Kinco CD3 Series User Manual
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Kinco CD3 Series User Manual

Servo system
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User Manual
Kinco CD3/FD3 servo system
Shenzhen kinco AutomationCo.Ltd
www.kinco.cn
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  • Page 1 User Manual Kinco CD3/FD3 servo system Shenzhen kinco AutomationCo.Ltd www.kinco.cn...

  • Page 2: Preface Product Acceptance

    Preface Product Acceptance Thank you for using Kinco Servo product! The accessories of Kinco every series & different types drivers are different. We advice you accept products before use. Item for Acceptance Remark Whether the model of a delivered FD series...
  • Page 3 Revision record Edition Section Date Details Full text 2017-02-15 First edition Add magnetic motor description Add high power product description Add full closed loop 1.1，3.5，6.6，appendix 2019-11-04 instructions Add absolute value to encoder description Add communication instructions F000 group Panel 2020-5-14 parameter description Added description of 10.3...

  • Page 4: Table Of Contents

    Contents Preface Product Acceptance ..........................1 Chapter 1 Servo system model and configuration description ............4 1.1 Description of product model ........................4 1.1.1 Driver model description ........................4 1.1.2 Drive nameplate description ......................... 4 1.1.3 Motor model description ........................5 1.1.4 Motor nameplate description ........................
  • Page 5 3.8 Communication setting dial code ....................... 28 Chapter 4 Controller setup with LED panel ....................29 4.1 Panel operation ............................. 29 4.2 Panel menu structure and navigation ....................... 30 4.3 Easy Use function ............................31 4.3.1 Setup process with Easy Use function ....................31 4.3.2 Flowchart and description of the EASY menu ..................
  • Page 6 6.3 Torque mode (4) ............................65 6.3.1 Analog torque mode ..........................65 6.4 Position mode (1) ............................66 6.4.1 DIN introduction to Location Position ....................66 6.4.2 Position Table mode ..........................67 6.5 Pulse Train mode (-4) ..........................72 6.5.1 Master-slave mode ..........................73 6.6 Full closed loop mode ..........................
  • Page 7 10.3 Data protocol ............................107 10.3.1 Download (from host to slave) ...................... 108 10.3.2 Upload (from slave to host) ......................108 10.4 RS232 telegram example ........................109 Chapter11 CANopen Communication ....................... 110 11.1 Hardware Introduction ..........................110 11.2 Software Introduction ..........................112 11.2.1 EDS ..............................

  • Page 8: Chapter 1 Servo System Model And Configuration Description

    Chapter 1 Servo system model and configuration description Description of product model 1.1.1 Driver model description Figure 1-1 Driver naming rules 1.1.2 Drive nameplate description Figure 1-2 Drive nameplate description...

  • Page 9: Motor Model Description

    Kinco FD3&CD3 User Manual 1.1.3 Motor model description Figure 1-3 Motor naming rules 1.1.4 Motor nameplate description...

  • Page 10: Connection Cable

    Kinco FD3&CD3 User Manual Firgue 1-4 Motor nameplate description 1.1.5 Connection cable Power cable Power cable Power cable Encoder cable Encloder cable Encloder cable Brake cable Brake cable Brake cable Series Servo motor Servo driver SMS40S-0005-30KAK-5LSU MOT-005-03-KL-Y MOT-005-05-KL-Y MOT-005-15-KL-Y MOT-005-03-KL-Y...
  • Page 11 Kinco FD3&CD3 User Manual SMC130D-0100-20GAK-4LSP MOT-005-03-KC4 MOT-005-05-KC4 MOT-005-15-KC4 SMC130D-0100-20GBK-4LSP ● MOT-005-03-KC4-B MOT-005-05-KC4-B MOT-005-15-KC4-B FD433-EA-000 SMC130D-0150-20GAK-4LSP MOT-008-03-KC4 MOT-008-05-KC4 MOT-008-15-KC4 FD433-CA-000 FD433-LA-000 SMC130D-0150-20GBK-4LSP ● MOT-008-03-KC4-B MOT-008-05-KC4-B MOT-008-15-KC4-B FD433-AA-000 SMC130D-0200-20GAK-4LSP MOT-008-03-KC4 MOT-008-05-KC4 MOT-008-15-KC4 SMC130D-0200-20GBK-4LSP ● MOT-008-03-KC4-B MOT-008-05-KC4-B MOT-008-15-KC4-B SMC130D-0100-20GAK-4HSP MOT-005-03-KC4 MOT-005-05-KC4 MOT-005-15-KC4 SMC130D-0100-20GBK-4HSP ●...

  • Page 12: Chapter 2 Servo System Installation Requirements And Notes

    Kinco FD3&CD3 User Manual Chapter 2 Servo system installation requirements and notes 2.1 Installation of driver 2.1.1 installation requirement Figure 2-1 : CD&FD413 423 Product installation drawing...
  • Page 13 Kinco FD3&CD3 User Manual Firure 2-2 :CD&FD433 623 Product installation drawing Warning Please according to the installation Hole processing figure before the punch.  Please carefully read and follow the requirements in this manual, which will help  you set up and operate drives correctly, and achieve optimal drive performance.

  • Page 14: Driver Usage Requirements

    Kinco FD3&CD3 User Manual Notice！  Pay attention to the danger of electric shock：  The cable must be attached to the plug (X2).  Be sure to disconnect the power when connecting the cables.  Contact with live parts can cause serious injury and may result in death.

  • Page 15: Technical Requirements

    Kinco FD3&CD3 User Manual 2.2.3 Technical requirements General conditions for correct and safe use of the product, which must be observed at all times: Comply with the connection and environmental conditions specified in the technical data of the product ...

  • Page 16: Things To Note

    Kinco FD3&CD3 User Manual 2.2.7 Things to note Warning  Please operate in strict accordance with the requirements of this manual，  Refer to Figure 2-3 and Figure 2-4 for correct installation of the servo system. The servo driver should be mounted vertically on the wall. When fixing the ...
  • Page 17 Kinco FD3&CD3 User Manual Figure 2-4 CD&FD433 623 Installation direction and requirements...

  • Page 18: Servo Motor Installation

    Kinco FD3&CD3 User Manual 2.3 Servo motor installation 2.3.1 Installation requirement Alarm  Please install it indoor of no rain and direct sunlight.  Please do not use this product in the corrosive environment (Hydrogen sulfide, Sulfurous acid, Chlorine, Ammonia, Sulfur, Chlorinated gas, Acid, Alkaline, Salt, etc), flammable gas, combustible and etc.
  • Page 19 Kinco FD3&CD3 User Manual ● When operators need to disassemble pulleys, operators need to use pulley remover so as to make shaft avoid strong impact of load. ● In order to make it more safe, it is necessary to install protection cover or some analogous equipment in rotation area.

  • Page 20: Chapter 3 Installation And Wiring

    Kinco FD3&CD3 User Manual Chapter 3 Installation and wiring 3.1 Driver description CD&FD413/423 Driver appearance Figure 3-1: CD&FD433/623 Driver appearance Firure 3-2:...
  • Page 21 Kinco FD3&CD3 User Manual Note 1、Only the FD3-LA/CA bus servo driver contains SW1 and SW2 dial-code switches, not the CD3 pulse servo driver. 2、The driver fan is replaceable. If the fan fails, please open the fan cover and replace the fan of the same type.The fan parameters are required as follows：...

  • Page 22: External System Connection

    Kinco FD3&CD3 User Manual 3.2 External system connection Figure 3-3 Single-phase power external connection Figure 3-4 Three-phase power external connection...
  • Page 23 Kinco FD3&CD3 User Manual Figure 3-5 Three-phase power external connection Table 3-1 External system connection instructions Electric Function equipment Molded case In the event of overcurrent, short circuit, or undervoltage, the circuit breaker automatically circuit shuts off the power supply, thus protecting the circuit and driver equipment from damage.Note breakers that the protection parameters that match the drive parameters are set.

  • Page 24: Wiring Connection Mode

    Kinco FD3&CD3 User Manual 3.2.1 Wiring connection mode Power port wiring connection mode  Table 3-2 Power port wiring specification table FD413/CD413 FD423/CD423 FD433/CD433 FD623/CD623 Rated current 2Arms 3.9Arms 10Arms 7Arms Recommended Diameter of cable Diameter of cable Diameter of cable...

  • Page 25: Power Connector (X2)

    Kinco FD3&CD3 User Manual Figure 3-6 ground schematic 3.3 Power connector (X2) Table 3-3: Power connector Function Control power input L/N Single phase 200 – 240VAC ±10% 50 / 60Hz, 0.5A Supply earthing systems: TN-S, TN-C, TN-C-S, TT (not corner earthed).
  • Page 26 Kinco FD3&CD3 User Manual Pin number Definition Function Send controller data Signal ground Receive controller data Others Reserved...

  • Page 27: External I/O Connection（X4

    Kinco FD3&CD3 User Manual 3.5 External I/O connection（X4） Figure 3-7: Multi-function connector Table 3-5: Definition of X4 Pin No. Signal Signal name Description OUT1+ Open collector output OUT1- Differential signal output Max voltage :DC30V OUT2+ Max current :100mA OUT2- OUT3...
  • Page 28 Kinco FD3&CD3 User Manual AIN1+（/MA） MA、MB、MZ，MA/、MB/、MZ/ Analog input port1，±10V RS422 difference of 5V is supported AIN1 （ /MB） Signal input, maximum pulse AIN2+（/MZ） frequency is 4MHz. Signal type： ①Pulse +direction（PLS+DIR） Analog input port2，±10V AIN2- ②Forward and backward pulse （CW/CCW） ③A+B phase MA+/(MA) TTL signal：MA+,MA-MB+,MB-,MZ+,MZ-，...
  • Page 29 Kinco FD3&CD3 User Manual Figure 3-8 IO default definitions...
  • Page 30 Kinco FD3&CD3 User Manual Figure 3-9 Output PNP connection mode Figure 3-10 OUT2 external relay driver motor lock brake...

  • Page 31: Encoder Input（X5

    Kinco FD3&CD3 User Manual 3.6 Encoder input（X5） Table 3-6: Encoder input Pin number Pin name Pin function Encoder 5V power input terminal Ground （+5V） CLOCK+ Clock positive CLOCK- Clock negative Serial Data Serial Data Reserved 3.7 Communication port input (X10)

  • Page 32: Communication Setting Dial Code

    Kinco FD3&CD3 User Manual 3.8 Communication setting dial code The communication ID of the FD3 servo drive can be set through the dial code switch in the panel. After changing the dial code, restart the drive to take effect.When SW1~SW8 are OFF, the driver reads the communication ID in EEPROM and the user can modify the device station number (0x2F800108) through communication.

  • Page 33: Chapter 4 Controller Setup With Led Panel

    Kinco FD3&CD3 User Manual Chapter 4 Controller setup with LED panel After the servo system has been wired properly and in accordance with relevant standards, the motor controller can be setup for the desired application. The CD3 motor controller provides an LED panel at the front panel. It consists of a 5-digit LED display and four buttons.

  • Page 34: Panel Menu Structure And Navigation

    Kinco FD3&CD3 User Manual Enter menu. Check the values of the parameters. Confirm the setting to access the next step. When the internal 32 bit data appears at the display, press and hold to switch high / low 16 bit.

  • Page 35: Easy Use Function

    Kinco FD3&CD3 User Manual 4.3 Easy Use function The Easy Use function helps users setup the CD3 motor controller for the main types of applications in a very short time. The LED panel guides the userstep by step through the settings of the few most important parameters in order to prepare the controller for the desired application.

  • Page 36: Flowchart And Description Of The Easy Menu

    Kinco FD3&CD3 User Manual 4.3.2 Flowchart and description of the EASY menu The following flowchart and table explain the procedure for settings in the EASY menu in detail. Figure 4-3: Flowchart of the EASY menu...
  • Page 37 Kinco FD3&CD3 User Manual Information The menu is exited automatically if there is no operation in 30s, and users have to start again. Entered data is valid immediately, but must be saved via EA00.
  • Page 38 EA05 Factor For controller use with standard KINCO-AS motors, the maximum value is 374, the maximum velocity is 3740rpm/10v/. For more details see chapter 9.3 (d3.29). The meaning of each digit of the LED display from right to left.
  • Page 39 Kinco FD3&CD3 User Manual (4) Polarity of OUT5 0: Normally closed contacts 1: Normally open contacts EA07 Homing method Refer to chapter 6.6 Write “1” to save control and motor parameters. Write “2” to save control and motor parameters and reboot the servo.
  • Page 40 Kinco FD3&CD3 User Manual Note Be aware of the different (default) setting of the digital I/O configuration after setting the command type in EA02 or changing a motor type. When settings are changed, an active function may be assigned to digital inputs which have not been in use before as a result of the new defaults, and signals applied to the digital inputs may inadvertently trigger DIN functions.
  • Page 41 Kinco FD3&CD3 User Manual Analog control mode configuration, command types 6 or 7 in EA02: Figure 4-5: X4 wiring in analog control mode Position table mode, command type 9 in EA02: Figure 4-6: X4 wiring in position table mode...
  • Page 42 Kinco FD3&CD3 User Manual RS232 control mode, command type 8 in EA02: Figure 4-7: X4 wiring in RS232 control mode...

  • Page 43: Flowchart And Description Of The Tune Menu

    Kinco FD3&CD3 User Manual 4.3.3 Flowchart and description of the tunE menu The tunE panel menu includes parameters and functions for auto-tuning with inertia measurement and servo control loop adjustment via just one parameter, namely stiffness. After processing the EASY menu, the controller defaults the stiffness value and the inertia_ratio based on reasonable estimated values according to, load type and application settings in EA06.
  • Page 44 Kinco FD3&CD3 User Manual Table 4-4: tunE parameters Parameter Description Default Level of control stiffness from 0 to31 determines the bandwidth (BW) of the velocity loop and the position loop (see table 4-5). The larger the value, the greater the stiffness. If this parameter is too large, gain will change...
  • Page 45 Kinco FD3&CD3 User Manual The auto-tuning algorithm uses the following table of control loop bandwidth settings in relation to the stiffness value: Table 4-5: Stiffness and control loop settings Output filter Output filter Stiffness Kpp/[0.01Hz] Kvp/[0.1Hz] Stiffness Kpp/[0.01Hz] Kvp/[0.1Hz] [Hz]...

  • Page 46: Jog Mode (F006)

    Kinco FD3&CD3 User Manual For more information about tuning see chapter 7 4.3.4 Jog mode (F006) The Jog mode is intended to be used for a motor test run by the buttons of the LED panel without the need for any other command signal. No matter other Operation_Mode and velocity settings, in the Jog mode the controller controls the motor rotating with the velocity set by Jog_RPM(d3.52) in instantaneous velocity...

  • Page 47: Chapter 5Kincoservo+, User Guide

    Kinco FD3&CD3 User Manual Chapter 5 KincoServo+, user guide This chapter contains information about how to use the PC software KincoServo+. Figure 5-1: Main window of KincoServo+ 5.1 Getting started 5.1.1 Language Language can be switched between English and Chinese via menu item Tools->Language.

  • Page 48: Starting Communication

    Kinco FD3&CD3 User Manual 5.1.3 Starting communication Click menu item Communication->Communication settings. The following window appears: Figure 5-2: Communication settings Select the right COM port (if it’s not shown click the “Refresh” button), baud rate and COM ID (Node ID), and then click the "OPEN”...

  • Page 49: Init Save Reboot

    Kinco FD3&CD3 User Manual Click Add and double click the required object from the Object Dictionary. The selected object is then added to the list. Click Delete. The selected object is removed from the list. Click Help to read a description of the selected object in the Object Dictionary.

  • Page 50: Read/Write Controller Configuration

    Kinco FD3&CD3 User Manual Click Load File to select the firmware file (.servo) and then click Download to start loading firmware to the controller. Information Do not switch off the power or disconnect the RS232 cable during firmware loading. If the download process is interrupted, first reset controller power.

  • Page 51: Digital Io Functions

    Kinco FD3&CD3 User Manual Figure 5-7: Transfer settings Click Open File to select a parameter settings file (.cdi). The parameter settings appear in the window. The .cdi file contains information including object address, object value and readout result. If readout result is “False”, “Invalid”...

  • Page 52: Digital Inputs

    Kinco FD3&CD3 User Manual 5.5.1 Digital inputs The CD3 motor controller provides 7 digital inputs. The functions of these digital inputs can be configured. Functions can be set via factory defaults or application default settings after processing the Easy setup menu ( see chapter 4).
  • Page 53 Kinco FD3&CD3 User Manual The following table lists the digital input functions: Table 5-2: Digital input functions DIN Function Description Controller enabling Enable 1: Enable controller (Controlword=Din_Controlword(2020.0F) , default value=0x2F) 0: Disable controller (Controlword = 0x06) Reset Errors Sets the Controlword to reset errors, active edge: 0 -> 1...

  • Page 54: Digital Outputs

    Kinco FD3&CD3 User Manual 5.5.2 Digital outputs The CD3 motor controller provides 5 digital outputs. The functions of these digital outputs can be configured. Functions can be set via factory defaults or application default settings after processing the Easy setup menu (see chapter 4).

  • Page 55: Gear Ratio Switch (Expert Only)

    Kinco FD3&CD3 User Manual The following table lists the digital output functions: Table 5-3: Digital output functions OUT Function Description Ready Controller is ready to be enabled Error Controller error Under position mode, position difference between Pos_Actual and Pos Reached Pos_Target<Target_Pos_Window(6067.00),duration>=Position_Window_time(6068.00)

  • Page 56: Gain Switch (Expert Only)

    Kinco FD3&CD3 User Manual 2509.06 Uint16 Gear_Divider[3] 2509.07 Int16 Gear_Factor[4] 2509.08 Uint16 Gear_Divider[4] 2509.09 Int16 Gear_Factor[5] 2509.0A Uint16 Gear_Divider[5] 2509.0B Int16 Gear_Factor[6] 2509.0C Uint16 Gear_Divider[6] 2509.0D Int16 Gear_Factor[7] 2509.0E Uint16 Gear_Divider[7] The actual gear ratio is Gear_Factor[x], Gear_Divider[x], whereas x is the BCD code of...
  • Page 57 Kinco FD3&CD3 User Manual 2340.05 Uint16 Kvi[1] 2340.06 Int16 Kpp[1] Dec. Hz 2340.07 Uint16 Kvp[2] Dec, Hz 2340.08 Uint16 Kvi[2] 2340.09 Int16 Kpp[2] Dec. Hz 2340.0A Uint16 Kvp[3] Dec, Hz 2340.0B Uint16 Kvi[3] 2340.0C Int16 Kpp[3] Dec. Hz 60F9.28 Uint8 PI_Pointer 60F9.09...

  • Page 58: Fast Capture

    Kinco FD3&CD3 User Manual 5.5.5 Fast Capture The Fast Capture function is used to capture the Position_Actual(6063.00) when the related DIN edge occurs. Response time is maximum 2ms. Table 5-6: Fast capture objects Internal address Type Name Value Unit 2010.20...

  • Page 59: Scope

    Kinco FD3&CD3 User Manual 5.6 Scope The scope function is for sampling the selected objects’ value with a flexible sample cycle (defined by Sample Time) and a flexible total sample number (defined by Samples) During operation, if performance does not meet the requirement or any other unexpected behaviour occurs, it’s highly advisable to use the scope function to do the analysis.

  • Page 60: Error Display And Error History

    Kinco FD3&CD3 User Manual Figure 5-14: Cusor data Export: Exports the sampled data as a .scope file. Import: Imports a .scope file and shows the oscillogram in the scope window. Reread: Rereads the last scope data out of the controller and shows the oscillogram in the scope window.
  • Page 61 Kinco FD3&CD3 User Manual Temperature Overvoltage 0x3210 DC bus overvoltage Undervoltage 0x3220 DC bus undervoltage Overcurrent 0x2320 Power stage or motor short circuit Chop Resistor 0x7110 Overload, brake chopper resistor Following Error 0x8611 Max. following error exceeded Low Logic Voltage...
  • Page 62 Kinco FD3&CD3 User Manual Information There’s a mask checkbox beside every error item, all are defaulted to be checked, means it can be unchecked, means it can’t be unchecked. An unchecked item mean the related error will be ignored. The error mask can be set in Error_Mask(2605.01) and Error_Mask(2605.04) also (see table 5-9)

  • Page 63: Chapter 6 Operation Modes And Control Modes

    Kinco FD3&CD3 User Manual Chapter 6 Operation modes and control modes Controller parameters can be set via the control panel or the RS232 port (e.g. with KincoServo+ software). In the following introduction, both the panel address (if it’s available) and the internal address will be shown in the object tables.
  • Page 64 Kinco FD3&CD3 User Manual Table 6-2: Digital output function Panel address Internal address Type Name Value (hex): description 0001: Ready d3.11 2010.0F Uint16 Dout1_Function 0002: Error 0004: Pos Reached 0008: Zero Speed d3.12 2010.10 Uint16 Dout2_Function 0010: Motor Brake 0020: Speed Reached d3.13...
  • Page 65 Kinco FD3&CD3 User Manual Table 6-5: Common parameters Panel Internal Type Name Description address address 6083.00 Uint32 Profile_Acc Profile acceleration, profile deceleration, for Operation_Mode 1 and 3 6084.00 Uint32 Profile_Dec d2.24 6080.00 Uint16 Max_Speed_RPM Maximal speed (unit: rpm) d3.16 2020.0D...

  • Page 66: Velocity Mode (-3, 3)

    Kinco FD3&CD3 User Manual 6.2 Velocity mode (-3, 3) There are 2 kinds of velocity mode: -3 and 3. The velocity command can be specified via Target_Speed or analog input (analog speed mode), or via digital input (DIN speed mode).
  • Page 67 Kinco FD3&CD3 User Manual Default is 0, if it’s NOT 0, 2502.0D Int16 Analog_Dead_High Analog_out>Analog_Dead_High is treated as 0 User defined Default is 0, if it’s NOT 0, 2502.0E Int16 Analog_Dead_Low Analog_out<Analog_Dead_Low is treated as 0 d3.33 2FF0.22 Int16 Voltage_MaxT_Factor...

  • Page 68: Din Speed Mode

    Kinco FD3&CD3 User Manual 6.2.2 DIN speed mode The Din_Speed object window in PC software can be accessed from menu item Controller->Control Modes->DIN Speed Mode. To make the DIN Speed Mode available, at least one of the following has to be configured to DIN: Din Vel Index0, Din Vel Index1, Din Vel Index2.

  • Page 69: Torque Mode (4)

    Kinco FD3&CD3 User Manual 6.3 Torque mode (4) In the torque mode, the CD3 motor controller causes the motor to rotate with a specified torque value. Table 6-10: Torque mode Panel Internal Type Name Description Value adress address 6060.00 Int8...

  • Page 70: Position Mode (1)

    Kinco FD3&CD3 User Manual (6071.00) 1: Torque control via AIN1 2: Torque control via AIN2 d3.33 2FF0.22 Int16 Voltage_MaxT_Factor AIN-MaxTorque factor (unit: mNM/V) User defined 0: Analog_MaxTorque control OFF d3.32 2502.09 Uint8 Analog_MaxT_Con 1: max. torque control via AIN1; 0, 1, 2 2: max.

  • Page 71: Position Table Mode

    Kinco FD3&CD3 User Manual Table 6-14 DIN position mode introduction Digital Home tube key Bits Name Description Setting address address 2020.01 Din_pos[0] The speed instruction of the drive is specified by 2020.02 Din_pos[1] DIN speed [x], where x is a BCD code 2020.03...
  • Page 72 Kinco FD3&CD3 User Manual The Start PosTable function must be configured to a DIN in order to make the position table mode available. Other position table functions are optional. Table 6-13: Din functions of the position table mode Name Description...
  • Page 73 Kinco FD3&CD3 User Manual Figure 6-2: Position table mode window The DIN Start PosTable signal (rising edge) triggers the entry index (specified via the DIN function) task, but whether or not the task is executed depends on the start condition (CTL reg bit14-15). After one task is finished, it goes to the next index (CTL reg bit0-4) or stops, depending on Next / Stop (CTL reg bit 8), Condition (CTL reg bit 9-11) and Loops.
  • Page 74 Kinco FD3&CD3 User Manual CTL Reg: Contains following bits: Bits 0-4: Next index, defines the index of the next position control task Bits 5-7: reserved Bit 8: Next / stop, 1: Next; go to next task if condition (see bit9-11) = 1 and loops checking is OK (see Loops) after current positioning task is finished.
  • Page 75 Kinco FD3&CD3 User Manual Bits 14-15: StartCond, start condition. If this task is triggered by the Start PosTable signal, normally the controller will execute it immediately, but if there’s a positioning task still running: 0 (ignore): ignore. 1 (wait): execute this command after current task is finished (without delay).

  • Page 76: Pulse Train Mode (-4)

    Kinco FD3&CD3 User Manual 6.5 Pulse Train mode (-4) In the pulse mode, the target velocity command is specified via the pulse input with gear ratio. Table 6-15: Pulse mode Panel Internal Type Name Description Value address address 6060.00 Int8 Operation_Mode d3.34...

  • Page 77: Master-Slave Mode

    Kinco FD3&CD3 User Manual PD_filter effect principle: Figure 6-6: Pulse filter principle 6.5.1 Master-slave mode The master-slave mode is a type of pulse train mode – PD_CW = 2. The pulse input for the slave controller comes from an external incremental encoder or the encoder output of the master controller.

  • Page 78: Full Closed Loop Mode

    Kinco FD3&CD3 User Manual 6.6 Full closed loop mode The servo driver is connected to the encoder/grating ruler feedback signal at the mechanical end for more accurate closed-loop control, which avoids positioning errors due to the mechanical system. Figure 6-7 Full Closed Loop Application Case...
  • Page 79 Kinco FD3&CD3 User Manual 250A06 Check_Slave spindle inspection data, if the absolute value of the slave shaft speed is greater than the total closed-loop slave shaft inspection, the full closed-loop fault will be reported.When either of these values is 0, the check is not turned on.
  • Page 80 Kinco FD3&CD3 User Manual Figure 6-8 Full Closed-Loop Setup Window 2.Set pulse mode Connect the signal of the main encoder to the pulse input port of the driver, and confirm the pulse mode according to the signal type of the main encoder. Rotate the main encoder and you can see the continuous change of the front pulse data of the gear.

  • Page 81: Homing Mode (6)

    Kinco FD3&CD3 User Manual Figure 6-9 Full-closed loop master-slave axis inspection Settings Table 6-19 Calculation method of master-slave shaft inspection Gear front pulse Actual position data of motor Initial value 150231 value 50677 182179 D-value 50677 31948 Proporti 50677/31948=1.586 6. Set up full closed-loop proportional detection The operating speed of the full closed-loop main encoder and motor fluctuates within the range, and the default value is 2.34%.
  • Page 82 Kinco FD3&CD3 User Manual Figure 6-8: Homing settings Select a home trigger under Homing Trigger. The related items appear in the configuration area. Select a suitable item according to mechanical design and wiring. The Appropriate homing_method then appears in the Pre-Set Home Method box. If Disabled is selected under homing trigger, you enter a number directly to the Pre-Set Home Method field.
  • Page 83 Kinco FD3&CD3 User Manual Profile deceleration acceleration 609A.00 Uint32 Homing_Accelaration during homing User defined 6099.04 Int16 Homing_Current Max. current during homing 0: Go to the homing offset point. The actual position will be 0. 6099.05 Uint8 Home_Offset_Mode 0, 1 1: Go to the home trigger point. The actual position will be -homing offset.
  • Page 84 Kinco FD3&CD3 User Manual Homing with positive position limit switch and index pulse Homing with home switch and index pulse Homing with home switch and index pulse Homing with home switch and index pulse...
  • Page 85 Kinco FD3&CD3 User Manual Homing with home switch and index pulse Homing with positive position limit switch, home switch and index pulse Homing with positive position limit switch, home switch and index pulse Homing with positive position limit switch, home switch and...
  • Page 86 Kinco FD3&CD3 User Manual Homing with positive position limit switch, home switch and index pulse Homing with negative position limit switch, home switch and index pulse Homing with negative position limit switch, home switch and index pulse Homing with negative position...
  • Page 87 Kinco FD3&CD3 User Manual Homing with negative position limit switch Homing with positive position limit switch Homing with home switch Homing with home switch...
  • Page 88 Kinco FD3&CD3 User Manual Homing with home switch Homing with home switch Homing with positive position limit switch and home switch Homing with positive position limit switch and home switch Homing with positive position limit switch and home switch...
  • Page 89 Kinco FD3&CD3 User Manual Homing with positive position limit switch and home switch Homing with negative position limit switch and home switch Homing with negative position limit switch and home switch Homing with negative position limit switch and home switch...
  • Page 90 Kinco FD3&CD3 User Manual 33, 34 Homing with index pulse Homing to actual position -17, -18 Homing via mechanical limit...

  • Page 91: Chapter 7Tuning Of The Servo System Control

    Kinco FD3&CD3 User Manual Chapter 7 Tuning of the servo system control Profile generator Acceleration feedforward Kaff POWER Speed demand Torque demand analog1 analog1 i-limit analog2 analog2 Profile speed DCBUS+ Average filter Kvff Current Notch filter feedback ∫ 1 order...

  • Page 92: Auto-Tuning Test Operation Method

    Kinco FD3&CD3 User Manual Caution: auto-tuning causes the motor to oscillate for about 1 second and the maximum oscillation range is roughly 0.5 rev: make sure that your machine system can withstand this oscillation. 7.2 Auto-tuning test operation method When inertia auto-tuning is opened, motor shaft will reciprocate in a very short distance. So please keep some mechanical space before using.

  • Page 93: Problems With Auto-Tuning

    Kinco FD3&CD3 User Manual Write 1 to TUN CTL (3041.05), and then write 1 to Tuning Method (3040.01). The motor oscillates for less than 1s and the results appear. If Inertia_Get_Result(3040.09) = 1 the tuning process was able to obtain a valid Inertia_Ratio(3040.0B).

  • Page 94: Manual Tuning

    Kinco FD3&CD3 User Manual 3889 1400 1032 4723 1700 1032 5556 2000 1765 6389 2300 1765 7500 2700 1765 8612 3100 1765 9445 3400 ∞ 1056 10278 3700 ∞ 1250 11112 4000 ∞ 1500 12500 4500 ∞ 1667 13889 5000 ∞...
  • Page 95 Kinco FD3&CD3 User Manual 2) According to the scope image: The user can create a jump command for velocity control and sample actual velocity and current while changing kvp. The right velocity curve should quickly fulfil the command without oscillation and unusual noise.
  • Page 96 Kinco FD3&CD3 User Manual Table 7-3: List of velocity loop parameters Panel Internal Name Description Default Range address address Proportional velocity loop gain 60F901 Kvp[0] Can be displayed in Hz in the PC tool can if the 1-32767 inertia ratio is right.

  • Page 97: Tuning Of The Position Loop

    Kinco FD3&CD3 User Manual Output filter adjustment The output filter is a 1 order torque filter. It can reduce the velocity control loop to output high frequency torque, which may stimulate overall system resonance. The user can try to adjust Output_Filter_N from small to large in order to reduce noise.
  • Page 98 Kinco FD3&CD3 User Manual Max_Following_ Maximum allowable error, Max_Following_Error d2.25 2FF0.0E 5242 Error_16 (6065.00) = 100 * Max_Following_Error_16 Position loop proportional gain adjustment Increasing position loop proportional gain can improve position loop bandwidth, thus reducing positioning time and following error, but setting it too high will cause noise or even oscillation. It must be set according to load conditions.

  • Page 99: Factors Which Influence Tuning Results

    Kinco FD3&CD3 User Manual The smoothing filter can reduce machine impact by smoothing the command. The Pos_Filter_N parameter define the time constant of this filter in ms. Normally, if the machine system oscillates when it starts and stops, a larger Pos_Filter_N is suggested.

  • Page 100: Chapter 8 Alarms And Troubleshooting

    Kinco FD3&CD3 User Manual Chapter 8 Alarms and troubleshooting Alarm code numbers flash at the panel when the controller generates an alarm. If you need more detailed information about errors and error history, please connect the controller to the PC via RS232 and refer to chapter 5.7.
  • Page 101 Kinco FD3&CD3 User Manual Machine equipment stuck or excessive is enabled. friction. Eliminate the problem of mechanical sticking, Duty cycle of motor overload exceeds the add lubricate. motor rated performance Reduce the acceleration or load inertia. Reduce pulse frequency. Over 100.0...

  • Page 102: Chapter 9List Of Cd3 Motor Controller Parameters

    Kinco FD3&CD3 User Manual Chapter 9 List of CD3 motor controller parameters 9.1 F001 This panel menu contains all controller values which can be shown by the LED display when it’s in the monitor mode (see 4.2) and no error or warning is shown. On the LED panel, select the panel address of the value to be displayed and press SET.

  • Page 103: F002

    Kinco FD3&CD3 User Manual d1.15 26010010 Error_State See chapter 5.7, table5-7 0-65535 d1.16 26020010 Error_State2 See chapter 5.7, table5-8 0-65535 d1.17 60410010 Status word Status word of controller d1.18 60610008 Operation_Mode_Buff Operation mode in buffer -2^31- d1.19 60630020 Pos_Actual Actual position of motor...
  • Page 104 Kinco FD3&CD3 User Manual Notch filter frequency d2.03 60F90308 Notch_N 0-127 BW=Notch_N*10+100[Hz] d2.04 60F90408 Notch_On Notch filter enable Bandwidth of velocity feedback filter d2.05 60F90508 Speed_Fb_N 0-45 BW=Speed_Fb_N*20+100[Hz] Default: 0, means using 2 order low pass filter 0: 2 order FB LPF...

  • Page 105: F003

    Kinco FD3&CD3 User Manual 9.3 F003 This panel menu contains parameter for the configuration of analog and digital I/O functions. Controller->Panel Menu->F003 DI/DO & Operation Mode Setting(F003) Table 9-3: Panel F003 parameters Panel Internal Name Description Default Range address address Save or init parameters d3.00...
  • Page 106 Kinco FD3&CD3 User Manual -1000- d3.23 2FF01D10 Analog1_Dead_V Unit: 0.01V 1000 -1000- d3.24 2FF01E10 Analog1_Offset_V Unit: 0.01V 1000 d3.25 25020410 Analog2_Filter Filter parameter of analog signal 2 1-127 -1000- d3.26 2FF01F10 Analog2_Dead_V Unit: 0.01V 1000 -1000- d3.27 2FF02010 Analog2_Offset_V Unit: 0.01V...

  • Page 107: F004

    Kinco FD3&CD3 User Manual See chapter 6.2.2, table 6-8 -32768- d3.45 20201920 Din_Speed5_RPM unit: rpm 32767 See chapter 6.2.2, table 6-8 -32768- d3.46 20201A20 Din_Speed6_RPM unit: rpm 32767 See chapter 6.2.2, table 6-8 -32768- d3.47 20201B20 Din_Speed7_RPM unit: rpm 32767 9.4 F004...

  • Page 108: F005

    Kinco FD3&CD3 User Manual delay time for motor brake d4.16 64101210 Brake_Delay 0-32767 unit: ms d4.17 64101308 Invert_Dir_Motor motor running dirction 0-65535 d4.18 64101610 Motor_Using Current using motor type Describe whether the motor has any addition device. Bit0: the motor with a brake...
  • Page 109 Kinco FD3&CD3 User Manual RS232 communication control d5.15 65100B08 RS232_Loop_Enable 0: 1 to 1 0-255 1: 1 to N d5.16 2FFD0010 User_Secret User secret, 16 bit 0-65535 CAN baudrate setting 100: 1M 50: 500k d5.17 2F810008 CAN_Baudrate 0-65535 25: 250k...

  • Page 110: Chapter 10 Rs232 Communication

    Kinco FD3&CD3 User Manual Chapter 10 RS232 communication The CD3 motor controller can be controlled, configured or monitored via a RS232 communication interface (X3) using the following interface and protocol description. 10.1 RS232 wiring If the motor controller should be controlled by a programmable logic controller (PLC) or other controllers via the a RS485 communication interface, a RS485 to RS232 converter has to be used.

  • Page 111: Point To Point Protocol

    Kinco FD3&CD3 User Manual data CHKS ID: The ID number of the slave CHKS: Telegram checksum, CHKS = SUM(byte 0 …. byte 8) 10.2.1 Point to point protocol One host communicates with one controller, RS232_Loop_Enable(d5.15)=0) The host sends: byte 0 byte 1 …byte 8...

  • Page 112: Download (From Host To Slave)

    Kinco FD3&CD3 User Manual 10.3.1 Download (from host to slave) Download means that the host sends a command to write values to the objects in the slave, the slave generates an error message if when the value is downloaded to a non-existent object.

  • Page 113: Rs232 Telegram Example

    Kinco FD3&CD3 User Manual The slave answers: byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 INDEX DATA INDEX RES: Displays slave response: 43(hex) bytes 4...7 contain 32-bit data 4B(hex) bytes 4 and 5 contain 16-bit data 4F(hex) byte 4 contains 8-bit data 80(hex) error, bytes 4 …...

  • Page 114: Chapter11 Canopen Communication

    Kinco FD3&CD3 User Manual Chapter11 CANopen Communication CANopen is one of the most famous and successful open fieldbus standards.It has been widely recognized applied a lot in Europe and USA. 1992,CiA (CANinAutomation) was set up in Germany,and began to develop application layer protocol CANopen for CAN in automation.
  • Page 115 Kinco FD3&CD3 User Manual Pin definition can be found in Chapter 3. ■Note: 1、All of slaves connect by using CAN_L CAN_H directly series connection, not star connection. 2、There must be connected a 120 ohm resistance in start terminal(master) and end terminal(slave).

  • Page 116: Software Introduction

    Kinco FD3&CD3 User Manual 11.2 Software Introduction 11.2.1 EDS EDS（Electronic Data Sheet）file is an identification documents or similar code of slave device,to identify what kind of slave device is(Like 401,402 and 403,or which device type of 402).This file includes all information of slaves,such as manufacturer,sequence No.,software version,supportable baudrate, mappable OD and attributes of each OD and...
  • Page 117 Kinco FD3&CD3 User Manual No.).The range of Node-ID is 1~127(0 is forbidden). Function Code:The function code for data transmission define the transmission level of PDO,SDO and management message.The smaller the function code,the higher the priority. The allocation table for CAN identifiers in master/slave connection set predefined by CANopen is as follows:...
  • Page 118 Kinco FD3&CD3 User Manual Receive PDO of servo means servo receive data,and these data are sent by PLC.The function codes of receive PDO(COB-ID) are as follows: 1、 0x200+ Station No. of Servo 2、 0x300+ Station No. of Servo 3、 0x400+ Station No. of Servo 4、...
  • Page 119 Kinco FD3&CD3 User Manual Format of slave response message: （0x700+NodeID）+Status: Status: The bit7 of the data is triggered bit.This bit will alternately set to 0 or 1 in the response message.It will be set to 0 at the first request of node guarding.The bit0 ~ bit6 indicate the status of node.

  • Page 120: Canopen Communication Parameters

    Kinco FD3&CD3 User Manual For example, If you want a node in the operational status to return to the pre-operational status,then the controller needs to send following message: 0x000:0x80 0x02 11.3 CANopen communication parameters Internal Name Meaning Default Display Address Value 1：Save all control parameters except...

  • Page 121: Chapter12 Rs485 Communication

    Kinco FD3&CD3 User Manual Chapter12 RS485 Communication 12.1 RS485 communication interface The X6 interface of FD3 Servo driver supports RS485 communication.The wiring diagram is shown in following figure. Pin definition can be found in Chapter 3. 12.2 RS485 communication parameters...

  • Page 122: Modbus Rtu

    Kinco FD3&CD3 User Manual 12.3 MODBUS RTU The RS485 interface of FD2S Servo driver supports Modbus RTU protocol. Modbus RTU protocol format Start(No less than 3.5 Station Function Data characters of code messages interval) 1 Byte 1 Byte N Bytes...
  • Page 123 Kinco FD3&CD3 User Manual 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:...

  • Page 124: Appendix1: Choice Of Fuse And Braking Resistor

    Kinco FD3&CD3 User Manual Appendix1: Choice of fuse and braking resistor For fuse and braking resistor, please match according to recommended specification below: Appendix 1-1: Diver type Driver power (Unit: W) Reference specification of fuse CD413-AA-000 3.5A/250VAC CD413-AA-000 3.5A/250VAC CD423-AA-000...

  • Page 125: Appendix2: Ethercat Communication Example

    Example1: FD3 communicate with BECKHOFF via Ethercat 1. Devices connection Before open software, copy Kinco servo device file Kinco_servo.xml to the installation folder of Twincat software of NC series controller. Default folder is: C:\TwinCAT\Io\EtherCAT. 2. Parameters setting in controller...
  • Page 126 Right click I/O Devices, choose Scan Devices to scan Ethercat slave station. Click YES for Scan boxes when it finds slave stations. If the Ethercat port of controller rightly connects with Kinco driver, Kinco FD box can be seen under device folder and driver has connected with controller via NC mode automatically.
  • Page 127 Kinco FD3&CD3 User Manual Scan result: At right side, there is COE-Online as above, we can set parameters here for driver.
  • Page 128 Kinco FD3&CD3 User Manual...
  • Page 129 Make sure synchronous clock mode (301102=1) is opened and set synchronous cycle = 2ms (301101=1). Recommend to use 1ms (301101=0) or 2ms (301101=1). For 4ms and 8ms, they lose the signification of using Ethercat. Kinco servo driver supports 1,2,4,8ms synchronizing period only, even controller can support more.
  • Page 130 During control servos, if needing to adjust performance parameters like PI of servo, it can be set in COE- Online as below. But all parameters mapped here are internal unit of servo. For the detail of unit, please refer to Kinco servo user manual.
  • Page 131 Kinco FD3&CD3 User Manual Please use Kinco Servo software to monitor and set more parameters when they can’t find in COE- Online. Set basic cycle time of PLC to 1ms Set NC PTP control period. Generally speaking, the NC period is NC Task SAF period. Here, it is set to...
  • Page 132 Kinco FD3&CD3 User Manual Click Enable for Sync Clock, should be noted that the setting of Cycle Time here must be same with ECAN sync cycle(the value in 301101 also) in driver. For example if the sync cycle is 2(4ms) then here should be 4.
  • Page 133 As the shown above, setting speed to 5.0mm/s, then the speed of servo should 5.0/0.0001=50000inc/S=300RPM. Now we finish all the setting for Kinco Ethercat servo under NC mode of Backhoff and then the next step is to program a project control Kinco servo.

  • Page 134: Example2: Fd3 Communicate With Omron Via Ethercat

    KINCO Example2: FD3 communicate with OMRON via Ethercat 1. Devices connection 2. Servo setting Set synchronizing period of servo driver first. Make sure synchronous clock mode (ECAN_Sync_Clock) is opened and synchronous cycle (ECAN_Sync_Cycle) = 2ms (value=1). Recommend to use 1ms (value=0) or 2ms (value=1).
  • Page 135 KINCO Above all parameters setting are valid only after saving control parameters and motor parameters and reboot. During control servo, if it needs to adjust the performance of servo PI parameters and other parameters, please refer to servo user manual.
  • Page 136 KINCO 3. Parameters setting in controller Copy Kinco servo device file Kinco_servo.xml to the installation folder of Sysmac Studio software of NJ series controller. For example: C:\Program Files\OMRON\Sysmac Studio\IODeviceProfiles\EsiFiles\SystemEsiFiles Use a standard Ethernet cable to connect PC and NJ controller. Open Sysmac Studio software to create a new project.
  • Page 137 KINCO Find Kinco_FD in toolbox and right click to insert slave station of Kinco servo (insert the pieces that you real use). After inserted, the slave stations will be shown in Network configuration interface and distributed the address automatically.
  • Page 138 KINCO Click slave station to set its parameters. Usually, the default values in below frame are able to meet the requirements of motion control system. If setting parameters for many slave stations, it is a smart way to copy and paste from the finished one via right clicks.
  • Page 139 KINCO Map slave station’s PDO to controller’s local IO: double click I/O Map at left side and then choose a slave station (the stations have to be configured one by one and all stations must be configured) to crate device variable. The system will distribute a local variable IO automatically.
  • Page 140 KINCO Click project and check all programs to see if there are mistakes or not. All basic parameters are setting finished until this step. It is able to download programs and debugging as next step: Controller-Communications Setup, select a connection method, for example via Ethernet.
  • Page 141 KINCO Open software Direct Ethernet Utility and choose Direction connect target. Controller-Online, if online success, it will show state at right bottom corner.
  • Page 142 KINCO...
  • Page 143 KINCO Controller-Synchronize. After synchronization, it will show what the different is by comparing with program and parameters of controller inside and local program in PC. Click Transfer To Controller and click Yes into program mode and then click Yes into run mode.
  • Page 144 KINCO Reboot controller and servo driver to online again. We can see the servos are connected correctly in EtherCAT frame. If connected wrong, it will show X mark instead of triangle. Pick on Master, right click and choose Display Diagnosis/Statistics Information to monitor all network...
  • Page 145 KINCO If there is error, click Tools--->Troubleshooting to check what error is.in details. Or at I/O Map frame, if see value which is read from slave stations, it means communication successful. Else, according to the status of three LEDs at the right bottom corner of hardware controller, we can...
  • Page 146 KINCO At the same time, in the software of servo driver, chick driver-ECAN configuration to see the PDO information. In “others”, we can check if it is synchronizing data or not. If the non-zero data is changing, that means synchronizing and updating data.
  • Page 147 KINCO Comprehensive above information, we can know if the driver connects successfully with Ethercat network or not. 4. Control drivers to move Point to Point (not interpolation control) control. After network communication success, use the variables in program by I/O Map to set values into drivers to control them moving. For example, set a value to target speed in driver, set control word to F and mode to 3 and then it is able to run driver under speed mode.
  • Page 148 KINCO Map PDO to axis. Double click the axis and configure it. Please note that one axis which is used as interpolation motion control can’t be used as point to point control at the same time. The mapped I/O will be deleted by system...
  • Page 149 KINCO Set parameters of axis. Such as resolution of encoder, maximum speed, position limited etc. please refer to NJ user manual. Program the project. NJ series controllers are accord with standard motion commands of PLCopen. For more details, please refer to its user manual.
  • Page 150 KINCO 应用技术部...

  • Page 151: Example3: Fd3 Communicate With Trio Via Ethercat

    KINCO 应用技术部 Example3: FD3 communicate with TRIO via Ethercat 1. Devices connection 2. Servo setting Set synchronizing period of servo driver first. Make sure synchronous clock mode (ECAN_Sync_Clock) is opened and synchronous cycle (ECAN_Sync_Cycle) = 2ms (value=1). Recommend to use 1ms (value=0) or 2ms (value=1).
  • Page 152 KINCO 应用技术部 Above all parameters setting are valid only after saving control parameters and motor parameters and reboot. During control servo, if it needs to adjust the performance of servo PI parameters and other parameters, please refer to servo user manual.
  • Page 153 KINCO 应用技术部 3. Parameters setting in controller Use Ethernet cable to connect PC and controller and open Motion Perfect V4 software and choose Direct Mode for connection. Click Project New... to create a new project.
  • Page 154 KINCO 应用技术部...
  • Page 155 Trio controller doesn’t support import XML file directly, the slave information file needs to be written already in software when the software is released. Before unsupported, use below guide to import slave information file EC_EXTEND.TXT. This file can be downloaded in Kinco website. Create MC_Config file as below.
  • Page 156 KINCO 应用技术部...
  • Page 157 KINCO 应用技术部 Set sync cycle time in MC_Config and then save it. The time must be same with servo driver. The others parameters can be set as default and please refer to related user manual for more details. Create a Basic program as below steps of arrow.
  • Page 158 KINCO 应用技术部 Write a Ethercat initial program then save and compile. Finally, open a terminal window on channel 0 to display related information.
  • Page 159 KINCO 应用技术部 Set auto run for this program.
  • Page 160 At the middle area, it is project information file. At left side, it shows the status of controller and slave driver. At right side, it shows the information in window channel O that the Ethercat initial program has been executed successfully and the system has found Kinco FD slave which is in Ethercat OP state (Operation state) also.
  • Page 161 KINCO 应用技术部 By intelligent ID, it is able to monitor more information about Ethercat network.
  • Page 162 KINCO 应用技术部 As below, master station has connected two slave stations successfully and distributes the axis to 0 and 1. And master station regards the control mode of slave station as default is position mode. Double click icon of slave drivers, it will show inforamtion about this salve station.
  • Page 163 KINCO 应用技术部...
  • Page 164 KINCO 应用技术部 Double click icon of master station and click Next to collect a report about initial information of Ethercat network. This report can show the configuration of network as a reference.
  • Page 165 KINCO 应用技术部 At the same time, it can be found in Kincoservo software that the master has configured PDO to driver and connected with driver successfully. In others table, it shows that if there is sync data or not. If non-zero value is changing continuously, it means there is sync data and is updating also.

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