Kinco FD5 Series User Manual
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Kinco FD5 Series User Manual

Kinco FD5 Series User Manual

Ac servo system
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FD5 series AC servo system
User mannal
Kinco Electric (shenzhen) Ltd.
en.kinco.cn

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Summary of Contents for Kinco FD5 Series

  • Page 1 FD5 series AC servo system User mannal Kinco Electric (shenzhen) Ltd. en.kinco.cn...

  • Page 2: Preface And Product Confirmation

    Thank you for using Kinco FD5 series of servo products. FD5 series AC servo is an economical product launched by Kinco for the general servo market, with a power range between 200W to 3KW. The new generation servo products support CANopen, EtherCat, Modbus, Profinet and other communication protocols.

  • Page 3: Identifications Description

    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 Version Chapter Change content 2022-3-24 ...

  • Page 4: Table Of Contents

    Content Preface and Product Confirmation ..............................- 2 - Confirmation ....................................- 2 - Identifications Description ..................................3 Other Identifications ...................................3 Manual edition record ..................................3 Content ......................................4 Chapter 1 Servo system model and configuration description ......................9 1.1 Description of product model ...............................9 1.2 Drive nameplate description ................................
  • Page 5 3.3 RS232 serial port ..................................31 3.4 External input and output connection（X1） ........................... 32 3.4.1 Digital signal input ................................35 3.4.2 Digital signal output ................................35 3.4.3 Pulse instruction input .................................36 3.4.4 Brake connection .................................37 3.5 Encoder input（X2） ..................................38 3.6 Power port（X3） ..................................39 3.7 Bus communication interface（X4）...
  • Page 6 5.5.3 Fast capture ..................................59 5.6 Scope ......................................59 5.7 Error display and error history ..............................61 Chapter 6 Operation mode introduction ............................64 6.1General steps for starting a control mode ...........................64 Step1: wiring ....................................64 Step 2: IO function configuration ..............................64 Step 3: Set necessary parameters ..............................66 Step 4: Save and reboot ................................
  • Page 7 7.2.4Adjustment after auto-tuning .............................. 97 7.3 Manual tuning .....................................97 7.3.1Tuning of the velocity loop ..............................98 7.3.2 Position loop tuning method .............................102 7.4 Gain switch (Pro mode) ................................104 7.4.1 Gain switching method ..............................105 7.5 Other factors affecting performance ............................106 Chapter 8 Alarm Investigation ..............................107 Chatper 9 Servo panel parameter list ............................111 Chapter 10 Communication ...............................
  • Page 8 Position loop parameters（0x60FB） ............................142 Input/output port parameter（0x2010） ............................. 143 Pulse input parameters（0x2508） ............................... 145 Parameters for storage（0x2FF0） ..............................145 Error code (0x2601) ..................................146 Stop mode .......................................147 Other parameter .....................................148...

  • Page 9: Chapter 1 Servo System Model And Configuration Description

    Kinco FD5 AC series servo driver user manual Chapter 1 Servo system model and 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 1.3 Motor model description...

  • Page 10: Motor Nameplate Description

    Kinco FD5 AC series servo driver user manual Chapter 1 Servo system model and configuration description 1.4 Motor nameplate description Figure 1-4 Motor nameplate description 1.5 Servo drive specifications Model FD425-□A-000 FD425-□F-000 FD435-□A-000 FD625-□A-000 1PH,200-240VAC±10% 50/60Hz±3HZ 1PH,3PH, 200-240VAC±10% 3PH, 380-415VAC±10%...
  • Page 11 Kinco FD5 AC series servo driver user manual Chapter 1 Servo system model and configuration description Order control Use DIN signals to control 8 segment speeds method Communication setting internal object parameter control Order smoothing Low-pass filter（Set by internal parameter）...

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

    Kinco FD5 AC series servo driver user manual Chapter 2 Servo system installation requirements and notes Chapter 2 Servo system installation requirements and notes 2.1 Driver installation 2.1.1 installation dimension Figuire 2-1 FD425-□A Product installation drawing...
  • Page 13 Kinco FD5 AC series servo driver user manual Chapter 2 Servo system installation requirements and notes Figuire 2-2 FD425-□F product installation drawing Figuire 2-3 FD435-□A Product installation drawing...

  • Page 14: Installation Distance And Direction

    Kinco FD5 AC series servo driver user manual Chapter 2 Servo system installation requirements and notes Figure 2-4 FD625-□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 ， There should be an installation gap of more than 20mm between two drives.
  • Page 15 Kinco FD5 AC series servo driver user manual Chapter 2 Servo system installation requirements and notes Figure 2-5 FD425 installation direction and requriement Figure 2-6 FD435/625 installation direction and requriement...

  • Page 16: Drive Requirements

    Kinco FD5 AC series servo driver user manual Chapter 2 Servo system installation requirements and notes 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 17: Servo Motor Installation

    Kinco FD5 AC series servo driver user manual Chapter 2 Servo system installation requirements and notes Environmental conditions Table 2-1 Environment requirements Environment Conditions Working Temperature 0℃～40℃ (No ice) Working Humidity 5～95%RH（No condensation） Storage Temperature -10℃～70℃（No ice） Storage Humidity 5~95%RH（No condensation）...

  • Page 18: Environment Conditions

    Kinco FD5 AC series servo driver user manual Chapter 2 Servo system installation requirements and notes 2.2.2 Environment conditions Table 2-2 Environment conditions Environment Conditions Working Temperature -20℃～40℃（no ice） Working humidity Under 90%RH （no condensation） Storage temperature -20℃～70℃（no ice） Storage humidity 5～95%RH（no condensation）...

  • Page 19: Motor Torque-Speed Characteristic Curve

    Kinco FD5 AC series servo driver user manual Chapter 2 Servo system installation requirements and notes a suitable sleeve to push the oil seal into the cavity. 3. After successful installation, check whether the oil seal is tilted. The oil seal needs to fit with the motor bearing cover, and the lip of the oil seal needs to be completely closed to ensure the tightness of the oil seal.
  • Page 20 2.2.4.3 750W Motor Torque-Speed character curve Kinco FD5 AC series servo driver user manual Chapter 2 Servo system installation requirements and notes Instantaneous working area Instantaneous working area Continuous working area Continuous working area 2.2.4.4 1000W Motor Torque-Speed character curve...
  • Page 21 Kinco FD5 AC series servo driver user manual Chapter 2 Servo system installation requirements and notes 2.2.4.6 2000W Motor Torque-Speed character curve Instantaneous working area Continuous working area 2.2.4.7 3000W Motor Torque-Speed character curve Instantaneous working area Continuous working area...

  • Page 22: Chapter 3 Servo System Interface And Wiring

    Kinco FD5 AC series servo driver user manual Chapter 3 Servo system interface and wiring Chapter 3 servo system interface and wiring 3.1 Drive description Figure 3-1 FD425 Drive appearance Figure 3-2 FD435/625 Drive appearance...

  • Page 23: External System Connection

    Kinco FD5 AC series servo driver user manual Chapter 3 Servo system interface and wiring 3.2 External system connection Figure 3-3 FD425 external connection Figure 3-4 FD435 external connection...
  • Page 24 Kinco FD5 AC series servo driver user manual Chapter 3 Servo system interface and wiring Figure 3-5 FD625 external connection Table 3-1 External system installation description Electric equipment Function Molded case circuit In the event of overcurrent, short circuit, or undervoltage, the circuit breaker automatically shuts off the breakers power supply, thus protecting the circuit and drive equipment from damage.

  • Page 25: Wiring Connection Description

    Kinco FD5 AC series servo driver user manual Chapter 3 Servo system interface and wiring Table 3-4 Recommended contactor models Recommended contactor Servo drive models Driver supply voltage Contactor models Manufacturer 220V FD425-□A CJX2-09 FD425-□F 220V CHNT FD435-□A 220V CJX2-18 FD625-□A...
  • Page 26 Kinco FD5 AC series servo driver user manual Chapter 3 Servo system interface and wiring Warning In the civil environment, this product may cause interference which may degrade the  reception quality of radio signals. Users shall take suppression measures if necessary to prevent interference.
  • Page 27 Kinco FD5 AC series servo driver user manual Chapter 3 Servo system interface and wiring Note 1.Select cables with more than 85% shielding coverage in the diagram. Serial number Cable name Specification Power cable Shielded cable ①②③④⑩ Brake cable Shielded cable ⑤...

  • Page 28: Overload Protection Of Servo

    Kinco FD5 AC series servo driver user manual Chapter 3 Servo system interface and wiring Figure 3-9 Driver side power cable/encoder cable shield layer 1* processing mode Figure 3-10 Connector side power cable/encoder cable shield layer 2* processing method (4)Grounding In order to prevent electric shock, be sure to ground the reactor, noise filter, driver;...
  • Page 29 Kinco FD5 AC series servo driver user manual Chapter 3 Servo system interface and wiring Note After the drive or motor IIT fault (fault code: 008.0) occurs, stop the drive and check the cause of the fault before running. If the fault fails to be checked and the drive IIT fault occurs again, it needs to stand for more than ten minutes, and then power on the drive after cooling.

  • Page 30: Common Dc Bus

    Kinco FD5 AC series servo driver user manual Chapter 3 Servo system interface and wiring 750W motor overload characteristic curve Overload running time Figure 3-13 750W motor overload characteristic curve 3.2.4 Common DC bus The braking energy generated during motor operation will be fed back to the drive bus capacitors, causing the drive bus voltage to rise.

  • Page 31: 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 32: External Input And Output Connection（X1

    Kinco FD5 AC series servo driver user manual Chapter 3 Servo system interface and wiring 3.4 External input and output connection（X1） Figure 3-17 FD5-LA/CA drive external input and output terminal pin diagram Figure 3-18 FD5-LA/CA drive IO mouth definition default...
  • Page 33 Kinco FD5 AC series servo driver user manual Chapter 3 Servo system interface and wiring Figure 3-20 FD5-PA drive IO mouth definition default Note Figure 3-18 shows the X1 wiring of the FD5-LA/CA drive default IO function, Figure 3-20 ...
  • Page 34 Kinco FD5 AC series servo driver user manual Chapter 3 Servo system interface and wiring MA+/(MA) Pulse signal input terminal supports TTL/differential signal. Signal type optional: TTL Signal：MA+,MA-MB+,MB-,MZ+,MZ-， MB+/(MB) ①Pulse+Direction (PLS+DIR) MAX supported frequency 500KHz, ②Forward and reverse pulses (CW/CCW) Voltage range DC 3.3-30V...

  • Page 35: Digital Signal Input

    Kinco FD5 AC series servo driver user manual Chapter 3 Servo system interface and wiring 3.4.1 Digital signal input Table 3-10 Digital input wiring example Digital input port maximum input frequency: 1KHz Instruction High level input voltage range 12.5-30V, low level input voltage range 0-5V The driver internal 24V output can be used as a pull-up power supply Example of digital input wiring ①...

  • Page 36: Pulse Instruction Input

    Kinco FD5 AC series servo driver user manual Chapter 3 Servo system interface and wiring Digital output wiring example② When the host computer is optocoupler input 3.4.3 Pulse instruction input Table 3-12 Pulse input wiring example Pulse input is divided into ordinary pulse input channel and high-speed pulse...

  • Page 37: Brake Connection

    Kinco FD5 AC series servo driver user manual Chapter 3 Servo system interface and wiring Ordinary pulse input wiring example② PNP Wiring method High-speed pulse input wiring example① NPN wiring method High-speed pulse input wiring example② PNP wiring method 3.4.4 Brake connection...

  • Page 38: Encoder Input（X2

    Kinco FD5 AC series servo driver user manual Chapter 3 Servo system interface and wiring Table 3-14 Motor holding brake power Motor model Motor power(W) Brake power(W) SMC60S-0020-30□BK-3LSU SMC60S-0040-30□BK-3LSU 11.5 SMC80S-0075-30□BK-3LSU 1000 SMG130D-0100-20□BK-4LKG 1500 SMG130D-0150-20□BK-4LKG 2000 SMG130D-0200-20□BK-4LKG 13.2 1500 SMG130D-0150-20□BK-4HKG 2000 SMG130D-0200-20□BK-4HKG...

  • Page 39: Power Port（X3

    Kinco FD5 AC series servo driver user manual Chapter 3 Servo system interface and wiring 3.6 Power port（X3） Table 3-17 FD425 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)
  • Page 40 Kinco FD5 AC series servo driver user manual Chapter 3 Servo system interface and wiring Table 3-20 CAN communication port pin definition Connect the host Model RS485 plug pin definition Driver end pin name Driver end pin number computer signal...

  • Page 41: Chapter 4 Digital Panel Operation

    Kinco FD5 AC series servo driver user manual Chapter 4 Digital panel operation Chapter 4 Digital panel operation 4.1Panel operation After the servo system is installed and properly wired according to the specifications and precautions, the servo drive can be set up for the specific application scenario.

  • Page 42: Panel Operation Instructions

    Kinco FD5 AC series servo driver user manual Chapter 4 Digital panel operation Note Press SET setting determining，If the panel shows means failure setting. The reasons could be: 1.The setting value is out of the setting range of the parameter.
  • Page 43 Kinco FD5 AC series servo driver user manual Chapter 4 Digital panel operation Figure 4-2 Gain self-tuning process Note Inertia measurement may cause the machine to vibrate. Please turn off the power or the drive immediately.  Turning on the inertia measurement will make the motor shaft reciprocate within a small distance, please ...

  • Page 44: Easy Operation Flowchart

    Kinco FD5 AC series servo driver user manual Chapter 4 Digital panel operation 4.3.2 EASY operation flowchart Figure 4-3 EASY operation process Note The menu is exited automatically if there is no operation in 30s, and users have to start again.
  • Page 45 Kinco FD5 AC series servo driver user manual Chapter 4 Digital panel operation Table 4-2 Easy 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 46 Kinco FD5 AC series servo driver user manual Chapter 4 Digital panel operation DIN7 Home signal Home signal Home signal Home signal OUT1 Ready Ready Ready Ready OUT2 Motor brake Motor brake Motor brake Motor brake OUT3 Pos reached Pos reached...

  • Page 47: Tune Operation Flow Chart

    Kinco FD5 AC series servo driver user manual Chapter 4 Digital panel operation Figure 4-5 RS232 communication control mode wiring method 4.3.3 tunE operation flow chart The tunE menu consists of self-tuning related functions and parameters based on inertia measurement. After the self-tuning is successful, the servo control loop adjustment can be simplified to adjust a single parameter (rigidity).
  • Page 48 Kinco FD5 AC series servo driver user manual Chapter 4 Digital panel operation Table 4-4 tunE parameters level of control stiffness from 0 to31 determines the bandwidth (BW) of the velocity Belt： loop and the position loop (see table 4-5). The larger the value, the greater the stiffness.

  • Page 49: Reasons For The Failure Of Tunning

    Kinco FD5 AC series servo driver user manual Chapter 4 Digital panel operation -4: The measured inertia ratio is over 300 times the range. Inertia ratio result is invalid. Table 4-6 rigid grade table Kpp0 Kvp0 Velocity feedback filter Kpp0...

  • Page 50: Tuning Case

    Kinco FD5 AC series servo driver user manual Chapter 4 Digital panel operation 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 51: Jog Mode（Test Run

    Kinco FD5 AC series servo driver user manual Chapter 4 Digital panel operation 4.4 Jog mode（Test run） The jog mode can be used to test the basic operating condition of the motor. In the jog mode, the user can test whether the motor can rotate according to the set speed through the key and the digital tube display.

  • Page 52: Chapter5 Kincoservo + User Guide

    Chatper 5 Kincoservo+ user guide Kinco FD5 AC series servo driver user manual 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 53: Node Id And Baud Rate

    Kinco FD5 AC series servo driver user manual Chatper 5 Kincoservo+ user guide 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” buton.

  • Page 54: Firmware Update

    Figure 5-4 Load firmware Click "Load File" to select the firmware file (.kinco), then click "Download" to start updating the drive firmware. After successful download, please click the menu bar "Drive" -> "Drive Properties" -> "Software Version" to determine whether the firmware download is successful.

  • Page 55: Read/Write Controller Configuration

    Chatper 5 Kincoservo+ user guide Kinco FD5 AC series servo driver user manual 5.4 Read/write controller configuration For a large number of the same applications, in order to avoid setting drive parameters one by one, you can use this feature to configure drives.

  • Page 56: Digital Io Function

    Kinco FD5 AC series servo driver user manual Chatper 5 Kincoservo+ user guide Click Open File to select a parameter settings file (.cdi). The parameter settings appear in the window. Click Write to Controller to get the Check Value and Result. The “False” Result means the value has not been written successfully, probably because the object doesn’t exist in the controller.
  • Page 57 Kinco FD5 AC series servo driver user manual Chatper 5 Kincoservo+ user guide Set the Controlword to reset errors, active edge（bit7） = 1 Reset errors Operation_mode selection 1:Operation_mode = EL.Din_Mode1 (2020.0E)，Defult value=-4 Operationg mode 0:Operation_mode = EL.Din_Mode 0 (2020.0D)，Defult value =-3 1: Velocity control loop integrating gain off 0: Velocity control loop integrating gain has been set.

  • Page 58: Digital Output

    Kinco FD5 AC series servo driver user manual Chatper 5 Kincoservo+ user guide 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 5.5.2 Digital output Figure 5-10 Digital output Function：Click...

  • Page 59: Fast Capture

    Kinco FD5 AC series servo driver user manual Chatper 5 Kincoservo+ user guide 5.5.3 Fast capture The Fast Capture function is used to capture the Position_Actual(6063.00) when the related DIN edge occurs. Response time is maximum 2ms. Table 5-4 Fast capture...
  • Page 60 Kinco FD5 AC series servo driver user manual Chatper 5 Kincoservo+ user guide Sample time：Data collection period. If the value is set to 1, data is collected every 62.5us. Samples：This parameter indicates how many data are collected during the sampling. If the value is set to 500, 500 data are collected.

  • Page 61: Error Display And Error History

    Kinco FD5 AC series servo driver user manual Chatper 5 Kincoservo+ user guide collecting data of a certain length, and will enter idle mode after completion 2300.08 Uint16 Sampling period Oscilloscope sampling period 62.5us The length of data to store before triggering the event.
  • Page 62 Kinco FD5 AC series servo driver user manual Chatper 5 Kincoservo+ user guide 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 63 Kinco FD5 AC series servo driver user manual Chatper 5 Kincoservo+ user guide There’s a mask checkbox beside every error item，all are defaulted to be checked , means it can be unchecked， means it can’t be unchecked. mean the related error will be ignored.The error mask can also be set with the object error mask (2605.01) and Error mask 2 (2605.04) (see...

  • Page 64: Chapter 6 Operation Mode Introduction

    Chatper 6 Operation mode introduction Kinco FD5 AC series servo driver user manual Chapter 6 Operation mode introduction The driver parameters can be set through the driver panel or RS232 interface connected to the upper computer debugging software. In the following introduction, the nixie display address and the internal address will be displayed in the object list (not all objects have corresponding panel addresses).
  • Page 65 Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction Table 6-2 Digital function output Value (hex): description Panel address Internal address Type Name 0001: Ready Dout1_Function d3.11 2010.0F Uint16 0002:Error 0004: Pos reached 0008: Zero speed Dout2_Function d3.12...

  • Page 66: Step 3: Set Necessary Parameters

    Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction Note If the DIN port defines an enable signal, it cannot be powered on by the panel Settings. Customers are not recommended to use the power-on self-enable operation. If you want to use it, you must fully consider the safety issues.

  • Page 67: Step 4: Save And Reboot

    Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction 3: Clear encoder status and multi-turn data 8; reset the status flag 9: Clear multi-lap data 10: Equivalent to 8 + 9 12: Clear lap data (requires factory password)

  • Page 68: Din Speed Mode

    Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction 6.2.1 DIN Speed mode The Din_Speed object window in PC software can be accessed from menu item Controller->ControlModes->DIN Speed Mode. Table 6-8 DIN Speed mode Panel Internal...

  • Page 69: Position Mode(1)

    Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction 0x0F, 6040.00 Controlword Enable drive 0x06 MAX speed User 607F.00 Motor running maximum speed limit limit defined The limit value, the actual torque exceeds the reference data and the...
  • Page 70 Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction Table 6-12 DIN position mode instruction Panel Internal Name Description Value address address 2020.01 Din_pos[0] The speed instruction of the drive is specified 2020.02 Din_pos[1] by DIN speed [x], where x is a BCD code 2020.03...

  • Page 71: Position Table Mode

    Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction 6083.00 Profile_ acceleration User define rps/s 6084.00 Profile_ deceleration User define rps/s After enabling, select the position segment to go, the simulation command is activated, the drive executes the program of the selected position segment, and outputs the multi-function signal 0 after reaching the Din position [1].
  • Page 72 Chatper 6 Operation mode introduction Kinco FD5 AC series servo driver user manual The DIN Start PosTable signal (rising edge) triggers the entry index (specified via the DIN function) task, but whether or not the task is executed depends on the start condition (CTL reg bit14-15). After one task is finished, it goes to the next index (CTL reg bit0-4) or stops, depending on Next / Stop (CTL reg bit 8), Condition (CTL reg bit 9-11) and Loops.

  • Page 73: Pulse Mode(-4)

    Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction Loops Defines loop limit for the task which is running in loops;  0: no limit, ≥ 1: position flow stops when loop count = loops, or if the next index’s loop count = next index’s loops.

  • Page 74: Pulse Mode Setting Steps

    Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction The main encoder port counts before inputting D1.21 2508.04 Gear Pre-pulse data pulse electronic gear The main encoder port counts after inputting D1.22 2508.05 Gear Post-pulse data pulse electronic gear D1.23...

  • Page 75: Other Function

    Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction 50% Pulse duty cycle Step3：Confirm the electronic gear ratio Electronic gear numerator/ Electronic gear dinomerator=65536/number of external input pulses Example: If the number of external input pulses is 10000 to make the motor rotate once, the electronic gear ratio should be 65536:10000, the numerator of the electronic gear should be set to 4096, and the denominator of the electronic gear should be set to 625.

  • Page 76: Electronic Gear Ratio Switching (Expert Mode)

    Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction 6.5.3 Electronic gear ratio switching (expert mode) This function can only be used by expert！ The drive supports 8 sets of electronic gear ratio settings, these settings are only valid in pulse mode（Refers to Chapter 6.5）.

  • Page 77: Full Closed Loop Mode

    Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction Table 6-19 Master-slave mode Internal Drive Name Description value address Master Encoder crossover It can be used to set the number of encoder pulses User 2340.0F drive...
  • Page 78 Chatper 6 Operation mode introduction Kinco FD5 AC series servo driver user manual Table 6-20 Full closed loop mode Internal Type Attribute Name Description Unit address Fill in the resolution of the external 250A01 Master_Enc_Period encoder 0: normal mode 250A02...

  • Page 79: 1Full Closed Loop Control Operation Steps

    Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction ①Use the regular pulse interface to connect the external encoder signal, the output frequency of the external encoder is required to be below 500KHz, and the signal voltage range is 3.3-30VDC.
  • Page 80 Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction 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 81: Homing Mode(6)

    Chatper 6 Operation mode introduction Kinco FD5 AC series servo driver user manual Step 6: Set up full closed-loop proportional detection and full closed-loop signal detection and filtering The full closed-loop proportional detection is the proportional detection range of the operating speed fluctuation of the main encoder and the motor under the full closed-loop control.
  • Page 82 Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction Table 6-22 Homing mode Internal Name Value Description address 607C.00 Home_Offset User defined Zero position offset to the home position 6098.00 Homing_Method User defined Chose the homing method 6099.02...
  • Page 83 Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction Homing with positive position limit switch and index pulse Homing with home switch and index pulse Homing with home switch and index pulse Homing with home switch...
  • Page 84 Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction Homing with positive position limit switch, home switch and index pulse Homing with positive position limit switch, home switch and index pulse Homing with positive position limit switch, home...
  • Page 85 Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction Homing with negative position limit switch, home switch and index pulse Homing with negative position limit switch Homing with positive position limit switch Homing with home switch...
  • Page 86 Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction Homing with home switch Homing with positive position limit switch and home switch Homing with positive position limit switch and home switch Homing with positive position limit switch and...

  • Page 87: Other Functions

    Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction Homing with negative position limit switch and home switch Homing with negative position limit switch and home switch Homing with negative position limit switch and home switch...

  • Page 88: Motor Brake Control

    Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction Define digital input DIN5 。 Default value 0020 ， Indicates the DIN5 Function D3.05 2010.07 definition of the negative limit function Actual position when the digital input signal triggers the positive 2010.1B...

  • Page 89: Stop Mode Control

    Chatper 6 Operation mode introduction Kinco FD5 AC series servo driver user manual When the stop enable command is written in the control word, the control of the holding brake is related to the set quick stop mode. When the quick stop mode is 0 (uncontrolled stop), the drive will automatically switch to the immediate speed mode (-3) and set the target speed to 0 internally to make the motor stop as soon as possible, in the uncontrolled stop mode After the drive changes the target speed, it will immediately cut off the 24V power supply to the brake.
  • Page 90 Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction 18， Short-circuit braking stop mode, use the motor's own resistance to stop. After the stop is completed, the motor keeps the shaft locked and stops in the fast stop state. It can be enabled after the control word sends 0x06 to exit the fast stop state. A stop mode that can quickly complete a stop even in the event of an encoder failure.。...

  • Page 91: Absolute Encoder Motor Configuration

    The encoder alarm can be cleared by resetting the status mark of the encoder. The operation steps are as follows: Using the Kinco servo+ debugging software, write 10 through the communication encoder data reset (0x269000) on the basic ...
  • Page 92 Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction Note After the communication encoder data is reset, the drive alarm will not be cleared directly. It  is necessary to clear the drive alarm through the control word or restart the drive.
  • Page 93 Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction Option 2: Buy the ENCDG-(4)- GU-BT5 cable plus BAT-FD5 battery box accessory, which can be mounted and fixed to the bottom of the drive. When the battery voltage is below 3.1V, the driver appears the warning status word 0001 and the panel will flash 000.1, but the driver will not alarm stop at this time.
  • Page 94 Kinco FD5 AC series servo driver user manual Chatper 6 Operation mode introduction Figure 6-19 Battery box disassembly method Note The battery must be used within a limited temperature range, away from high temperature  and humidity, and free of dust and inflammable and explosive substances.

  • Page 95: Chapter 7 Performance Regulation

    Kinco FD5 AC series servo driver user manual Chatper 7 Performance regulation Chapter 7 Performance regulation 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 96: Auto-Tuning Test Operation Method

    Chatper 7 Performance regulation Kinco FD5 AC series servo driver user manual 7.2Auto-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. 7.2.1 Auto-tuning function related object parameters...

  • Page 97: 4Adjustment After Auto-Tuning

    Chatper 7 Performance regulation Kinco FD5 AC series servo driver user manual Reasons for the failure of auto-tuning： 1.Incorrect wiring of the servo system； 2.DIN function Pre_Enable is configured but not active； 3.Too much friction or external force is applied to the axis to be tuned；...

  • Page 98: 1Tuning Of The Velocity Loop

    Kinco FD5 AC series servo driver user manual Chatper 7 Performance regulation 7.3.1Tuning of the velocity loop Table 7-3 Velocity loop parameter Panel Internal Name Description Default Range address address 60F901 kvp[0] Setting reaction speed of Velocity loop 1-32767 Changing this parameter changes kvp[0] d2.01...
  • Page 99 Kinco FD5 AC series servo driver user manual Chatper 7 Performance regulation The velocity loop adjustment steps are as follows: Step 1：Adjustment for Kvp Increasing Kvp can improve the bandwidth of the velocity loop and make the velocity response ability faster. To calculate the Kvp, please refer the following formula.
  • Page 100 Kinco FD5 AC series servo driver user manual Chatper 7 Performance regulation 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 . If you need to dynamically close kvi during operation, you can use the kvi close in Din function.
  • Page 101 Chatper 7 Performance regulation Kinco FD5 AC series servo driver user manual Table 7-4 Notch filter parameter Panel Internal Name Description Default Range address address d2.03 60F903 Notch filter 250B01 Notch filter 1 Used to set the frequency of the internal notch filter to...

  • Page 102: Position Loop Tuning Method

    Chatper 7 Performance regulation Kinco FD5 AC series servo driver user manual 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 To prevent damage to the machine due to large resonance amplitude during debugging, ...
  • Page 103 Kinco FD5 AC series servo driver user manual Chatper 7 Performance regulation Position loop tuning steps: Step 1：Kpp adjustment Increasing the Kpp can increase the position loop bandwidth to reduce the positioning time and the following error, but if the setting is too large, it will cause noise or even oscillation, and it must be set according to the load conditions.

  • Page 104: Gain Switch (Pro Mode)

    Kinco FD5 AC series servo driver user manual Chatper 7 Performance regulation 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. When the speed step of the trapezoidal speed curve is large, it will cause a certain impact on the mechanical equipment.

  • Page 105: Gain Switching Method

    Chatper 7 Performance regulation Kinco FD5 AC series servo driver user manual 60F9.28 Uint8 PI point Indicates the PI parameter being called When the target position/target speed is reached, that when bits.Target_reached=1 ， select the PI parameter, which is suitable for the occasions where different PI parameters 60F9.09...

  • Page 106: Other Factors Affecting Performance

    Kinco FD5 AC series servo driver user manual Chatper 7 Performance regulation 7.5 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 example, the acceleration in the control command cannot exceed the maximum acceleration that can be produced by the motor torque.

  • Page 107: Chapter 8 Alarm Investigation

    Kinco FD5 AC series servo driver user manual Chatper 8 Alarm investigation Chapter 8 Alarm Investigation When the drive alarms, the drive panel flashes an alarm code. For more detailed error messages and error history, connect the drive to your computer using an RS232 serial cable...
  • Page 108 Kinco FD5 AC series servo driver user manual Chatper 8 Alarm investigation Step 1: Check whether the power supply voltage is within the driver input voltage range and whether the The DC bus voltage exceeds the power supply voltage is stable.
  • Page 109 Kinco FD5 AC series servo driver user manual Chatper 8 Alarm investigation 2. When the motor shaft is rotating, Step 3: Adjust the parameters of the control ring Step 4: Eliminate mechanical jams and apply lubricant the lock is not loosened 3.
  • Page 110 Kinco FD5 AC series servo driver user manual Chatper 8 Alarm investigation Positive position limit (after homing), position limit only User-defined alarm Positive limit 020.0 causes error when Limit_Function (2010.19) is set to 0. Negative position limit (after homing), position...

  • Page 111: Chatper 9 Servo Panel Parameter List

    Kinco FD5 AC series servo driver user manual Chatper 9 Servo panel parameter list Chatper 9 Servo panel parameter list The EASY group allows users to quickly set commonly used control parameters. Table 9-1 EASY parameters Panel Internal Name Description...
  • Page 112 Kinco FD5 AC series servo driver user manual Chatper 9 Servo panel parameter list 1: Block all limit switches Thousands: OUT5's drive fault polarity 0: The output is normally closed 1: The output is normally open EA07 60980008 Zero retturn modeE Look for patterns at the origin The Tune group is the driver inertia measurement related parameters.
  • Page 113 Kinco FD5 AC series servo driver user manual Chatper 9 Servo panel parameter list Velocity loop Velocity loop bandwidth setting ， unit D0.04 2FF00A10 0-600 bandwidth Position loop Position loop bandwidth setting ， unit D0.05 2FF00B10 bandwidth Gain auto-tunning D0.06...
  • Page 114 Kinco FD5 AC series servo driver user manual Chatper 9 Servo panel parameter list simulation. Dout effective =(Dout state Dout simulation)XOR(NOT Dout polarity) bit0:Dout1 bit1:Dout2 bit2:Dout3 … bit6:Dout7 Real-time alarm error status bit0: Extension error, read Error status 2(D1.16) bit 1: encoder not connected...
  • Page 115 Kinco FD5 AC series servo driver user manual Chatper 9 Servo panel parameter list 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 D1.28 60F60C10 CMD_q_Buff q current command buffer -2048-2047 Real current in q axis, unit D1.29...
  • Page 116 Kinco FD5 AC series servo driver user manual Chatper 9 Servo panel parameter list A factor for limiting max velocity in D2.15 60F60310 Speed_Limit_Factor 0-1000 the torque mode Invert motion D2.16 607E0008 Invert_Dir 0: CCW is positive direction 1: CW is positive direction D2.24...
  • Page 117 Kinco FD5 AC series servo driver user manual Chatper 9 Servo panel parameter list -32768- D3.34 25080110 Numerator of electronic gear 1000 Gear_Factor0 32767 D3.35 25080210 Denominator of electronic Gear 1000 1-32767 Gear_Divider0 Pulse control mode 0: CW / CCW mode 1: pulse direction mode D3.36...
  • Page 118 Kinco FD5 AC series servo driver user manual Chatper 9 Servo panel parameter list D4.10 64100C10 L_Motor Motor phase inductance 1-32767 D4.11 64100D08 R_Motor Motor phase resistance 0-32767 Reverse electromotive force of the D4.12 64100E10 Ke_Motor 0-32767 motor D4.13 64100F10...

  • Page 119: Chapter 10 Communication

    10.1 RS232 communication 10.1.1 RS232 hardware interface The mini-usb port under the panel cover of the FD5 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 120: 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 FD5 series servo drives conforms to the CANopen international standard. Values and functions are expressed by indices and sub-indexes.
  • Page 121 Kinco FD5P AC series servo driver Chapter 10 Communication Indexes The address of the sending object，18 bits  Subindexes Subaddress of the sending object, 8 bits  Reverse Bit 4…7 are not used  Slave receive data Byte0 Byte1 Byte2...
  • Page 122 Kinco FD5P AC series servo driver Chapter 10 Communication 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 60400010 Control word Send→01 2B 40 60 00 4F 00 00 00 E5 Receive←01 60 40 60 00 4F 00 00 00 B0...

  • Page 123: Rs485 Communication

    10.2.1 RS485 hardware wiring The RS485 port of FD5 series servo driver supports MODBUS communication function, which can be used to modify the internal parameters of the servo and monitor the servo state. The communication line of the master station is connected to the X4A(IN) and the X14B(OUT) is connected to the next slave station device.
  • Page 124 Kinco FD5 AC series servo driver user manual Chatper 10 Communication Common Modbus function codes are described as follows: Function code 0x03: read data register  Request format: Start address Start address Read number Read number Target station Function code...

  • Page 125: Communication Troubleshooting Measures

    The FD5 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. The servo uses a strictly defined list of objects, we call it the object dictionary, this object dictionary is designed based on the CANopen international standard, all objects have a clear function definition.

  • Page 126: Canopen Bus Communication Hardware Description

    4、Table 10-7 lists the theoretical maximum communication distances of various baud rates. 5、The FD5 series servo drive does not require an external 24V power supply to power the CAN. Table10-7 The longest distance table that can theoretically communicate with each baud rate Communication speed（bit/s）...

  • Page 127: Canopen Bus Communication Software Description

    Kinco FD5 AC series servo driver user manual Chatper 10 Communication 10.3.2 CANopen bus communication software description EDS files The EDS (electronic data sheet) file is the identification file or similar code of the slave station connected to the PLC. Through this file, the type of the slave station is identified (what kind of 401, 402, 403 is similar, or which one of 402 belongs to) equipment).
  • Page 128 Kinco FD5 AC series servo driver user manual Chatper 10 Communication Description： n——Indicates the number of bits of meaningless data in the message data [from (8-n) Bit to the 7th Bit data is meaningless] (n is valid when e=1 and s=1, otherwise n is 0) e——Normal transmission when e=0, accelerated transmission when e=1；...
  • Page 129 Kinco FD5 AC series servo driver user manual Chatper 10 Communication 0x06090030 Invalid data, beyond the object parameter setting range 0x06090031 The write data value is too large 0x06090032 Write data value is too small 0x08000022 Data cannot be transferred or saved to the app due to the current device state...
  • Page 130 Kinco FD5 AC series servo driver user manual Chatper 10 Communication Table 10-17 Setting Velocity mode through SDO message Parameter Name value message(ID=1) address Send→601 2F 60 60 00 03 00 00 00 60600008 Operation mode Receive←581 60 60 60 00 03 00 00 00 Send→601 23 FF 60 00 7E B1 E4 FF...
  • Page 131 (the lower the PDO value, the higher the priority). The transmission PDO(TPDO) of the FD5 series servo drive supports synchronous and asynchronous transmission modes, and the corresponding transmission type can be selected according to the transmission mode. For receiving PDO(RPDO), when the driver node is enabled in non-interpolation mode, the object data will be received in real time as long as the RPDO packets from the bus are detected, regardless of the transmission type setting.
  • Page 132 Kinco FD5 AC series servo driver user manual Chatper 10 Communication detecting the RPDO signal, but only updates the object data at a specific point in time. Detailed interpolation mode controls are described in section 10.3.4. PDO inhibit time ...
  • Page 133 10-18 describes the values. The standard CAN slave station generally supports only one type of node protection, and the FD5 series servo drive supports both types of protection. However, a node cannot support both node protection and heartbeat packets at the same time. Only one of them can be used for protection.

  • Page 134: Canopen Bus Communication Settings

    Kinco FD5 AC series servo driver user manual Chatper 10 Communication 0x80 Enter pre-operational state 0x81 Enter pre-operational state 0x82 Reset communication Emergency message description When a fatal error occurs inside the device, the application device sends an emergency packet with the highest priority to other devices.
  • Page 135 Chatper 10 Communication Kinco FD5 AC series servo driver user manual Table 10-29 CANopen communication parameters LED panel Internal address Parameter’s name Description Default value display 1：Stores all set parameters except the motor d5.00 2FF00108 Store control loop parameters 10：Initialize all saveable parameters except motor Drive station No.

  • Page 136: Interpolation Mode Based On Canopen

    Kinco FD5 AC series servo driver user manual Chatper 10 Communication EDS file download： https://www.kinco.cn/download/sfqdqdj36.html 10.3.4 Interpolation mode based on CANopen The interpolation mode is suitable for single-axis operation control and multi-axis synchronous control. The master station performs the motion contour planning, and the target position is periodically updated in the synchronous mode. In the host computer software interface, click Drive->ECAN Configuration->Other to enter the interpolation mode parameter setting...

  • Page 137: Appendix 1: Braking Resistor Selection

    Kinco FD5 AC series servo driver user manual Appendix 1: Braking Resistor Selection 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 138: Appendix Ii: List Of Common Object Parameters

    Kinco FD5 AC series servo driver user manual 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-bit sub-address) ...

  • Page 139: Measurement Data

    Kinco FD5 AC series servo driver user manual Appendix II: List of Common Object Parameters When the "drive enable" function is configured to Din, and the corresponding Absolute/relative Din valid input is 1, the "control word" position control (6040.00) will be set to this value;...

  • Page 140: Multi-Segment Position/Multi-Segment Velocity（0X2020

    Kinco FD5 AC series servo driver user manual Appendix II: List of Common Object Parameters Note: Velocity address：0x60810020，0x60800020，0x60FF0020 The unit conversion method is 为 DEC=[(rpm*512*encoder resolution)/1875] Acceleration and deceleration address：0x60830020，0x60840020， The unit conversion method is DEC=[(rps/s*65536*encoder resolution)/4000000] Current address：0x60710010，0x60730010 The unit conversion method is 1Arms=[2048/(Ipeak/1.414)]DEC Note: Ipeak is peak current (6510.03) Multi-segment position/multi-segment velocity（0x2020）...

  • Page 141: Performance Object（0X6065

    Kinco FD5 AC series servo driver user manual Appendix II: List of Common Object Parameters Performance object（0x6065） Commend Name Subindex Modb us Data type Description type Following error value alarm value Max. following error 60650020 3800 RWSM Unsigned32 Default 524288inc “Target location reached ”...

  • Page 142: Homing Control（0X6098

    Kinco FD5 AC series servo driver user manual Appendix II: List of Common Object Parameters Homing control（0x6098） Name CANopen Modbu s Commend type Data type Description Homing function Homing mode 60980008 4D00 RWSM Integer8 Refer origin control chapter Origin turning...

  • Page 143: Input/Output Port Parameter（0X2010

    Kinco FD5 AC series servo driver user manual Appendix II: List of Common Object Parameters Input/output port parameter（0x2010） Name CANopen Modbus Commend type Data type Description Digital input 1 20100310 0830 Unsigned16 Digital input 2 20100410 0840 Unsigned16 Digital input 3...
  • Page 144 Kinco FD5 AC series servo driver user manual Appendix II: List of Common Object Parameters Digital input function definition（HEX） Digital output function definition（HEX） 0001：Enable 0001：Ready 0002：Reset Errors 0002：Error 0004：Drive working mode control 0004：Pos reached 0008：Kvi off 0008：Zero speed 0010：P Llimit+ 0010：Motor brake...

  • Page 145: Pulse Input Parameters（0X2508

    Kinco FD5 AC series servo driver user manual Appendix II: List of Common Object Parameters Pulse input parameters（0x2508） Commend Name CANopen Modbus Data type Description type Electronic gear molecule 0 Electronic gear molecule 0 25080110 0x1910 RWSM Integer16 Electronic gear denominator...

  • Page 146: Error Code (0X2601)

    Kinco FD5 AC series servo driver user manual 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...

  • Page 147: Stop Mode

    Kinco FD5 AC series servo driver user manual Appendix II: List of Common Object Parameters Stop mode Name CANopen Modbus Commend type Data type Description Encountered limit switch, emergency stop switch, or control word is 0x000B 0: Uncontrolled stop 1: Curve stop...

  • Page 148: Other Parameter

    Kinco FD5 AC series servo driver user manual Appendix II: List of Common Object Parameters Other parameter Name CANopen Modbus Commend type Data type Description 0: Automatically read the motor model from encoder corresponding motor parameters in the drive motor library (factory default)

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