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Kinco FD5P Series Manual

Ac servo system
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Kinco FD5P series AC servo system
Kinco Electric (shenzhen) Ltd.
en.kinco.cn

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Summary of Contents for Kinco FD5P Series

  • Page 1 Manual Kinco FD5P series AC servo system Kinco Electric (shenzhen) Ltd. en.kinco.cn...
  • Page 2 Accessories with Quantity FD415P-CA-000 FD415P-LA-000 Main power terminal (including auxiliary wiring tools)*1, FD415P-EA-000 D-sub36P plug*1, certificate*1, service guide*1, FD425P-CA-000 desiccant*1 FD425P-LA-000 FD425P-EA-000 If there is any problem with any of the above, please contact Kinco or your supplier to solve it.
  • Page 3 Identifications Description Danger Wrong operation could lead death or serious injury. Warning Risk of minor injury or serious property damage. Other Identifications Attention May cause equipment damaged or function disable Remind Suggestion, reminding, or references Manual Edition Record Edition Chapter Date Edition Detail All Chapter...

  • Page 4: Table Of Contents

    Content Chapter 1 Servo system model and configuration description ..............1 1.1 Description of product model ........................... 1 1.2 Drive nameplate description ..........................1 1.3 Motor model description ...........................2 1.4 Motor nameplate description ..........................2 1.5 Servo drive specifications ..........................3 Chapter 2 Servo system installation requirements and notes .................5 2.1 Installation of drive ..........................
  • Page 5 3.6Power port（X3） ........................... 30 3.7Communication port input（X4） ......................31 Chapter 4 Controller setup with LED panel ....................32 4.1 Panel operation ............................32 4.2 Panel menu structure and navigation ....................33 4.3 Easy Use Function ..........................34 4.3.1 Setup process with Easy Use Function ....................34 4.3.2 Flowchart and description of the EASY menu ...................
  • Page 6 6.5 Pulse mode (-4) ............................. 71 6.5.1 Pulse mode setting steps ........................72 6.5.2 Other function ............................ 73 6.5.3 Electronic gear ratio switching (expert mode) .................. 73 6.5.4 Master-slave mode ..........................74 6.6 Full closed loop mode ...........................75 6.6.1 Full closed loop control operation steps ....................77 6.7 Homing mode (6) ..........................79 6.8 Other functions ............................86 6.8.1 Limit function .............................
  • Page 7 10.3 CANopen Bus communication ......................134 10.3.1 CANopen bus communication hardware description ..............135 10.3.2 CANopen bus communication software description ..............136 10.3.3 CANopen Bus communication settings ..................147 10.3.4 Interpolation mode based on CANopen ................... 148 Appendix 1: Braking Resistor Selection ....................150 Appendix II: List of Common Object Parameters ..................

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

    Chapter 1 Servo system model and Kinco FD5P AC series servo driver manual configuration description Chapter 1 Servo system model and configuration description 1.1 Description of product model Figure 1-1 Drive naming rules 1.2 Drive nameplate description Figure 1-2 Drive nameplate description...

  • Page 9: Motor Model Description

    Chapter 1 Servo system model and Kinco FD5P AC series servo driver manual configuration description 1.3 Motor model description Figure 1-3 Motor naming rules 1.4 Motor nameplate description Figure 1-4 Motor nameplate description...

  • Page 10: Servo Drive Specifications

    Chapter 1 Servo system model and Kinco FD5P AC series servo driver manual configuration description 1.5 Servo drive specifications Models FD415P-□A-000 FD425P-□A-000 1PH,200-240VAC±10% Power supply 50/60Hz±3HZ (750W 7A) (200W 3A) Power supply Logic power supply No separate logic power supply Max continuous output 3.2A...
  • Page 11 Chapter 1 Servo system model and Kinco FD5P AC series servo driver manual configuration description Speed limit Set by internal parameter Torque limit Set by internal parameter Speed loop sampling 8KHz frequency Order control method Internal parameter of communication setting control Order smoothing Low-pass filter（Set by internal parameter）...

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

    Chapter 2 Servo system installation Kinco FD5P AC series servo driver requirements and notes manual Chapter 2 Servo system installation requirements and notes 2.1 Installation of drive 2.1.1 Installation requirement Figure 2-1 FD415P-□A Product installation drawing...

  • Page 13: Installation Distance And Direction

    Chapter 2 Servo system installation Kinco FD5P AC series servo driver requirements and notes manual Figu re 2-2 FD425P-□A Product installation drawing 2.1.2 Installation distance and direction Please install the servo drive vertically and drill holes according to the Hole Position for Fixation，...
  • Page 14 Chapter 2 Servo system installation Kinco FD5P AC series servo driver requirements and notes manual Figure 2-3 FD415P Installation direction and requirement Figure 2-4 FD425P Installation direction and requirement...

  • Page 15: Drive Usage Requirements

    Chapter 2 Servo system installation Kinco FD5P AC series servo driver requirements and notes manual Danger！ Please make sure that the drive is installed securely and the screws are  tightened to prevent the drive from falling and hurting people during use.
  • Page 16 Chapter 2 Servo system installation Kinco FD5P AC series servo driver requirements and notes manual —Corrosive gases Please use the original packaging for storage and transportation, the original packaging provides  sufficient protection to avoid common problems. Environmental conditions Table 2-1 Environmental requirements...

  • Page 17: Servo Motor Installation

    Chapter 2 Servo system installation Kinco FD5P AC series servo driver requirements and notes manual 2.2 Servo motor installation 2.2.1 Installation requirements Danger! Please install it indoor of no rain and direct sunlig  Please do not use this product in the corrosive environment (Hydrogen sulfide, ...

  • Page 18: Precautions

    Chapter 2 Servo system installation Kinco FD5P AC series servo driver requirements and notes manual 2.2.3 Precautions Table 2-3 Precautions Item Description Anti-rust Please wipe anti-rust agent on the motor's shaft and then make some anti-rust treatments. Improper installation method will cause damage of motor's encoder. Please note the following during the installation process: ◆...

  • Page 19: Motor Specification

    Chapter 2 Servo system installation Kinco FD5P AC series servo driver requirements and notes manual In terms of connectors, please note the following: When connectors are connected. please make sure there is no foreign body such as trash or mental ...

  • Page 20: Smk80S-0075-30▢█K-5Lsa

    Chapter 2 Servo system installation Kinco FD5P AC series servo driver requirements and notes manual Figure 2-6 SMK series 60 flange 400W lock motor dimensions 2.2.4.2 SMK80S-0075-30▢ █K-5LSA Motor specification Torque-speed characteristic curve Motor stand (mm) Rated power Pn(W) Rated torque Tn(Nm) 2.39...

  • Page 21: Accessory Description

    Chapter 2 Servo system installation Kinco FD5P AC series servo driver requirements and notes manual Figure 2-8 SMK series 80 flange 750W lock motor dimensions 2.2.5 Accessory description 2.2.5.1 Cable model Description...

  • Page 22: Chapter 3 Installation And Wiring

    Chapter 3 Installation and wiring Kinco FD5P AC series servo driver Chapter 3 Installation and wiring 3.1 Drive description Figure 3-1 FD415P Drive appearance Figure 3-2 FD425P Drive appearance...

  • Page 23: External System Connection

    Chapter 3 Installation and wiring Kinco FD5P AC series servo driver 3.2 External system connection Figure 3-3 FD415P external connection Figure 3-4 FD425P external connection...
  • Page 24 Chapter 3 Installation and wiring Kinco FD5P AC series servo driver Table 3-1 External system connect introduce Electric equipment Function In the event of overcurrent, short circuit, or undervoltage, the circuit breaker automatically shuts off the Molded case circuit breakers power supply, thus protecting the circuit and drive equipment from damage.

  • Page 25: 1Wiring Connection Mode

    Chapter 3 Installation and wiring Kinco FD5P AC series servo driver 3.2.1Wiring connection mode Power distribution conditions Table 3-5 power port wiring specification table Product model FD415P-□A/FD425P-□A Diameter: 18~14AWG 0.8~2mm² Power cable diameter Stripping length: 8-10mm IO diameter Diameter 26~22AWG，0.13-0.3mm²，Stripping length 2mm...
  • Page 26 Chapter 3 Installation and wiring Kinco FD5P AC series servo driver Installing environmental conditions Figure 3-5 FD415P/425P drive EMC setting conditions schematic diagram Note： 1. Select cables with more than 85% shielding coverage in the diagram Serial number Cable name...
  • Page 27 Chapter 3 Installation and wiring Kinco FD5P AC series servo driver Figure 3-6 EMC noise filter installation diagram (3) Shielded layer  Input and output signal cables, power cables, encoder cables and communication cables please use shielded cables.  The shield of the encoder is clamped to the connector metal housing using metal cables.

  • Page 28: Overload Protection Of Servo

    Chapter 3 Installation and wiring Kinco FD5P AC series servo driver Figure 3-8 Connector side power line/encoder line shield layer 2* processing method (4) Grounding  In order to prevent electric shock, be sure to ground the reactor, noise filter, driver;...

  • Page 29: Common Dc Bus

    Chapter 3 Installation and wiring Kinco FD5P AC series servo driver Panel Name CANopen modbus Type Data type Detailed explanation Motor IIT actual The actual load rate of D1.02 2FF01010 2A00 Unsigned8 utilization the motor Actual drive IIT The actual load rate of D1.04...

  • Page 30: Rs232 Serial Port

    Signal ground(GND) Users can purchase the FD5P drive Mini-usb 5p to DB9 female RS232 cable (Kinco order number: PDC-USB-1(5)) If your computer does not have an RS232 serial port, you will also need to use a USB to DB9 serial cable to connect.

  • Page 31: External Input And Output Connection（X1

    Chapter 3 Installation and wiring Kinco FD5P AC series servo driver  Purchase link of Kinco official Tmall store： https://detail.tmall.com/item.htm?spm=a212k0.12153887.0.0.4d7c687 deB8shy&id=652422874770&skuId=4707119953745 3.4 External input and output connection（X1） Figure 3-13 FD5P-LA/CA drive external input and output terminal pin diagram Figure 3-14 FD5P-LA/CA Default definition of IO port of FD5P-LA/CA drive Note Figure 3-14 shows the X1 wiring of the FD5P-LA/CA driver's default IO function.
  • Page 32 Chapter 3 Installation and wiring Kinco FD5P AC series servo driver Table 3-8 FD5P-LA/CA/EA driver external input/output terminal pin definition Pin number Signal ID Signal name Specifications OUT1+ OUT1- Open collector output Differential output MAX voltage DC30V OUT2+ MAX current 100mA...

  • Page 33: Digital Signal Input

    Chapter 3 Installation and wiring Kinco FD5P AC series servo driver 3.4.1 Digital signal input Table 3-9 Digital input wiring example Max input frequency：1KHz High level input voltage range: 12.5-30V，Low level input voltage range: 0-5V Instruction The drive’s internal 24Voutput can be used as a pull-up power supply Digital input wiring example①...

  • Page 34: Pulse Command Input

    Chapter 3 Installation and wiring Kinco FD5P AC series servo driver Digital output wiring example② When the host computer is optocoupler input 3.4.3 Pulse command input Table 3-11 Pulse input wiring example Pulse input is divided into ordinary pulse input channel and high-speed pulse input channel High-speed pulse input channel supports RS422 differential signal, voltage range DC3.3-5V, MAX...

  • Page 35: Brake Connection

    Chapter 3 Installation and wiring Kinco FD5P AC series servo driver Servo driver Ordinary pulse input wiring example② PNP Wiring method Servo driver High-speed pulse input wiring example① NPN wiring method Servo driver High-speed pulse input wiring example② PNP wiring method 3.4.4 Brake connection...

  • Page 36: Encoder Input（X2

    Chapter 3 Installation and wiring Kinco FD5P AC series servo driver Table 3-13 Motor holding brake power Motor model Motor power(W) Brake power(W) SMK60S-0040-30□BK-5LSA SMK80S-0075-30□BK-5LSA 11.5 *Note：The brake parameters of different encoder motors are the same Note The use of lock gate can ensure that the motor shaft can remain stationary in the state of de-enable or power failure.

  • Page 37: Power Port（X3

    Chapter 3 Installation and wiring Kinco FD5P AC series servo driver 3.6Power port（X3） Table 3-16 FD425P Power port instruction Port Pin name Pin function Drive mains power input Unidirectional line voltage 200～240VAC ±10% 50～60Hz ±3Hz，(750W 7A)，(200W 3A) DC bus input positive terminal...

  • Page 38: Communication Port Input（X4

    Chapter 3 Installation and wiring Kinco FD5P AC series servo driver 3.7Communication port input（X4） Table 3-18 RS485 Communication port pin definition Connecting signal to the Product model RS485 Plug pin definition Drive side pin name Drive side pin number host computer...

  • Page 39: Chapter 4 Controller Setup With Led Panel

    Chapter 4 Controller setup with LED panel Kinco FD5P AC series servo driver Chapter 4 Controller setup with LED panel 4.1 Panel operation After the servo system is installed and wired correctly according to the specifications and precautions, the servo drive can be set for specific application scenarios.

  • Page 40: Panel Menu Structure And Navigation

    Chapter 4 Controller setup with LED panel Kinco FD5P AC series servo driver P..L Positive limit signal active n..L Negative limit signal active Pn.L Positive and negative limit signal active FFF.F The drive is not configured with the motor model...

  • Page 41: Easy Use Function

    Chapter 4 Controller setup with LED panel Kinco FD5P AC series servo driver 4.3 Easy Use Function Easy Use is designed to quickly set control ring parameters for users, eliminating the tedious steps of servo debugging, and the adjusted performance can meet most applications; In addition, an independent area is created to facilitate users to set commonly used important parameters.

  • Page 42: Flowchart And Description Of The Easy Menu

    Chapter 4 Controller setup with LED panel Kinco FD5P AC series servo driver 4.3.2 Flowchart and description of the EASY menu Figure 4-3 EASY Flowchart of the EASY menu Attention The menu is exited automatically if there is no operation in 30s, and users have to...
  • Page 43 Chapter 4 Controller setup with LED panel Kinco FD5P AC series servo driver Table 4-2 Easy menu parameters Parameter Description Default For a new factory drive, the motor model is 00, and the digital panel displays 3030. If the drive is connected to the correct motor, the motor model will be automatically recognized and saved by the drive.
  • Page 44 Chapter 4 Controller setup with LED panel Kinco FD5P AC series servo driver Table 4-3 Default IO configuration related to EA02 Pulse Train Control via RS232 CW/CCW P/D(default) EA02 DIN1 Enable Enable Enable DIN2 Reset errors Reset errors Reset errors...
  • Page 45 Chapter 4 Controller setup with LED panel Kinco FD5P AC series servo driver When EA02 is set to 0,1, or 2, the default input and output functions are as follows: Figure 4-4 wiring in pulse train mode Wh en EA02 is set to8, the defa ult inp ut and outp ut functions are as follow s ：...

  • Page 46: Flowchart And Description Of The Tune Menu

    Chapter 4 Controller setup with LED panel Kinco FD5P AC series servo driver 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.
  • Page 47 Chapter 4 Controller setup with LED panel Kinco FD5P AC series servo driver Table 4-4 tunE parameters 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 Belt：...

  • Page 48: Reasons For The Failure Of Tunning

    Chapter 4 Controller setup with LED panel Kinco FD5P AC series servo driver Table 4-6 Rigidity scale Kpp/ KVP/ Kpp/ KVP/ Stiffness Output filter [Hz] Stiffness Output filter [Hz] [0.01Hz] [0.1Hz] [0.01Hz] [0.1Hz] 1945 2223 2500 2778 1000 3334 1200...

  • Page 49: Tuning Case

    Chapter 4 Controller setup with LED panel Kinco FD5P AC series servo driver 4.3.5 Tuning case Rigid connection setting case (such as lead screw, rack and pinion, connecting rod and other rigid transmission structure) Operation instructions: 1、Enter EA01 through the panel keys, and confirm that the motor model is correct.

  • Page 50: Jog Mode（Test Run

    Chapter 4 Controller setup with LED panel Kinco FD5P AC series servo driver 4.4 Jog mode（Test run） The point mode can be used to test the basic operating condition of the motor. In the point mode, the user can test whether the motor can rotate according to the set speed through the key and the digital tube display.

  • Page 51: Chapter5 Kincoservo +, User Guide

    Kinco FD5P AC series servo driver Chapter5 KincoServo +, user guide 册 Chapter5 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 52: Starting Communication

    Kinco FD5P AC series servo driver Chapter5 KincoServo +, user guide 册 5.1.3 Starting communication Click menu item Communication->Communication settings. The following window appears: Figure 5-2 Communication setting 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 53: Init Save Reboot

    Kinco FD5P AC series servo driver Chapter5 KincoServo +, user guide 册 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.

  • Page 54: Read/Write Controller Configuration

    Kinco FD5P AC series servo driver Chapter5 KincoServo +, user guide 册 Figure 5-5 Software version Note If the download is stopped for some reason, first power off, then power on the drive, select the firmware version and start downloading, and finally turn on the communication and connect to the host computer.

  • Page 55: Write Setting To Controller

    Kinco FD5P AC series servo driver Chapter5 KincoServo +, user guide 册 Click Open List to select a parameter list file (.cdo). The parameter appears in the window.  Click Read Settings from Controller to get the Drive Value and Result, and then click Save to File to save the setting as a .cdi file...

  • Page 56: Digital Io Function

    Kinco FD5P AC series servo driver Chapter5 KincoServo +, user guide 册 5.5 Digital IO function Click menu item Controller->Digital IO Functions or click the button . The following window appears. Function and polarity are shown. Shown as default function and polarity.
  • Page 57 Kinco FD5P AC series servo driver Chapter5 KincoServo +, user guide 册 Table 5-2 Digital input functions DIN function Description Controller enabling 1: Enable controller = Din control word selection(2020.0F) Enable 0: Disable controller = 0x06 Set the Controlword to reset errors, active edge（bit7） = 1...

  • Page 58: Digital Outputs

    Kinco FD5P AC series servo driver Chapter5 KincoServo +, user guide 册 Position fine-tuning data in positive direction in active pulse mode Forward trim Position fine-tuning data in negative direction in active pulse mode Negative trimming Note DIN control word selection (2020.0F) is set to 0x2F by default. For the definition of control word, please refer to Chapter 6.1...

  • Page 59: Fast Capture

    Kinco FD5P AC series servo driver Chapter5 KincoServo +, user guide 册 Speed reached Output speed to function when the speed error (60F9.1C) is less than the speed to window (60F9.0A) Index signal Motor index signal appears occurrence Speed limit In torque mode actual speed reached Max_Speed(607F.00)

  • Page 60: Scope

    Kinco FD5P AC series servo driver Chapter5 KincoServo +, user guide 册 5.6 Scope In the operation process, if the operation effect of the equipment can not meet the requirements, or other accidents occur, you can use the oscilloscope to analyze the problem.
  • Page 61 Kinco FD5P AC series servo driver Chapter5 KincoServo +, user guide 册 Moving Cursors：Hold down the left mouse button, drag the cursor to move, the sampled data, the difference between X1X2 and Y1Y2 will be displayed in the following area：...

  • Page 62: Error Display And Error History

    Kinco FD5P AC series servo driver Chapter5 KincoServo +, user guide 册 The length of data to store before triggering the event. If you set data to -1, the oscilloscope will continuously acquire data until it is manually stopped. Used for some special occasions. At this...
  • Page 63 Kinco FD5P AC series servo driver Chapter5 KincoServo +, user guide 册 Figure 5-13 error history display window Table 5-6 Error_state（2601.00）information Error name Error code Description Extended Error Refer to object “Error_State 2”(2602.00) Encoder not connected 0x7331 No communication encoder connected...
  • Page 64 Kinco FD5P AC series servo driver Chapter5 KincoServo +, user guide 册 Table 5-7 Error_state 2（2602.00）information Error name Error code Description 0x5210 Current sensor Current sensor signal offset or ripple too large 0x6010 Watchdog Software watchdog exception 0x6011 Wrong interrupt...
  • Page 65 Kinco FD5P AC series servo driver Chapter5 KincoServo +, user guide 册 Table 5-8 Error extension（2605.07）information Error name Error code Description 0x5210 Origin record error Current sensor signal drift or ripple is too large Internal braking resistor 0x7111 The actual power of the internal braking resistor is too high...

  • Page 66: Chapter 6 Operation Modes And Control Modes

    Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 Chapter 6 Operation modes and control modes Controller parameters can be set via the control panel or the RS232 port with host computer 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 67 Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 Table 6-2 Digital function output Panel address Internal address Type Name Value (hex): description 0001: Ready Dout1_Function d3.11 2010.0F Uint16 0002: Error 0004: Pos Reached Dout2_Function d3.12...

  • Page 68: Step 3: Set Necessary Parameters

    Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 Switch_On_Auto (expert only） If the Enable function is not configured to DIN, the controller can be auto-enabled at power-on or reboot, with the following setting： Table 6-5 Switch_on_Auto...

  • Page 69: Step 4: Save And Reboot

    Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 6071.00 Target torque % Target torque as a percentage of rated torque Target current 6073.00 Drive output current limit limit D3.16 2020.0D Din_Mode0 If Operation Mode Sel function is configured to DIN, Operation_Mode(6060.00)=Din_Mode0 when Din_Internal=0;...

  • Page 70: Din Speed Mode

    Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 Table 6-7 Description of velocity mode’s parameters Panel Internal Type Name Description Value address address -3: The velocity command is specified directly by Target_Speed. Only the velocity control loop is active.

  • Page 71: Torque Mode(4)

    Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 Table 6-9 DIN Speed setting DIN speed index DIN speed index 0 DIN speed index 2 Speed Value Din_Speed[0] Din_Speed[1] Din_Speed[2] Din_Speed[3] Din_Speed[4] User define Din_Speed[5]...

  • Page 72: Position Mode (1)

    Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 6.4 Position mode(1) In the position mode, the CD3 motor controller causes the motor to rotate to an absolute or relative position. The position / velocity command is specified via Target_Position / Profile_Speed or via position flow。...
  • Page 73 Kinco FD5P AC series servo driver Chapter 6 Operation modes and control modes 册 Select the position segment L to be set (L range Din_position_sel is 0-7, corresponding to the internal position D3.40 2FF1.01 ectL segment 0-7 in turn) Din_position_M D3.41...

  • Page 74: Position Flow Mode

    Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 In the multi-segment position mode, the position-to-signal of the 1-7  segment of the Din position is represented by the BCD code composed of the multi-function signal 0-2.
  • Page 75 Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 Figure 6-3 Position flow 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).
  • Page 76 Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 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;...
  • Page 77 Kinco FD5P AC series servo driver Chapter 6 Operation modes and control modes 册 For convenience, all CTL_Reg bits can be set in the following fields: Figure 6-5 CTL Reg edit Loops Defines loop limit for the task which is running in loops;...

  • Page 78: Pulse Mode (-4)

    Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 6.5 Pulse mode (-4) In the pulse mode, the target velocity command is specified via the pulse input with gear ratio， Please refer to Figure 4-4 in Chapter 4.3.2 for the wiring method in pulse mode. It can be debugged by expanding the relevant parameters in the software.

  • Page 79: Pulse Mode Setting Steps

    Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 6.5.1 Pulse mode setting steps Step1：Confirm pulse mode Select the pulse mode according to the type of external input pulse signal，After the pulse mode is modified, it needs to be saved and restarted to take effect.

  • Page 80: Other Function

    Kinco FD5P AC series servo driver Chapter 6 Operation modes and control modes 册 6.5.2 Other function Pulse filter coefficient：Set the filter coefficient so that the externally input pulse command can be smoothly input to the drive. Adjusting this parameter can reduce the motor vibration caused by the high electronic gear ratio setting or the lack of acceleration and deceleration of the pulse command.

  • Page 81: Master-Slave Mode

    Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 gear molecule [4] 2509.07 Int16 1000 gear denominator [4] 2509.08 Uint16 1000 gear molecule [5] 2509.09 Int16 1000 gear denominator [5] 2509.0A Uint16 1000 gear molecule [6] 2509.0B...

  • Page 82: Full Closed Loop Mode

    Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 Figure 6-9 Master slave wiring Note Forward rotation means positive position counting, the default is CCW direction, you can set the speed position direction control (607E.00) = 1, change the rotation direction of the motor shaft 6.6 Full closed loop mode...
  • Page 83 Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 Table 6-20 Full closed loop mode Internal Type Attribute Name Description Units address Fill in the resolution of the external 250A01 Master_Enc_Period encoder 0: normal mode...

  • Page 84: Full Closed Loop Control Operation Steps

    Kinco FD5P AC series servo driver Chapter 6 Operation modes and control modes 册 Figure 6-11 Fully closed loop control connection to regular pulse interface ②Use the high-speed pulse interface to connect the external encoder signal, the output frequency of the external encoder is required to be below 4MHz, and the signal voltage range is 3.3-5VDC.
  • Page 85 Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 Figure 6-13 Close loop setting window Step 2：confirm pulse mode Wiring according to the out signal of the external encoder and confirm the pulse mode according to the signal type of the external encoder.

  • Page 86: Homing Mode (6)

    Kinco FD5P AC series servo driver Chapter 6 Operation modes and control modes 册 then observe the gear front pulse data and the actual position, and confirm the ratio according to the difference between the two positions.As shown in the table below, according to the final results, the full closed-loop spindle check =1586 and the full closed-loop slave shaft check =1000 are calculated.
  • Page 87 Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 Figure 6-15 Homing setting 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.
  • Page 88 Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 6099.06 Home_N_Blind 0，1 Home blind window 6060.00 Operation_Mode Operation mode of drive 6040.00 Controlword 0x0F->0x1F Enable drive Note Homing_Power_On=1 causes the motor to start rotating as soon as the controller is enabled after power on or reboot.
  • Page 89 Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 Homing with home switch and index pulse Homing with home switch and index pulse Homing with home switch and index pulse Homing with positive position limit switch, home...
  • Page 90 Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 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...
  • Page 91 Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 Homing with positive position limit switch Homing with home switch Homing with home switch Homing with home switch Homing with home switch Homing with positive position limit switch and...
  • Page 92 Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 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 93: Other Functions

    Kinco FD5P AC series servo driver Chapter 6 Operation modes and control modes 册 Homing with negative position limit switch and home switch 33, 34 Homing with index pulse Homing to actual position -17, -18 Homing via mechanical limit 6.8 Other functions 6.8.1 Limit function...

  • Page 94: Motor Brake Control

    Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 607D.02 Soft limit negative Soft limit negative data setting, the negative data must be less than the setting positive data, otherwise the soft limit will not work 6085.00...
  • Page 95 Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 After the control word is written into the enable command, the servo motor is energized to lock the shaft, and the driver outputs 24V DC to the brake after the relay pull-in delay for a certain period of time (brake delay) to make the brake open as soon as possible.

  • Page 96: Stop Mode Control

    Kinco FD5P AC series servo driver Chapter 6 Operation modes and control modes 册 Note After the motor accessory is set to 1, the load drop will be disabled, and the brake delay can be appropriately increased. If adjusting the brake delay cannot improve the problem, check whether the brake torque meets the load demand.

  • Page 97: Multi-Tune Encoder Setting

    Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 Disable stop mode Stop mode when bit3 in the control word is set to 0. For example: the control word is switched from 0x0F to 0x07...
  • Page 98 Kinco FD5P AC series servo driver Chapter 6 Operation modes and control modes 册 Battery box cover Battery box bottom seat Ratio 0.500 Ratio 0.500 Figure 6-18 BAT-FD5P dimension figure Table 6-27 Battery box installation diagram 1）Insert the battery box into the bottom of the driver, and the battery lead in the battery box is connected to...

  • Page 99: Multi-Turn Motor Power-On Configuration

    Kinco FD5P AC series servo driver Chapter 6 Operation modes and control modes 册 2）To remove the battery case from the bottom of the drive, first press the buckle and then remove the battery case. 3）To replace the battery, remove the cover by performing the following steps.
  • Page 100 Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 Table 6-28 Absolute encoder related parameters Internal Panel Name Default address address Description Communication encoder command Write: 1: clear encoder status 2: Read the fault word, the fault status can be viewed at...

  • Page 101: Multi-Circle Data Range

    Kinco FD5P AC series servo driver Chapter 6 Operation modes and control modes 册 6.8.4.2 Multi-Circle Data Range YAK/YBK absolute encoder motor single-turn resolution 8388608 (23bit), multi-turn number 65536, the actual position value after the positive multi-turn data overflow changes from 2147418112 to - 2147418112, the negative multi-turn data overflow after the actual position value Changed from - 2147483648 to 2147483648, the motor rotation direction remains unchanged after overflow.
  • Page 102 Chapter 6 Operation modes and control modes Kinco FD5P AC series servo driver 册 Table 6-29 Battery Specifications battery name Lithium thionyl chloride battery Standard Voltage 3.6V Standard capacity 2700mH Maximum continuous discharge current 60mA Maximum pulse capacity 150mA Weight Operation temperature -55℃~85℃...

  • Page 103: Chapter7:Tuning Of The Servo System Control

    Chapter7:Tuning of the servo system contro Kinco FD5P AC series servo driver 册 Chapter7:Tuning of the servo system control Figure 7-1 Servo system control block diagram Figure 7-1 shows the servo system control block diagram. It can be seen from the figure that the servo system generally includes three control loops: current loop, velocity loop and position loop.

  • Page 104: Auto-Tuning Test Operation Method

    Chapter7:Tuning of the servo system contro Kinco FD5P AC series servo driver 册 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 105: Problems And Adjustments With Auto-Tuning

    Chapter7:Tuning of the servo system contro Kinco FD5P AC series servo driver 册 object parameter of "inertia measurement operating range", so as to obtain more accurate setting result parameters. If the mechanical dither is large during the self-tuning process, the setting value of this object parameter can be appropriately reduced.

  • Page 106: Online Self-Tuning

    Kinco FD5P AC series servo driver Chapter7:Tuning of the servo system contro 册 1056 10278 3700 ∞ 1250 11112 4000 ∞ 1500 12500 4500 ∞ 1667 13889 5000 ∞ Note When the rigidity or inertia ratio is modified so that the Kvp is greater than 4000, then increasing the rigidity has no effect on the performance adjustment, and increasing the inertia ratio will reduce the bandwidth.

  • Page 107: Tuning Of The Velocity Loop

    Kinco FD5P AC series servo driver Chapter7:Tuning of the servo system contro 册 converted to the motor shaft. The position ring is the outermost control ring of the servo system and is related to the motor action mode, that is, the field application. The current ring is the innermost control ring in the servo system, and the current ring parameters are related to the motor parameters.
  • Page 108 Chapter7:Tuning of the servo system contro Kinco FD5P AC series servo driver 册 Steps required for adjustment of the velocity loop: Step 1：Adjustment for Kvp Increasing Kvp can improve the bandwidth of the velocity loop and make the velocity response ability faster.
  • Page 109 Chapter7:Tuning of the servo system contro Kinco FD5P AC series servo driver 册 Figure 7-5 Speed step curve after Kvi adjustment Generally, if the machine has more friction, the kvi should be set larger. If the entire system needs to respond quickly, kvi should be set as small as possible or even 0. If you need to dynamically close kvi during operation, you can use the kvi close in Din function。...
  • Page 110 Chapter7:Tuning of the servo system contro Kinco FD5P AC series servo driver 册 If the motor noise is too loud when adjusting the Kvi or Kvp ， you can appropriately reduce the speed feedback filter parameter(60F9.05). However, the velocity loop feedback filter bandwidth F must be greater than 2 times of the velocity loop bandwidth.
  • Page 111 Chapter7:Tuning of the servo system contro Kinco FD5P AC series servo driver 册 Notch filter control of Speed loop Bit0~1 ： The BCD code composed of two bits determines the filter to be turned on。 Bit4 ： 1 :Indicates FFT analysis using actual Notch filter control current，0 :Indicates that the target current is used...

  • Page 112: Tuning Of The Position Loop

    Chapter7:Tuning of the servo system contro Kinco FD5P AC series servo driver 册 After adding a notch filter, collect the actual current waveform again, and adjust it until the current waveform is smooth and free of resonance. Note In order to prevent machine damage caused by large resonance amplitude ...
  • Page 113 Chapter7:Tuning of the servo system contro Kinco FD5P AC series servo driver 册 Table 7-7 Position loop parameters Panel Internal Name Description Defaults Range address address Set the response bandwidth of the position loop, 0～327 Kpp[0] d2.07 60FB01 unit: 0.01Hz 0 means no feedforward ，...
  • Page 114 Kinco FD5P AC series servo driver Chapter7:Tuning of the servo system contro 册 Figure 7-6 Speed step curve after Kvff adjustment Step 3：Kaff adjustment Users are not advised to adjust this parameter. When the practical application requires very high position loop response, the acceleration feedforward can be adjusted to improve the response performance.

  • Page 115: Gain Switch (Pro Mode)

    Chapter7:Tuning of the servo system contro Kinco FD5P AC series servo driver 册 Step 5：other adjustment In position mode (operation mode 1), the position loop commend filter control(60FB.04) can be set to 3 to enable the S-curve control. This curve has no command delay and is suitable for long-distance positioning control.

  • Page 116: Gain Switching Method

    Chapter7:Tuning of the servo system contro Kinco FD5P AC series servo driver 册 2340.0A Uint16 Kvp[3] Dec, Hz 2340.0B Uint16 Kvi[3] Gain parameter called when PI pointer is 3 2340.0C Int16 Kpp[3] Dec. Hz 60F9.28 Uint8 PI point Indicates the PI parameter being called...

  • Page 117: Other Factors Affecting Performance

    Chapter7:Tuning of the servo system contro Kinco FD5P AC series servo driver 册 Method 3：Set PI pointer value directly through communication 7.6 Other factors affecting performance Control commands created by a controller (e.g. PLC). Control commands should be as smooth as possible and must be correct and reasonable. For ...

  • Page 118: Chapter 8 Alarm Investigation

    Kinco FD5P AC series servo driver Chapter 8 Alarm Investigation 册 Chapter 8 Alarm Investigation 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 PCvia RS232 and refer to chapter 5.7.
  • Page 119 Kinco FD5P AC series servo driver Chapter 8 Alarm Investigation 册 Step 3: When the ambient temperature exceeds 40°, take heat dissipation measures or derate the power cabinet. Step 4: The power circuit inside the driver is damaged. Replace the driver.
  • Page 120 Kinco FD5P AC series servo driver Chapter 8 Alarm Investigation 册 Step 1: Make sure the power cable UVW is connected correctly The actual following error exceeds the Step 2: Readjust the gain and increase the rigidity. setting value of Max_Following_Error.
  • Page 121 Chapter 8 Alarm Investigation Kinco FD5P AC series servo driver 册 Table 8-2: Alarm codes of Error_State2 (extended) Alarm Name Reason Trouble shooting Step 1: The current sensor generates an alarm due to external interference. For details, see 3.2.2 Setting EMC Conditions.
  • Page 122 Chapter 8 Alarm Investigation Kinco FD5P AC series servo driver 册 Check that the main encoder signal line is The main encoder 400.0 Master encoder connection error connected correctly ABZ fault Step 1: Correctly fill in the main encoder period (0x250A01) and set it to 0 to disable check.

  • Page 123: Chapter 9 List Of Fd5P Motor Controller Parameters

    Kinco FD5P AC series servo Chapter 9 List of FD5P motor controller parameters driver User Manual Chapter 9 List of FD5P motor controller parameters User Manual The EASY group allows users to quickly set commonly used control parameters. Table 9-1 EASY parameters...
  • Page 124 Kinco FD5P AC series servo Chapter 9 List of FD5P motor controller parameters driver User Manual 1: The output is normally open User Manual EA07 60980008 Zero retturn modeE Look for patterns at the origin The Tune group is the driver inertia measurement related parameters.
  • Page 125 Kinco FD5P AC series servo Chapter 9 List of FD5P motor controller parameters driver User Manual User Manual Velocity loop bandwidth setting，unit Hz D0.04 2FF00A10 Velocity loop bandwidth 0-600 Position loop bandwidth setting，unit Hz D0.05 2FF00B10 Position loop bandwidth D0.06...
  • Page 126 Kinco FD5P AC series servo Chapter 9 List of FD5P motor controller parameters driver User Manual User Manual Bit 0: Dout 1 Bit 1: Dout 2 Bit 2: Dout 3 d1.12 20101410 Dout_Real … Real-time alarm error status bit0: Extension error, read Error status 2(D1.16)
  • Page 127 Kinco FD5P AC series servo Chapter 9 List of FD5P motor controller parameters driver User Manual User Manual d1.25 2FF01410 Real_Speed_RPM Real speed, unit: rpm 0-15000 d1.26 60F91910 Real_Speed_RPM2 Real speed, unit: 0.01rpm -10-10 -2048- d1.28 60F60C10 CMD_q_Buff q current command buffer 2047 d1.29...
  • Page 128 Kinco FD5P AC series servo Chapter 9 List of FD5P motor controller parameters driver User Manual User Manual d2.10 2FF00610 Simplified acceleration Trapezoidal acceleration. Unit rps/s d2.11 2FF00710 Simplified deceleration Trapezoidal deceleration. Unit rps/s d2.12 60F60110 Kp of current loop 1-32767 d2.13...
  • Page 129 Kinco FD5P AC series servo Chapter 9 List of FD5P motor controller parameters driver User Manual User Manual d3.13 20101110 Dout3_Function See chapter 6.1, table 6-2 0x0004 0-65535 d3.14 20101210 Dout4_Function See chapter 6.1, table 6-2 0x0008 0-65535 d3.15 20101310 Dout5_Function See chapter 6.1, table 6-2...
  • Page 130 Kinco FD5P AC series servo Chapter 9 List of FD5P motor controller parameters driver User Manual User Manual -32768- d3.44 20201820 Din_Speed4_RPM Multi-stage speed control 4[rpm] 32767 -32768- d3.45 20201920 Din_Speed5_RPM Multi-stage speed control 5[rpm] 32767 -32768- d3.46 20201A20 Din_Speed6_RPM...
  • Page 131 Kinco FD5P AC series servo Chapter 9 List of FD5P motor controller parameters driver User Manual Rotor inertia User Manual d4.14 64101010 Jr_Motor 2-32767 unit: 0.01 kgcm² Delay time for motor brake d4.16 64101210 Brake_Delay 0-32767 Default value: 150ms d4.17...
  • Page 132 Kinco FD5P AC series servo Chapter 9 List of FD5P motor controller parameters driver User Manual User Manual d5.16 2FFD0010 User_Secret User secret, 16 bit 0-65535 CAN baudrate setting 100: 1M 50: 500k d5.17 2F810008 CAN_Baudrate 25: 250k 0-65535 12: 125k...

  • Page 133: Chapter 10 Communication

    10.1 RS232 wiring 10.1.1 RS232 Hardware port The mini-usb port under the panel cover of the FD5P series servo drive is the 232 debugging port, which can be connected to the Kinco servo+ to directly control the work of the servo drive.

  • Page 134: Rs232 Data Protocol

    The data protocol is different from the transmission protocol, and its content refers to 8 data bytes out of the 10 bytes above. The internal data definition of FD5P series servo drives conforms to the CANopen international standard. Values and functions are expressed by indices and sub-indexes.
  • Page 135 Chapter 10 Communication Kinco FD5P AC series servo Write 600rpm to the "target speed" of the slave station, the internal unit of 2FF0.09 is rpm, 600 is decimal, and hexadecimal is 258. Since the length of the object to be written is 4 bits, but the...
  • Page 136 Chapter 10 Communication Kinco FD5P AC series servo Example：  The master sends an "upload" command to the slave: 01 40 F0 2F 09 58 02 00 00 3D（This command is to read the target speed of the slave 2FF00910）...
  • Page 137 Chapter 10 Communication Kinco FD5P AC series servo Position mode Address Name Value Message(ID=1) Remark Send→01 2B 40 60 00 2F 00 00 00 05 receive←01 60 40 60 00 2F 00 00 00 D0 Control bit 60400010 Send→01 2B 40 60 00 4F 00 00 00 E5 receive←01 60 40 60 00 4F 00 00 00 B0...

  • Page 138: Rs485 Communication

    10.2 RS485 Communication 10.2.1 RS485 Hardware wiring The RS485 port of the FD5P series servo drive supports the MODBUS communication function, which can be used to modify the internal parameters of the servo and monitor the servo status. The communication line of the master station is connected to X4A (IN), and X14B (OUT) is connected to the next slave device。Wiring is shown in Figure 10-2 and Figure 10-3.

  • Page 139: Modbus Rtu Communication Protocol

    10.2.3 MODBUS RTU communication protocol FD5P servo drive supports MODBUS RTU communication protocol, and its internal objects are discontinuous 16-bit data registers (mapped to 4X when read and written by the Kinco servo+). Table 10-4 Basic format of Modbus RTU communication protocol...

  • Page 140: Communication Troubleshooting Measures

    ED 56——Check code; 10.2.4 Communication troubleshooting measures When the communication connection between the driver and the Kinco Servo+ cannot be performed, please refer to Chapter 10.2 to check the communication parameters and wiring of the driver. When the communication of the drive is easy to drop, read only but not write or only write but not read, etc., you can troubleshoot through the following aspects：...

  • Page 141: Canopen Bus Communication

    Association have developed a series of CANopen products, which are widely used in machinery manufacturing, pharmaceuticals, food processing and other fields. The FD5P series servo is A standard CAN slave device, which strictly follows the CANOpen 2.0A/B protocol, and any host computer that supports the protocol can communicate with it.

  • Page 142: Canopen Bus Communication Hardware Description

    Chapter 10 Communication Kinco FD5P AC series servo 5. S(Storable) : Objects can be stored in the Flash-ROM area and are not lost when powered off. 10.3.1 CANopen bus communication hardware description Table 10-6 Pin name and function Pin No.

  • Page 143: Canopen Bus Communication Software Description

    5、Table 10-7 shows the theoretically longest distances that can be communicated with various baud rates. 6、FD5P series servo drives do not need to connect an external 24V power supply to supply power to CAN. T a b l e 10-7 The longest distance table that can theoretically communicate with each baud rate...
  • Page 144 Chapter 10 Communication Kinco FD5P AC series servo Basic structure of SDO：Client→Server/Server→Client Byte0 Byte1-2 Byte3 Byte4-7 SDO Command specifier object index object subindex Maximum 4 Bit data The SDO command word contains the following information：  Download/upload  Request/response  Segmented/expedited transfer ...
  • Page 145 Chapter 10 Communication Kinco FD5P AC series servo Table 10-10 Send SDO message when reading parameters Daten Identifier 0x600+Node_ID send command word object index object subindex Table 10-11 receive SDO message when reading parameters Daten Identifier 0x580+Node_ID receive command word...
  • Page 146 Chapter 10 Communication Kinco FD5P AC series servo 0x06070013 Data type mismatch, service parameter length is too short 0x06090011 invalid subindex 0x06090030 Invalid data, beyond the object parameter setting range 0x06090031 The write data value is too large 0x06090032 Write data value is too small...
  • Page 147 Chapter 10 Communication Kinco FD5P AC series servo Send→601 23 84 60 00 6E A3 01 00 trapezoidal 60840020 100rps/s acceleration Receive←581 60 84 60 00 6E A3 01 00 Send→601 2B 40 60 00 3F 00 00 00 Receive←581 60 40 60 00 3F 00 00 00...
  • Page 148 Chapter 10 Communication Kinco FD5P AC series servo (CANopen 2.0B protocol COB-ID is 27 bits), including a 4-bit function code part and a 7- bit node ID (Node-ID) section, as shown in Figure 10-4. Figure 10-4 Default ID explanation diagram Node-ID ——Defined by the system integrator, for example, set by the DIP switch on the...
  • Page 149 2、The function code in front of each level of COB-ID is in a fixed format； 3 、 COB-IDs are 00H, 80H, 100H, 701H-77FH, and 081H-0FFH, which are all system management COB-IDs supported by FD5P series servo drives formats.  Send PDO（TXPDO）...
  • Page 150 Kinco FD5P AC series servo The send PDO (TPDO) function of FD5P series servo drives supports synchronous and asynchronous transmission modes, and the corresponding transmission type can be selected according to the transmission mode. For the receiving PDO (RPDO), in the non-interpolation mode when the driver node is turned on, as long as the RPDO message sent from the bus is detected, the object data will be received in real time, which has nothing to do with the transmission type setting.
  • Page 151 Chapter 10 Communication Kinco FD5P AC series servo Table 10-21 meaning of status value Status value Meaning 0x00 boot-up 0x04 Stopped 0x05 Operational 0x7f Pre-operational Wh en a Hea rtb ea t no d e sta rts up , its Bo ot-up messa g e is its first Hea rtb ea t mes sag e.
  • Page 152 Chapter 10 Communication Kinco FD5P AC series servo Status - The data part includes a trigger bit (bit7), which must be alternately set to '0' or '1' in each node guard response. The trigger bit is set to '0' on the first node guard request.
  • Page 153 Chapter 10 Communication Kinco FD5P AC series servo 0x80 enter pre-operational state 0x81 enter pre-operational state 0x82 reset communication Description of emergency message When a fatal error occurs inside the device, an emergency message will be triggered, and the application device will send it to other devices with the highest priority. An emergency message consists of 8 bits.

  • Page 154: Canopen Bus Communication Settings

    Chapter 10 Communication Kinco FD5P AC series servo 10.3.3 CANopen Bus communication settings This chapter will introduce the settings of CAN bus communication parameters. In the host computer software interface, click Drive->ECAN Configuration->Other to enter the parameter setting interface. When the master station with network management function is powered on, it will initialize the parameters of the slave station by sending SDO.

  • Page 155: Interpolation Mode Based On Canopen

    Chapter 10 Communication Kinco FD5P AC series servo The slave station periodically sends a message to the master station based on the "heartbeat message generation time". If the master station does not receive the message within a certain period of time, it judges that the slave station is offline and the master station alarms.
  • Page 156 Chapter 10 Communication Kinco FD5P AC series servo Table 10-30 Interpolation control related parameters LED panel display Internal address Parameter name Description Value 60600008 Operation mode Set the operation mode to interpolation mode 0x1F Enable drive, run interpolation mode 0x06 Loose axis, close drive enable...

  • Page 157: Appendix 1: Braking Resistor Selection

    Appendix 1: Braking Resistor Selection Kinco FD5P AC series servo Appendix 1: Braking Resistor Selection The energy generated by the servo motor in the braking state will be fed back to the DC bus of the drive. When the voltage of the DC bus exceeds the protection range, the drive will report a bus voltage high fault, and the excess energy needs to be absorbed by an external braking resistor.

  • Page 158: Appendix Ii: List Of Common Object Parameters

    Kinco FD5P AC series servo Appendix II: List of Common Object Parameters Appendix II: List of Common Object Parameters Note CANopen address and 232 communication address are the same  Express register addressing in the form of Index (16-bit address) and Subindex (8- ...

  • Page 159: Measurement Data

    Kinco FD5P AC series servo Appendix II: List of Common Object Parameters Operating mode: 1: Positioning mode with position loop 3: Speed mode with position loop 4: Torque Mode -3: Speed loop (immediate speed mode) Operation mode 60600008 3500 Integer8...

  • Page 160: Multi-Segment Position/Multi-Segment Velocity（0X2020

    Kinco FD5P AC series servo Appendix II: List of Common Object Parameters Torque command in torque mode, the Target torque 60710010 3C00 Integer16 percentage of target torque to rated torque Target current 60F60810 5880 Integer16 Current command in torque mode...

  • Page 161: Performance Object（0X6065

    Kinco FD5P AC series servo Appendix II: List of Common Object Parameters performance object（0x6065） Name Subindex Modb us Commend type Data type Description Following error value alarm value Max. following error 60650020 3800 RWSM Unsigned32 Default 524288inc “Target location reached ” target range ，...

  • Page 162: Homing Control（0X6098

    Kinco FD5P AC series servo Appendix II: List of Common Object Parameters Homing control（0x6098） Name CANopen Modbu s Commend type Data type Description Homing function Homing mode Refer origin control chapter 60980008 4D00 RWSM Integer8 Origin turning signal After touching the trigger event, the speed...

  • Page 163: Input/Output Port Parameter（0X2010

    Kinco FD5P AC series servo Appendix II: List of Common Object Parameters Smoothing filter 60FB0510 6850 Unsigned16 Modify in the disabled state Used to control whether to save the actual position when the logic power is lost 0：Not save 1 ：The actual position is saved after power-off 2 ：...
  • Page 164 Kinco FD5P AC series servo Appendix II: List of Common Object Parameters Definition of digital input function (hexadecimal) Output port definition (hexadecimal) 0001: Drive enable 0001: Drive ready 0002: Drive error reset 0002: drive error 0004: Drive working mode control...

  • Page 165: Pulse Input Parameters（0X2508

    Kinco FD5P AC series servo Appendix II: List of Common Object Parameters Pulse input parameters（0x2508） Name CANopen Modbus Commend type Data type Description Electronic gear molecule 0 Electronic gear molecule 0 25080110 0x1910 RWSM Integer16 Electronic gear denominator 0 Electronic gear denominator 0...

  • Page 166: Error Code（0X2601

    Kinco FD5P AC series servo Appendix II: List of Common Object Parameters Error code（0x2601） Name CANopen Modbus Commend type Data type Description Real-time alarm error status bit0: Internal error alarm bit 1: Encoder ABZ connection alarm bit 2: Encoder UVW connection alarm...

  • Page 167: Other Parameter

    Kinco FD5P AC series servo Appendix II: List of Common Object Parameters Other parameter Name Commend type Data type Description CANopen modbus 0: Automatically read the motor model from encoder corresponding motor parameters in the drive motor library (factory default)

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