2.2 Parameters for Analog – Speed Mode Table 7-9 Parameters for analog – speed mode Numeric Variable Name Meaning Default Range...

  • Page 53: Analog Signal Processing

    d3.25 Analog2_Filter Used to smooth the input analog signals. 1~127 Filter frequency: f=4000/(2π* Analog1_Filter) Time Constant (T) = Analog2_Filter/4000 d3.26 Analog2_Dead Sets dead zone data for external analog 0~8192 signal 2 d3.27 Analog2_Offset Sets offset data for external analog signal 2 0 -8192~8 d3.28 Analog_Speed_Con...

  • Page 54: Calculation Procedure For Analog - Speed Mode

                ernal dead external dead       dead external       ernal external dead   dead external Mathematical equation for dead zone processing: Mathematical equation for integrated processing (offset and dead zone) ...

  • Page 55: Examples Of Analog - Speed Mode

    zone voltage that require settings Step 2 Calculate according demand to the required speed Factor Step 3 Calculate according  Factor demand filter filter demand Step 5  log_ Dead 8191/10 log_ Dead U Calculate dead according to the required dead zone voltage Step 5 ...
  • Page 56 Fig. 7-7 Schematic diagram of Example 7-3 Calculate according to the offset voltage and dead zone voltage that require settings: filter 2047    filter (In this example, , and   dead shift shift dead Result: =2047 filter Calculate according to the required speed demand...

  • Page 57: Example 7-4 Analog - Speed Mode (Setting The Dead Zone Voltage)

    d3.06 Din6_Function Define the functions of digital The default value 002.0 input port 6 changes to 000.0 (position negative limits are disabled) d3.16 Din _Mode0 Select this operation mode Set to 0.003 (-3) mode when input signals are invalid (instantaneous speed mode) d3.17 Din _Mode1 Select this operation mode...
  • Page 58 Fig. 7-8 Schematic diagram of Example 7-4 Calculate according to the offset voltage and dead zone voltage that require settings: filter 2047    filter (In this example, .5, and   dead shift shift dead Result: =1944 filter Calculate according to the required speed : demand...

  • Page 59: Example 7-5 Analog - Speed Mode (Setting The Offset Voltage)

    d3.00 Store_Loop_Data 1: Storing all configured Set to 1 parameters for the control loop 10: Initializing all parameters for the control loop Example 7-5 Analog – speed mode (setting the offset voltage) Requirement: The offset voltage is 1 V, that is, the speed is positive when the voltage is greater than 1 V, and is negative when the voltage is less than 1 V.

  • Page 60: Example 7-6: Analog - Speed Mode (Setting The Dead Zone Voltage And Offset Voltage)

    Factor Result: =4447 Calculate log1_ Offset according to the required offset voltage:  8191/10 log1_ Offset U shift log1_ Offset Result: =819 The following changes are required on the basis of Example 7-3. Table 7-14 Parameter settings in Example 7-5 d3.24 Analog1_Offset Sets offset data for...
  • Page 61 Result: =1740 filter Calculate according to the required speed : demand , (Encoder_R:10000 inc/r)  8192000 Result: demand Factor Calculate according to demand filter  Factor U demand filter Factor Result: =4708 log1_ Dead Calculate according to the required dead zone voltage: ...

  • Page 62: Torque Mode ("4" Mode)

    7.3 Torque Mode (“4” Mode) 7.3.1 Wiring in Analog – Torque Mode Fig. 7-11 Interfaces in analog – torque mode 7.3.2 Parameters for Analog – Torque Mode Table 7-16 Parameters for analog – torque mode Numeric Variable Name Meaning Default Range Display Value...

  • Page 63: Analog Signal Processing

    Factor calculated according with formula demand filter Factor U  filter Ipeak Ipeak indicates the peak current of a driver). demand 2048*2048 Ipeak Table 7-17 parameters Motor Model Driver Model Ipeak (Nm/A) SMH60S-0020-30AXK-3LKX 0.48 CD420-0020-0016-AA-000 15...

  • Page 64: Calculation Procedure For Analog - Torque Mode

    SMH60S-0040-30AXK-3LKX 0.48 CD420-0040-0031-AA-000 SMH80S-0075-30AXK-3LKX 0.662 CD420-0075-0039-AA-000 SMH80S-0100-30AXK-3LKX 0.562 CD430-0100-0063-AA-000 27.5 SMH110D-0105-20AXK-4LKX 0.992 CD430-0105-0054-AA-000 SMH110D-0125-30AXK-4LKX 0.744 CD430-0125-0065-AA-000 SMH110D-0126-20AXK-4LKX 1.058 CD430-0126-0062-AA-000 SMH110D-0126-30AXK-4HKX 1.058 CD620-0126-0043-AA-000 25 SMH110D-0157-30AXK-4HKX 0.992 CD620-0157-0054-AA-000 SMH110D-0188-30AXK-4HKX 1.058 CD620-0188-0062-AA-000 7.3.4 Calculation Procedure for Analog – Torque Mode Table 7-17 Calculation procedure for analog – torque mode...

  • Page 65: Example 7-7: Analog - Torque Mode (Without Setting The Dead Zone Voltage And Offset Voltage)

    The factory default settings for the driver are as follows: When no signal is inputted to DIN3, the driver operates in the ―-4‖ mode (d3.16 = -4); when signal is inputted to DIN3, the driver operates in the ―-3‖ mode (d3.17 = -3).
  • Page 66  demand demand Result: =1.89 demand Factor Calculate according to filter demand  demand Factor * 2048* 4096 Ipeak filter 1.89 Factor   *2048*4096 515 Result: 2047*15 Table 7-18 Parameter settings in Example 7-7 Numeric Variable Name Meaning Parameter Settings Display d3.01 Din1_Function...

  • Page 67: Example 7-8: Analog - Torque Mode (Setting The Dead Zone Voltage And Offset Voltage)

    d3.30 Analog_Torque_Con Selects analog - torque Set to 2 channels Invalid analog channel 1: Valid analog channel 1 (AIN1) 2: Valid analog channel 2 (AIN2) Valid mode 4 d3.00 Store_Loop_Data Storing Set to 1 configured parameters for the control loop Initializing parameters control loop...

  • Page 68: Internal Multi-Position Control Modes ("1" Mode)

    Result: = 1.89 demand Factor Calculate according to filter demand  demand Factor * 2048* 4096 Ipeak filter 1.89 Factor   *2048*4096 606 Result: 1740*15 log 2 _ Dead Calculate according to the required dead zone voltage: 8191  Analog Dead dead...

  • Page 69: Example7-9: Internal Multi-Position Control Mode

    ―040.0‖’, ―080.0‖ or ―800.2. ―Internal position control 0‖ , ―Internal position control 1‖ and ―Internal position control 2 ―, these three signals will be combined into binary codes used to select a target position between ―Position 0~7‖. Table 7-20 Internal Multi-position Control Mode Parameter Table Internal Internal Internal...
  • Page 70 DIN3 Driver working mode（invalid 1，valid-3） DIN4 Internal position 0 DIN5 Internal position 1 DIN6 Internal position 2 DIN6:DIN5:DIN4=0:0:0 Select position and speed in section 0 DIN6:DIN5:DIN4=0:0:1 Select position and speed in section 1 DIN6:DIN5:DIN4=0:1:0 Select position and speed in section 2 DIN6:DIN5:DIN4=0:1:1 Select position and speed in section 3 DIN6:DIN5:DIN4=1:0:0...

  • Page 71: Internal Multi-Speed Control Modes ("-3" Or "3" Mode)

    Set to 100 （ set the speed of d3.18 Set the speed of section 0 section 0 to 100） Set to 1（select position section d3.40 Set the position section number to 1 1） Set the high bit of position section d3.41 Set to 1 （N*10000）...

  • Page 72: Example 7-10: Internal Multi-Speed Control

    2. Set d3.28 to 0. In this case, the analog – speed channel is invalid. 3. At least one external input signal DinX_Function defines Bit8 or Bit9. For example, define Din2_Function corresponding to Din2 as 010.0, and Din3_Function corresponding to Din3 as 020.0. In this way, the combination of the two above signals is used to choose any one of Din_Speed0_RPM, Din_Speed1_RPM, Din_Speed2_RPM or Din_Speed3_RPM as the target speed.

  • Page 73: Internal Torque Control Mode ("4" Mode)

    (internal speed control 0) d3.07 Set to 020.0 Din7_Function (internal speed control 1) d3.16 Set to 0.003 (3) mode Din_Mode0 (speed mode with acceleration/deceleration) d3.17 Set to 0.003 (-3) mode Din_Mode1 (instantaneous speed mode) d3.18 Din_Speed0_RPM Set to 100 [rpm] d3.19 Din_Speed1_RPM Set to 200 [rpm]...
  • Page 74 3, Configuration of the data for homing Here are simple descriptions of the data for executing homing. 0x607C0020 Home_Offset Home offset In Homing mode, set the offset relative to the zero point. 0x60980008 Homing_Method Homing method Select the homing method 0x60990120 Homing_Speed_Switch Speed for searching Set the speed for searching the limit...
  • Page 75 Methods 3 and 4: Homing on the positive home switch and index pulse Using methods 3 or 4, the initial direction of movement is dependent on the state of the home switch. The home position is at the index pulse to either the left or right of the pint where the home switch changes state.
  • Page 76 Methods 7 to 14: Homing on the home switch and index pulse These methods use a home switch that is active over only a portion of the travel; in effect the switch has a ―momentary‖ action as the axle position sweeps past the switch. Using methods 7 to 10, the initial direction of movement is to the right, and using methods 11 to 14, the initial direction of movement is to the left, except if the home switch is active at the start of motion.
  • Page 77 Methods 15 and 16: Reserved These methods are reserved for future expansion of the homing mode. Methods 17 to 30: Homing without an index pulse These methods are similar to methods 1 to 14, except that the home position is not dependent on the index pulse;...
  • Page 79 Methods 31 and 32: Reserved These methods are reserved for future expansion of the homing mode. Methods 33 and 34: Homing on the index Method 35: Homing on the current position In this method, the current position is taken to be the home position. Methods -17 and -18: Use the mechanical terminal as reference point...

  • Page 80: Example 7-11：Using Method 7 For Homing

    Example 7-11：Using method 7 for homing. 1. Set parameters. Numberic display Parameter Name meaning Setting Value 000.1 d3.01 Din1_Function （Driver enabled） 000.2 d3.02 Din2_Function （Driver error reset） 000.1: Driver enabled 000.4 000.2: Driver error reset d3.03 Din3_Function （Driver model control） 000.4: Operation mode 200.0...
  • Page 81 parameters except those of motor At this time, computer software shows: Notice: The positive and negative limits are default to normally closed point. Otherwise, the Panel will alarm and display P.L (positive limit) and N.L (No limit). Only when the alarm is eliminated, the origin control mode can be normally used.
  • Page 82 In common circumstance, only need to set up the model of origin and the rest of the parameters are default. In some case, ―Electrify and then find the origin‖ is set to 1, at the same time the definition-- ―Start finding the origin‖...
  • Page 83 Note: ―Start finding the origin‖ signal is a pulse signal, requires only a rise, not need to always be on. If you want to start next time, a rise pulse is enough. (4). After the external find the origin, computer monitoring picture is as follows:...
  • Page 84 (5). Driver searches the Z phase signal in mode 7, and ultimately find the origin. Computer monitoring picture is shown as follows: In mode 7, it is default to detect z phase signal after searching the origin decline along. Computer monitoring...
  • Page 85 picture is shown as follows: At this point, you have completed the origin search function, then the drive position is automatically set to zero, and the current position is default to origin. Computer monitoring picture is as shown:...

  • Page 86: Chapter 8 Control Performance

    Chapter 8 Control Performance 8.1 Driver Performance Tuning Fig. 8-1 Schematic diagram for control loop adjustment As shown in Fig. 8-1, a typical servo system contains three control loops, namely, a position loop, a velocity loop, and a current loop. Current loops are related to motor parameters (optimal parameters of the selected motor are default for the driver and no adjusting is required).
  • Page 87 d2.05 Speed_Fb_N Reduces the noise during motor operation 0~45 by reducing the feedback bandwidth of velocity loops (smoothing feedback signals of encoders). When the set bandwidth becomes smaller, the motor responds slower. The formula is F=Speed_Fb_N*20+100. For example, to set the filter bandwidth to "F = 500 Hz‖, you need to set the parameter to 20.
  • Page 88 Left 2 Right 2 Left 3 Right 3 Left 4 Right 4 Fig. 8-2 Schematic diagram of gain adjustment of velocity loop Step 2: Adjust parameters for feedback filter of velocity loop During gain adjustment of a velocity loop, if the motor noise is too great, you can properly reduce the parameter Speed_Fb_N for feedback filter of the velocity loop;...
  • Page 89 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.

  • Page 90: Auto Adjustment (Only For Velocity Loops)

    Table 8-3 Parameters for pulse filtering coefficient Numeric Variable Meaning Default Range Display Name Value d3.37 PD_Filter Used to smooth the input pulses. 1~32767 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.
  • Page 91 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. d0.04 Vc_Loop_BW Sets the bandwidth of the velocity loop in 0~600 Hz.

  • Page 92: Oscillation Inhibition

    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.
  • Page 93 Table 8-5 Parameters for oscillation inhibition Numeric Variable Name Meaning Default Display Value 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.

  • Page 94: Chapter 9 Communication

    Chapter 9 Communication A CD servo driver has the RS232 communication interface, which directly controls the working of the servo driver with the operation software of a host computer. If the servo driver needs to communicate with a Programmable Logic Controller (PLC) or other controllers via the free RS485 communication interface, should be added on the driver side.

  • Page 95: Data Protocol

    byte 0 byte 9 8 byte slave data CHKS Note: Each 10-byte packet has its own CHKS. If the host sends an ID not existed in the network to the CD servo driver, no CD 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.

  • Page 96: Upload(From Slave To Host)

    INDEX 16-bit value, same as that sent by the master SUBINDEX 8-bit value, same as that sent by the master Reserved for future use 9.2.2 Upload(From Slave to Host) Upload refers to that the master sends a command to read object address in the slave and the master will generate an error if a non-existent target address is uploaded.

  • Page 97: Chapter 10 Troubleshooting

    Chapter 10 Troubleshooting 10.1 Alarm Messages Digital flickering on the display indicates that an alarm occurs indicating that the driver is faulty. For details about faults, see Table 10-1 ―Fault codes‖. A code of the alarm message is represented by a hexadecimal data, and four numeric displays appear.

  • Page 98: Alarm Causes & Troubleshooting

    10.2 Alarm Causes & Troubleshooting Alarm Code Alarm Message Alarm Cause & Troubleshooting Internal 000.1 000.2 Encoder ABZ The ABZ signal cable is disconnected. Check the cable. Encoder UVW The UVW signal cable is disconnected. Check the cable. 000.4 000.8 Encoder Counting Interferences are suppressed.

  • Page 99: Chapter 11 Specification

    Chapter 11 Specification 11.1 Servo Drivers and Motors Selection Table...

  • Page 100: Servo Driver

    11.2 Servo Driver 11.2.1 Technical Specification Table for Servo Driver...

  • Page 101: Mechanical Dimension Diagram For Servo Driver

    11.2.2 Mechanical Dimension Diagram for Servo Driver...

  • Page 102: Dimensions/Torque Curve/Technical Specifications Of Servo Motors

    11.3 Dimensions/Torque Curve/Technical Specifications of Servo Motors 11.3.1 SMH60 Servo Motor...

  • Page 103: Smh80 Servo Motor

    11.3.2 SMH80 Servo Motor...

  • Page 104: Smh110 Servo Motor

    11.3.3 SMH110 Servo Motor 1.Technical Specification Table...
  • Page 105 2.Dimension/Torque Curve...

  • Page 106: Wiring Diagram For Servo Motor Cable

    11.4 Wiring Diagram for Servo Motor Cable 11.4.1 Wiring Diagram for the Power Cable...

  • Page 107: Wiring Diagram For The Encoder Cable

    11.4.2 Wiring Diagram for the Encoder Cable...

  • Page 108: Chapter Appendix

    Brake Resistor[Ω ] Brake Resistor Brake Driver Resistor Driver Model Withstand Resistor Power[W] Power[W] Min. Max. Ref. Voltage[VDC] Model(Ref.) （Ref.） （Min.） CD420-0020-0016-AA-000 200W CD420-0040-0031-AA-000 400W T-75R-100 CD420-0075-0039-AA-000 750W CD430-0100-0063-AA-000 1000W CD430-0105-0054-AA-000 1.05KW T-39R-200 CD430-0125-0065-AA-000 1.25KW CD430-0126-0062-AA-000 1.26KW CD620-0126-0043-AA-000 1.26KW CD620-0157-0054-AA-000 1.57KW...

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