Kinco CD422 Manual
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Kinco CD422 Manual

Kinco CD422 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 CD422/CD432/CD622 Servo Driver ...................................................... 7
1.2.3 Component Names of Servo Motor .......................................................................................... 8
1.3 Model Description of Servo Motors and Drivers ................................................................................ 8
1.3.1 Servo Drivers ............................................................................................................................ 8
1.3.3 Power,Brake and Encoder cable of Motors ............................................................................... 9
Chapter 2 Precautions and Installation Requirements ......................................................................................... 10
2.1 Precautions ..................................................................................................................................... 10
2.2 Environmental Conditions ............................................................................................................... 10
Table 2-1 Environmental conditions ..................................................................................................................... 10
2.3 Mounting Direction & Spacing ......................................................................................................... 10
2.3.1 Precautions ............................................................................................................................. 10
2.3.2 Servo Driver Installation .......................................................................................................... 11
Chapter 3 Interfaces and Wirings of CD Driver ................................................................................................... 13
3.1 Interfaces of CD2 Driver .................................................................................................................. 13
3.1.1 Interfaces of CD422/432/622 .................................................................................................. 13
3.1.2 Wiring Diagram of CD2 Driver ................................................................................................ 15
3.1.3 X1 inteface of CD2 Driver ....................................................................................................... 16
3.1.5 X5 and X6 Interfaces of CD2 Driver ........................................................................................ 18
3.1.5.1 X5 Interface ................................................................................................................. 18
3.1.5.2 X6 Interface ................................................................................................................. 18
3.2 Interfaces of CD Driver .................................................................................................................... 19
3.2.1 Interfaces of CD420/430/620 .................................................................................................. 19
3.2.2 External Wirings of CD Driver ................................................................................................. 21
3.2.3 X1 Interface of CD Driver ........................................................................................................ 22
3.2.5 X3/X4 Interfaces of CD Driver ................................................................................................. 24
3.2.5.1 X3 Interface ................................................................................................................. 24
3.2.5.2 X4 Interface ................................................................................................................. 24
Chapter 4 Digital Operation Panel ....................................................................................................................... 25
4.1 Introduction ..................................................................................................................................... 25
4.2 Operation on Digital Operation Panel .............................................................................................. 27
Chapter 5 Motor Selection,Trial Operation and Parameter List ........................................................................... 30
5.1 Driver and motor configuration ........................................................................................................ 30
5.2 Trial Operation ................................................................................................................................. 33
5.2.1 Objective ................................................................................................................................. 33
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  • Page 1: Table Of Contents

    3.1.2 Wiring Diagram of CD2 Driver ....................15 3.1.3 X1 inteface of CD2 Driver ....................... 16 3.1.4 Power Interface of CD2 Driver（CD422/X3、CD432/CD622/X3 and X7） ......17 3.1.5 X5 and X6 Interfaces of CD2 Driver ..................18 3.1.5.1 X5 Interface ......................... 18 3.1.5.2 X6 Interface .........................
  • Page 2 5.2.2 Precautions ..........................33 5.2.3 Operating Steps ........................34 5.2.4 Diagram of Trial Operation ...................... 34 5.3 Description of Parameters ....................... 34 Parameter List: Group F000 (To Set Driver Instructions) ..............35 Parameter List: Group F001 (To Set Real-Time Display Data) ............36 Parameter List: Group F002 (To Set Control Loop Parameters) ............
  • Page 3 11.1 Servo Drivers and Motors Selection Table ................... 116 11.2 Servo Driver ..........................117 11.2.1.1 Technical Specification Table for CD422/CD432/CD622 Servo Driver......117 11.2.1.2 Technical Specification Table for CD420/CD430/CD620 Servo Driver......118 11.2.2 Mechanical Dimension Diagram for Servo Driver .............. 119 11.3 Dimensions/Torque Curve/Technical Specifications of Servo Motors ..........

  • 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 Cd422/Cd432/Cd622 Servo Driver

    1.2.2 Component Names of CD422/CD432/CD622 Servo Driver Fig. 1-4 Component Names of CD422/CD432/CD622 Servo Driver...

  • Page 8: Component Names Of Servo Motor

    1.2.3 Component Names of Servo Motor Fig. 1-5 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 9: Power,Brake And Encoder Cable Of Motors

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

  • Page 10: 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 11: 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 12 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 13: Chapter 3 Interfaces And Wirings Of Cd Driver

    Chapter 3 Interfaces and Wirings of CD Driver 3.1 Interfaces of CD2 Driver 3.1.1 Interfaces of CD422/432/622 Table 3-1 Interfaces of CD422/432/622 Interface Driver Symbol Function COMI Common terminal of digital inputs DIN1～DIN7 Digital inputs. Valid signal:12.5V～24V.Invalid signal:<5V OUT1+ Digital output 1+...
  • Page 14 24VS/GNDS Logic power supply:24 V ± 15% ,>0.5A 24VB/GNDB Power supply for brake ,DC18~30V 2A BR+/BR- Brake interface U/V/W/PE Motor cable interface CD422 Main power supply（Single-phase AC220V） RB+/RB- Braking resistor interface CD432/CD622 U/V/W/PE Motor cable interface CD422 RS232 RS232 interface...

  • Page 15: Wiring Diagram Of Cd2 Driver

    3.1.2 Wiring Diagram of CD2 Driver Fig.3-1 Wiring diagram of CD2 driver...

  • Page 16: X1 Inteface Of Cd2 Driver

    3.1.3 X1 inteface of CD2 Driver Fig.3-2 X1 interface of CD2 driver Fig.3-3 Wiring diagram of X1 interface of CD2 driver...

  • Page 17: Power Interface Of Cd2 Driver（Cd422/X3、Cd432/Cd622/X3 And X7

    3.1.4 Power Interface of CD2 Driver（CD422/X3、CD432/CD622/X3 and X7） Fig.3-4 Power interface of CD2 driver...

  • Page 18: X5 And X6 Interfaces Of Cd2 Driver

    3.1.5 X5 and X6 Interfaces of CD2 Driver 3.1.5.1 X5 Interface Interface Signal Description Function To transmit data To receive data RS232 Ground of signal communication (9-pin female interface connector) 3.1.5.2 X6 Interface Interface Signal Description Function To output 5 V voltage PTC_IN N/A To input phase-A signals of encoder...

  • Page 19: Interfaces Of Cd Driver

    signals of encoder 3.2 Interfaces of CD Driver 3.2.1 Interfaces of CD420/430/620 Table 3-2 Interfaces of CD driver Interface Applicable Symbol Function Driver 24VS External logic power (24 V +/- 15%) interface with a minimum of 0.5 A current output GNDS COMI Common port of digital input signals...
  • Page 20 DIR+ Direction or negative pulse interface (+) DIR- Direction or negative pulse interface (-) GNDA Analog signal ground AIN1 Analog signal input interface 1. Input impedance: 200 K AIN2 Analog signal input interface 2. Input impedance: 200 K GNDA Analog signal ground OUT1+ Digital output...

  • Page 21: External Wirings Of Cd Driver

    3.2.2 External Wirings of CD Driver CD420 (single phase) CD430 (single phase/ Power supply three phases) (L) RST (N) CD620 (three phases) Circuit breaker Noise filter Numeric display Surge controller Electromagnetic contactor Numeric display key AC reactor Logic power, I/O control Encoder line Power line Shielded wiring terminal...

  • Page 22: X1 Interface Of Cd Driver

    3.2.3 X1 Interface of CD Driver Fig. 3-6 X1 interface of a CD driver Fig. 3-7 Wirings of the X1 interface of a CD driver...

  • Page 23: Power Interfaces (Cd420/X2, Cd430/Cd620/X2 And X5) Of Cd Driver

    3.2.4 Power Interfaces (CD420/X2, CD430/CD620/X2 and X5) of CD Driver Fig. 3-8 Power interfaces of a CD driver...

  • Page 24: X3/X4 Interfaces Of Cd Driver

    3.2.5 X3/X4 Interfaces of CD Driver 3.2.5.1 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 25: 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 26 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 27: 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 28 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 29 Fig. 4-3 Separate regulation of bits...

  • Page 30: Chapter 5 Motor Selection,Trial Operation And Parameter List

    Chapter 5 Motor Selection,Trial Operation and Parameter List 5.1 Driver and motor configuration There is no default motor type set in driver,so users need to set the motor model before using the driver.Please refer to the selection table when setting the motor model. Suitable Servo Motor Model CD420/CD42...
  • Page 31 = D ： M17+M23 (Power M23 Intercontec connector, Encoder M17 Intercontec connector) Kinco servo does not configure motor in default setting. Customers should configure it when they get a new servo. 1. Customers have the data file（No need to configure motor）...
  • Page 32 Customers can configure the motor’s model according to servo/motor configuration table mentioned above, then set the parameters according to the application. If the motor’s model do not configure properly, the driver and motor may not work normally. You can configure motor model via keys on servo or CD-PC software.

  • Page 33: Trial Operation

    Initialize/Save page, click the Save motor parameters. After restart the servo, they can reset the motor model and set servo parameters. Fig.5-3 Configure motor by software 5.2 Trial Operation 5.2.1 Objective The trial operation allows you to test whether the driver works properly, and whether the motor runs stably.

  • Page 34: Operating Steps

    Don’t use trial operation if the keys are broken. 5.2.3 Operating Steps Press MODE to enter Group F004. Select the object address “d4.18”, and check the motor type. Press MODE to enter Group F000. Select the object address “d0.02”, and set the target speed to “SpeedDemand_RPM".

  • Page 35: Parameter List: Group F000 (To Set Driver Instructions)

    F001/F002/F003/F004/F005). Three numeric objects (d2.00/d3.00/d5.00) are developed to facilitate customers. Parameter List: Group F000 (To Set Driver Instructions) Numeric Internal Variable Name Meaning Default Range Display Address Value d0.00 60600008 Operation_Mode 0.004 (-4): Pulse control mode, including pulse direction (P/D) and double pulse (CW/CCW) modes.

  • Page 36: Parameter List: Group F001 (To Set Real-Time Display Data)

    when auto tuning is unavailable. After setting this parameter, apply d2.00 to save the settings as required. d0.05 2FF00B10 Pc_Loop_BW Sets the position loop bandwidth. The unit is Hz. Note: After setting this parameter, apply d2.00 to save the settings as required. d0.06 2FF00C10 Tuning_Start...

  • Page 37: Parameter List: Group F002 (To Set Control Loop Parameters)

    d1.19 60630020 Pos_Actual Actual position of a motor d1.20 60FB0820 Pos_Error Position following error d1.21 25080420 Gear_Master Count of input pulses before electronic gear d1.22 25080520 Gear_Slave Count of executed pulses after electronic gear d1.23 25080C10 Master_Speed Pulse speed entered by the master axis (pulse/mS) d1.24 25080D10...
  • Page 38 d2.05 60F90508 Speed_Fb_N You can reduce the noise during motor 0~45 operation by reducing the feedback bandwidth of velocity loop. When the set bandwidth becomes less, the motor responds slower. The formula is F=Speed_Fb_N*20+100. For example, to set the filter bandwidth to "F = 500 Hz”, you need to set the parameter to 20.

  • Page 39: Parameter List: Group F003 (To Set Input/Output & Pattern Operation Parameters)

    the data is too small, the auto tuning error becomes greater, or even causes a mistake. d2.22 60F91110 Tuning_Scale It is helpful to reduce the auto tuning time by 0~16384 reducing the data, but the result may be unstable. d2.23 60F91210 Tuning_Filter Indicates filter parameters during auto-tuning...
  • Page 40 d3.08 20100110 Dio_Polarity Sets IO polarity d3.09 2FF00810 Dio_Simulate Simulates input signals, and enforce output signals for outputting d3.10 20000008 Switch_On_Auto Automatically locks motors when drivers are powered on 0: No control 1: Automatically locks motors when drivers are powered on d3.11 20100F10 Dout1_Function...
  • Page 41 Time Constant: T = Analog1_Filter/4000 (S) d3.26 25020510 Analog2_Dead Sets dead zone data for external analog 0~8192 signal 2 d3.27 25020610 Analog2_Offset Sets offset data for external analog signal 2 -8192~8 d3.28 25020708 Analog_Speed_Co Chooses analog-speed channels 0: Invalid analog channel 1: Valid analog channel 1 (AIN1) 2: Valid analog channel 2 (AIN2) 10～17：AIN1 for “Din_Speed (X-10)”...

  • Page 42: Parameter List: Group F004 (To Set Motor Parameters)

    d3.39 25080910 Indicates the position reached time window 0~32767 Position_Reach_Ti in the pulse mode Unit: mS d3.40 2FF10108 Din_Position_Sele To select which parameter will be set. ct_L 0. Din_Pos0 1. Din_Pos1 2. Din_Pos2 3. Din_Pos3 4. Din_Pos4 5. Din_Pos5 6. Din_Pos6 7.
  • Page 43 Ir[Arms]*1.414*10 d4.08 64100A10 Motor_IIt_Filter Indicates time settings on overheat protection of motors Time: N*256/1000 Unit: S d4.09 64100B10 Imax_Motor Indicates max peak current of motors I[Apeak]*10 d4.10 64100C10 L_Motor Indicates phase inductance of motors L[mH]*10 d4.11 64100D08 R_Motor Indicates phase resistance of motors R[Ω]*10 d4.12 64100E10...

  • Page 44: Parameter List: Group F005 (To Set Driver Parameters)

    "E1"......314.5…………..SME60S-0040-30 "E2"......324.5………………..SME80S-0075-30 The same function as d4.01.But it is specially used for d4.19 64101410 Motor_Num configuring motor at the first time,and needn’t restart driver. Parameter List: Group F005 (To Set Driver Parameters) Numeric Internal Variable Name Meaning Default Display Address Value d5.00 2FF00108...
  • Page 45 d5.10 30000210 Voltage_360 ADC original data when DC bus voltage is 360 V Note:Factory parameters d5.11 60F60610 Comm_Shift_UVW Indicates the excitation pointer of a motor Note:Factory parameters d5.12 26000010 Error_Mask Indicates error masks FFF.F Note:Factory parameters d5.13 60F70510 RELAY_Time Indicates the relay operating time of capacitor short-circuits Unit: mS Note:Factory parameters...

  • Page 46: 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,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(CD2 driver doesn’t have OUT5.There are terminals BR+、...

  • Page 47: Simulation Of Digital Input Signals

    Example 6-1: Polarity Setting for Digital Input Signal DIN1 Fig. 6-1 Polarity setting for digital input signal DIN1 Table 6-3 Polarity setting for digital input signal DIN1 ① ② ③ ④ Input/output port selection Channel selection Reserved 0: D1N1 is enabled when S1 Set to 1 (input port Set to 1 (DIN 1 selected) opens...

  • Page 48: Status Display Of Digital Input Signals

    Example 6-2: Simulate digital input DIN1 Table 6-6: Simulate digital input DIN1 ① ② ③ ④ Input/output port selection Channel selection Reserved 0: Invalid DIN1 simulation Set to 1 (input port Set to 1 (DIN 1 selected) 1: Valid DIN1 simulation selected) Namely, if d3.09 is set to “110.0”, it indicates that no DIN1 input signals are simulated;...
  • Page 49 400.0: Activate command Note:DinX_Function (X ranges from 1 to 7) is used to define the functions of digital input ports. User can freely define the functions of the digital input ports according to actual applications. Table 6-9 Meaning of defined functions of digital input signals Function Meaning Disable...
  • Page 50 Activate command When the rising edge of the signal is detected,it will activate the internal position control Example 6-3: Driver Enable Setting Requirement: The “driver enable” function is controlled through an external digital output port. In this example, the digital input port DIN1 is defined as the “driver enable” function. Table 6-10 shows the setup method.

  • Page 51: Wirings Of Digital Input Port

    Table 6-13 Settings on operation mode control on drivers Numeric Display Variable Name Parameter Settings d3.03 Din3_Function Set to 000.4 d3.16 Din_Mode0 Set to 0.004 (-4) d3.17 Din_Mode1 Set to 0.003 (-3) d3.00 Store_Loop_Data Set to 1 Note: If the driver is required to operate in some mode with power on, one of the digital input must be set as function “Operation Mode Control”.

  • Page 52: 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 53: Status Display Of Digital Output Signals

    Display Value d3.09 Dio_Simulate Simulates input signals, and the output signal is outputted compulsorily Dio_Simulate (IO simulation) is to simulate the output of a valid signal. The number “1” indicates that the output signal is valid, and “0” indicates that the output signal is invalid. 6.2.3 Status Display of Digital Output Signals Table 6-16 Variables for status display of digital output signals Numeric Display...

  • Page 54: Wiring Of Digital Output Port

    unchanged in the window (d3.39) of the time of reaching the target position, and position errors are within the window of reaching the target position. Zero velocity After the motor is enabled, it is outputted when the motor speed is 0. Motor brake The driver enables the motor, and contracting brake output is valid.
  • Page 55 Fig. 6-4 Internal circuit diagram of digital output ports Note: To apply the OUT3 or OUT4 port, the COMO port must be connected. To apply the OUT5 port, both the 24VO and COMO ports must connect to the external input power.(CD2 driver don’t have OUT5,it uses BR+、 BR-、24VB、GNDB for motor brake) NPN wiring (to controllers that support valid low level input) Fig.

  • Page 56: Chapter 7 Mode Operation

    Fig. 6-7 Connect a relay to the digital output port Chapter 7 Mode Operation 7.1 Pulse Control Mode (“-4” Mode) 7.1.1 Wiring in Pulse Control Mode 1. Wiring diagram of CD2 driver in pulse control mode...
  • Page 57 Fig. 7-1 Wiring diagram of CD2 driver in pulse control mode 2.Wiring diagram of CD driver in pulse control mode Fig. 7-2 Wiring diagram of CD driver in pulse control mode 3.Common anode connection (to controllers that support valid low level output)

  • Page 58: Parameters For Pulse Control Mode

    Fig. 7-3 Common anode connection (to controllers that support valid low level output) Note:CD2 driver can support 5-24VDC input,so it needn’t add resistors. CD driver only support 5VDC input,so it needs to add resistors when using 24VDC input. 4. Common cathode connection (to controllers that support valid high level output) Fig.
  • Page 59 gear 0 in mode -4 d3.35 Gear_Divider Denominator of electronic 1000 1~32767 gear 0 in mode -4 Parameters for electronic gear ratio are used to set the numerator and denominator of electronic gears when the driver operates in mode -4. Command pulse input Command pulse output Gear...
  • Page 60 Display Value d3.36 PD_CW 0: Double pulse (CW/CCW) mode 1. Pulse direction (P/D) mode 2. Incremental encoder mode Note: To change this parameter, you need to save it with d3.00, and restarts it later. Note: AB phase signals are not supported. Double pulse (CW/CCW) mode (d3.36 = 0) Effective rising edge...
  • Page 61 Table 7-3 Parameters for pulse filtering coefficient Numeric Variable Meaning Default Range Display Name Value d3.37 PD_Filter Used to smooth the input pulses. 1~3276 Filter frequency: f = 1000/(2π* PD_Filter) Time constant: T = PD_Filter/1000 Unit: S Note: If you adjust this parameter during the operation, some pulses may be lost.
  • Page 62 Velocity feedforward of the position loop K_Velocity_FF : the velocity feedforward of a position loop can be increased to reduce position following errors. When position signals are not smooth, if the velocity feedforward of a position loop is reduced, motor oscillation during running can be reduced. Acceleration feedback of the position loop K_Acc_FF (adjustment is not recommended for this parameter): If great gains of position loops are required, the acceleration feedback K_Acc_FF can be properly adjusted to improve performance.

  • Page 63: Examples Of Pulse Control Mode

    Kpp of Gain 1 23400610 Kvp of Gain 2 23400710 Gain 2 Kvi of Gain 2 23400810 Kpp of Gain 2 23400910 Kvp of Gain 3 23400A10 Gain 3 Kvi of Gain 3 23400B10 Kpp of Gain 3 23400C10 If DIN is defined as “Gain Switch” function,then the parameter “PI_Switch” will disable. Parameter “PI_Point”(60F92808) is used to display the current gain.
  • Page 64 Numeric Variable Name Meaning Parameter Settings Display d3.01 Din1_Function Defines the functions of digital input 000.1 (Driver enable) port 1 d3.02 Din2_Function Defines the functions of digital input 000.2 (Fault reset) port 2 d3.03 Din3_Function Defines the functions of digital input 000.4 (Operation mode port 3 control )

  • Page 65: Speed Mode ("-3" Or "3" Mode)

    d3.01- DinX_ Function Defines the functions of digital input None of the digital input port d3.07 (1~7) ports 1-7 can be set to 000.1, that is, the Enable function is not controlled by any digital input port. d3.02 Din2_Function Defines the functions of digital input 000.2 (Error resetting) port 2 d3.03...

  • Page 66: Wiring In Analog - Speed Mode

    Fig. 7-5 The speed mode “3” with acceleration/deceleration 7.2.1 Wiring in Analog – Speed Mode Fig. 7-6 Wiring diagram of CD2 Servo in analog–speed mode...

  • Page 67: Parameters For Analog - Speed Mode

    Fig. 7-7 Wiring diagram of CD Servo 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 Display Value d3.22 Analog1_Filter Used to smooth the input analog signals. 1~127 Filter frequency: f=4000/(2π* Analog1_Filter)

  • Page 68: Analog Signal Processing

    10～17：AIN1 for “Din_Speed (X-10)” 20～27：AIN2 for “Din_Speed (X-20)” Valid in mode -3, 3 and 1. d3.29 Analog_Speed_Factor Sets the proportion between analog signals 1000 and output speed d3.32 Analog_MaxT_Con 0: No control 1: Max torque that Ain1 can control 2: Max torque that Ain2 can control d3.33 Analog_MaxT_Factor Indicates the max torque factor for analog...

  • Page 69: 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 ...

  • Page 70: Examples Of Analog - Speed Mode

    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 71 Fig. 7-9 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 72 d3.06 Din6_Function Define the functions of digital input The default value 002.0 port 6 changes to 000.0 (position negative limits are disabled) d3.16 Din _Mode0 Select this operation mode when Set to 0.003 (-3) mode input signals are invalid (instantaneous speed mode) d3.17 Din _Mode1 Select this operation mode when...
  • Page 73 Fig. 7-10 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 74 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 75 Factor Result: =4447 log1_ Offset Calculate 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 76 Result: =1740 filter Calculate according to the required speed : demand , (Encoder_R:10000 inc/r)  8192000 Result: demand Factor Calculate according to filter demand  Factor U demand filter Factor Result: =4708 log1_ Dead Calculate according to the required dead zone voltage: ...

  • Page 77: Torque Mode ("4" Mode)

    7.3 Torque Mode (“4” Mode) 7.3.1 Wiring in Analog – Torque Mode Fig. 7-13 Wiring diagram of CD2 Servo in analog – torque mode Fig. 7-14 Wiring diagram of CD Servo in analog – torque mode 7.3.2 Parameters for Analog – Torque Mode Table 7-16 Parameters for analog –...
  • Page 78 Numeric Variable Name Meaning Default Range Display Value d3.22 Analog1_Filter Used to smooth the input analog 1~127 signals. Filter frequency: f=4000/(2π* Analog1_Filter) Time Constant: τ = Analog1_Filter/4000 d3.23 Analog1_Dead Sets dead zone data for external analog 0~819 signal 1 d3.24 Analog1_Offse Sets offset data for external analog -8192...

  • Page 79: Analog Signal Processing

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

  • Page 80: Examples Of Analog - Torque Mode

    Step 1 Calculate according to 2047  filter filter   shift dead the offset voltage and dead zone voltage that require settings Step 2 Calculate according to  demand demand demand the required torque demand Factor Step 3 Calculate according to Factor U ...
  • Page 81 Example 7-7: Analog – torque mode (without setting the dead zone voltage and offset voltage) Requirement: DIN1 is used for enabling the driver, DIN2 is used for error resetting, and DIN3 controls the operation modes of the driver (the mode is “4” when no signal is inputted, and is “3” when signal is inputted). The motor Kt is 0.48 Nm/A, and the peak current of drivers is 15 A.
  • Page 82 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 Defines the functions of 000.1 (Driver enable) digital input port 1 d3.02 Din2_Function Defines the functions of 000.2 (Error resetting) digital input port 2 d3.03...
  • Page 83 parameters control loop Initializing parameters control loop Example 7-8: Analog – torque mode (setting the dead zone voltage and offset voltage) Requirement: The offset voltage is 1V, and the dead zone voltage is 0.5V. The motor Kt is 0.48 Nm/A, and the peak current of the driver is 15A.

  • Page 84: Internal Multi-Position Control Modes ("1" Mode)

    log 2 _ Dead Calculate according to the required dead zone voltage: 8191  Analog Dead dead log 2 _ Dead Result: = 410 log 2 _ Offset Calculate according to the required offset voltage: 8191  Analog Offset shift log 2 _ Offset Result:...
  • Page 85 display d3.18 Din_Pos0 Din_Speed0_RPM d3.19 Din_Pos1 Din_Speed1_RPM Din_Pos2 Din_Speed2_RPM d3.20 d3.40select position section sequence d3.21 Din_Pos3 Din_Speed3_RPM number d3.41select position Din_Pos4 section high bit Din_Speed4_RPM d3.44 d3.42select position section low bit d3.45 Din_Pos5 Din_Speed5_RPM d3.46 Din_Pos6 Din_Speed6_RPM d3.47 Din_Pos7 Din_Speed7_RPM Table 7-20 Internal Multi-position Control Mode Parameter Table Note: In this control mode, “position section X”...
  • Page 86 Select position and speed in section 2 DIN6:DIN5:DIN4=0:1:0 DIN6:DIN5:DIN4=0:1:1 Select position and speed in section 3 DIN6:DIN5:DIN4=1:0:0 Select position and speed in section 4 Select position and speed in section 5 DIN6:DIN5:DIN4=1:0:1 Select position and speed in section 6 DIN6:DIN5:DIN4=1:1:0 DIN6:DIN5:DIN4=1:1:1 Select position and speed in section 7 Activate command（execute the selected...

  • Page 87: Internal Multi-Speed Control Modes ("-3" Or "3" Mode)

    section 1 t0 15000）） Set to 150 （ set the speed of d3.19 Set the speed of position section 1 section 1 to 150） Set to 2（select position section d3.40 Set the position section number to2 2） Set the high bit of position section d3.41 Set to 2 （N*10000）...
  • Page 88 Control 0 Control 1 Display (numeric display (Din_Sys.Bit8) (Din_Sys.Bit9) operation) Multi-speed d3.18 control: 0 [rpm] Din_Speed0_RPM Multi-speed control d3.19 1 [rpm] Din_Speed1_RPM Multi-speed control d3.20 2 [rpm] Din_Speed2_RPM Multi-speed control d3.21 3 [rpm] Din_Speed3_RPM Note: If you need to set the target speed precisely, it is required to set Din_Speed0, Din_Speed1, Din_Speed2 and Din_Speed3 with a host computer.

  • Page 89: Internal Torque Control Mode ("4" Mode)

    d3.18 Din_Speed0_RPM Set to 100 [rpm] d3.19 Din_Speed1_RPM Set to 200 [rpm] d3.20 Din_Speed2_RPM Set to 300 [rpm] d3.21 Din_Speed3_RPM Set to 400 [rpm] d3.00 Store_Loop_Data Set to 1 7.6 Internal Torque Control Mode (“4” Mode) In the internal torque mode, only the current loop of the driver operates. Set d0.03 (CMD_q target current) parameter directly to obtain the desired target torque.
  • Page 90 the limit switch switch which defined as homing signal. 0x60990220 Homing_Speed_Zero Speed for searching Only valid when find Index signal. the Zero point. 0x60990308 Homing_Power_On Homing when power Every time after power on,it will start homing once. 0x609A0020 Homing_Accelaration Homing acceleration Control the acceleration of homing CD has 27 methods for homing, referring the CANopen’s definition of DSP402.
  • Page 91 movement must reverse during homing, the point at which the reversal takes place is anywhere after a change of state of the home switch. Methods 5 and 6: Homing on the negative home switch and index pulse Using methods 5 or 6, the initial direction of movement is dependent on the state of the home switch.
  • Page 92 Using methods 7 to 10, the initial direction of movement is to the right, and using methods 11 to 14, the initial direction of movement is to the left, except if the home switch is active at the start of motion. In this case, the initial direction of motion is dependent on the edge being sought.
  • Page 93 These methods are reserved for future expansion of the homing mode. Methods 17 to 30: Homing without an index pulse These methods are similar to methods 1 to 14, except that the home position is not dependent on the index pulse; it is dependent only on the relevant home or limit switch transitions.
  • Page 94 Methods 31 and 32: Reserved...
  • Page 95 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 Example 7-11：Using method 7 for homing.
  • Page 96 002.0: 000.4 Negative limit d3.03 Din3_Function （Driver model control） 004.0: Origin signal 200.0: 200.0 Start homing d3.04 Din4_Function （Start homing） 001.0 d3.05 Din5_Function （Positive limit） 002.0 d3.06 Din6_Function （Negative limit） 004.0 d3.07 Din7_Function （Home signal） 004.0 d3.14 Dout4_Function 004.0: Index signal appears (Index signal appears) 040.4 d3.15...
  • Page 97 Notice: The positive and negative limits are default to normally closed point. Otherwise, the Panel will alarm and display P.L (positive limit) and N.L (No limit). Only when the alarm is eliminated, the origin control mode can be normally used. Computer monitoring status is：...
  • Page 98 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 99 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 100 (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 101 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 102: 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 103 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 104 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 105 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 106: 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 107 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 108: 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 109 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 110: 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 111: 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 112: 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 113: 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 114: Alarm Causes & Troubleshooting

    10.2 Alarm Causes & Troubleshooting Alarm Alarm Information Alarm Cause Troubleshooting code FFF.F There is no motor type set in servo No motor configured Set the motor type in d4.01. /800.0 driver 000.1 Internal Internal problem Please contact manufacturer Encoder ABZ signal cable 000.2...
  • Page 115 STO Error Check the wiring according to 200.0 STO Error Chapter 3.4. Commutation UVW signal of encoder cable 400.0 Check encoder cable. problem EEPROM Error Because of updating firmware. Initialize all control parameters and 800.0 Driver internal problem. save,then restart driver. Contact manufacturer.

  • Page 116: Chapter 11 Specification

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

  • Page 117: Servo Driver

    11.2 Servo Driver 11.2.1.1 Technical Specification Table for CD422/CD432/CD622 Servo Driver...

  • Page 118: Technical Specification Table For Cd420/Cd430/Cd620 Servo Driver

    11.2.1.2 Technical Specification Table for CD420/CD430/CD620 Servo Driver...

  • Page 119: Mechanical Dimension Diagram For Servo Driver

    11.2.2 Mechanical Dimension Diagram for Servo Driver...

  • Page 121: Dimensions/Torque Curve/Technical Specifications Of Servo Motors

    11.3 Dimensions/Torque Curve/Technical Specifications of Servo Motors 11.3.1 SME/SMH60 SME/SMH80 Servo Motor 1.Technical Speifications.
  • Page 122 2.Dimensions and Torque Curve...

  • Page 123: Smh110 Servo Motor

    11.3.2 SMH110 Servo Motor 1.Technical Specification...
  • Page 124 2.Dimensions and Torque Curve...

  • Page 126: Smh130/150 Servo Motor

    11.3.3 SMH130/150 Servo Motor 1.Technical Specifications 2.Dimensions and Torque Curve...

  • Page 128: Wiring Diagram For Servo Motor Cable

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

  • Page 130: Wiring Diagram For The Encoder Cable

    11.4.2 Wiring Diagram for the Encoder Cable...

  • Page 132: Chapter12 Appendix

    Resistor Withstand Model Power[W] Power[W] Min. Max. Ref. Model(Ref.) Voltage[VDC] （Ref.） （Min.） 200W CD420-AA-000 400W T-75R-100 CD422-AA-000 750W 1.0KW CD430-AA-000 1.05KW T-39R-200 CD432-AA-000 1.26KW 1.26KW 1.57KW CD620-AA-000 1.88KW T-75R-200 CD622-AA-000 2.1kw 2.3kw Note:Please set brake resistor value and power in d5.04 and d5.05 when using brake resistor.
  • Page 133 1.88KW 20A/500VAC 2.1KW 25A/250VAC 2.3KW...

This manual is also suitable for:

Cd432Cd622Cd420Cd430Cd620

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