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Kinco AK840M Series User Manual
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Kinco AK840M Series User Manual

Kinco AK840M Series User Manual

Motion controller
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AK840M Motion Controller
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Summary of Contents for Kinco AK840M Series

  • Page 1 AK840M Motion Controller User Manual...

  • Page 2: Support

    Kinco office or distributor. For information on user training, visit our company website or consult your local distributor for training plans. Manual Acquisition This manual is a paperless document. To obtain a PDF version, visit the Kinco official website (https://en.kinco.cn/), navigate to "Service → Download", and search by keywords to download.

  • Page 3: Reversion History

    Reversion History Reversion Date Release Version Description 2024/05/28 AK840_usermanual_V000 Initial Revision 2024/11/27 AK840_usermanual_V001 Content Update...

  • Page 4: Table Of Contents

    Catalogue Contact Us ........................I Support ........................I Manual Acquisition ...................... I Device Description File Acquisition ................I Reversion History ......................II 1 Safety Instructions ....................1 2 General Instructions ....................5 2.1 Series Introduction ................... 5 2.2 Naming Rules ....................5 2.3 Fuselage Label ....................
  • Page 5 8.6.2 Modbus RTU Master ................30 8.7 High-speed Input .................... 33 9. Error Diagnosis ..................... 35 9.1 Error Query Method..................35 9.2 Common Error Codes and Description ............36 Appendix ......................39 10.1 EXP-BD Model List ..................39 10.2 RP20 Model List ................... 39...

  • Page 6: Safety Instructions

    Use this product within its design specifications to avoid malfunctions. Damage or issues caused by non-compliance are not covered under warranty. Kinco assumes no legal responsibility for personal injury, property damage, or other accidents resulting from non-compliance with this manual or improper operation of the product.
  • Page 7 AK840 Motion Controller User Manual During power supply ❖ During power supply, do not touch terminals or attempt disassembly. Wait for capacitors to discharge after turning off the power to avoid electric shock or hazards. During electrical assembly ❖ Installation, wiring, maintenance, and inspection must be performed by qualified personnel trained in electrical equipment.
  • Page 8 AK840 Motion Controller User Manual tightening could damage the bolts or the controller, causing component detachment, circuit short circuits, or fire hazards. ❖ When connecting external devices via connectors, use tools specified by the manufacturer for proper crimping, pressing, or soldering.
  • Page 9 AK840 Motion Controller User Manual ❖ The installation, wiring, maintenance, and inspection of this product must be carried out by professional electrical maintenance personnel who have received relevant training in electrical equipment and possess sufficient electrical knowledge. ❖ Before cleaning or re-tightening the bolts on the terminal block or the connector installation bolts, please ensure that the system’s power supply is completely disconnected.

  • Page 10: General Instructions

    Paired with the RP20 series remote IO system, it is another new solution offered by Kinco to help break industry barriers for customers in various sectors. The AK8X0 series is widely applicable in the general industrial automation field and more...

  • Page 11: Fuselage Label

    Model and Brief Includes basic information such as product ① Description model, power supply, and function description. Kinco official QR Scan the code to directly access Kinco's official ② Code website for more information. Product Serial ③ Unique and traceable.

  • Page 12: Product Specification

    AK840 Motion Controller User Manual 3. Product Specification 3.1 General Specification Transportation and Storage Conditions Ambient -40℃～+70℃ Temperature Climatic Relative 10%～95%,no condensation. Conditions Humidity Atmospheric Equivalent to 0-3000 meters above sea level. Pressure Mechanical With transport packaging, allows 5 drops from Free Fall Conditions 1m height to the cement floor.

  • Page 13: Power Supply

    AK840 Motion Controller User Manual Cooling Type Natural air cooling Assembly Method DIN35 rail mounting Certification 3.2 Power Supply Item Specification 24V DC +/-20% （19.2V DC～28.8V DC） Rated Power Supply Rated Power 6W (CPU unit only)/20W (Full-load) Overcurrent Protection Power Protection Reverse Polarity Protection Surge Absorption...

  • Page 14: Overall Specification

    @1ms Axis Capability: 8 to 32 axes,1 to 4ms, Electronic cam/interpolation: Support Kinco dedicated K-bus backplane, supports up to 16 local expansion modules of the RP20 series. Local Expansion * Without the power module, up to 8 RP20 series local expansion modules are supported.

  • Page 15: Local I/O Specification

    AK840 Motion Controller User Manual 3.4 Local I/O Specification Item AK840M-0808DTN Digital Input Type and Polarity Sourcing/Sinking Number of channels Rated Input Voltage 24V DC, maximum allowable 30V DC. Input Impedance 5.4K Logic "0" Max. Input 5V,0.8mA Voltage Logic "1" Min. Input 15V,2mA Voltage Turn-on Delay...

  • Page 16: Component Description

    AK840 Motion Controller User Manual 4. Component Description Fig4.1-1 Photograph of AK840M Item Comment PWR： Steady On: Power supply normal Power Status Off: Power abnormal or not connected RUN： Steady On: Device is running Device Off: Device is stopped Operating Status ERR：...

  • Page 17: Wiring

    AK840 Motion Controller User Manual Local I/O ⑦ Steady On: Indicates output/input received Indicators Off: No output/input received ⑧ EtherCAT Connects to EtherCAT bus devices. Supports Modbus TCP Slave/Master protocols, allows debugging ⑨ EtherNet1 and program downloading. Default IP: 192.168.1.100. Supports Modbus TCP Master/Slave, allows debugging and ⑩...

  • Page 18: Local I/O

    AK840 Motion Controller User Manual Symbol Description Symbol Description 485+ RS485+ 24V+ Power Supply+ 485- RS485- Power Supply- RS485 Ground Power Supply Ground 5.2 Local I/O Fig.5.2-1 Local I/O wiring diagram...

  • Page 19: Dimensions

    AK840 Motion Controller User Manual 6. Dimensions Fig.6.1-1 Dimension diagram of AK840M...

  • Page 20: Assembly Instructions

    AK840 Motion Controller User Manual 7. Assembly Instructions 7.1 Assembly Dimensions Fig.7.1-1 Assembly dimension diagram of AK840M...

  • Page 21: Assembly Method

    AK840 Motion Controller User Manual 7.2 Assembly Method 7.2.1 DIN Rail Dimensions AK8X0 series controller supports assembly by standard DIN rails (35mm wide and 1mm thick). The following two heights are commonly used. Fig.7.2-1 Standard DIN Rail Notes: If the rail thickness is less than 1mm, the latch may not lock securely, causing looseness.
  • Page 22 AK840 Motion Controller User Manual transportation, ensuring system safety. Fig.7.2-3 Fix and ensure security During disassembly, first loosen the rail fixing block, then use a flathead screwdriver or other tools to lift the spring-loaded self-locking latch on top of the module. Afterward, remove the module from the rail.

  • Page 23: Connector Assembly

    AK840 Motion Controller User Manual 7.2.3 Connector Assembly ⚫ Disassembly Fig.7.2-5 Connector disassembly ⚫ Assembly Fig.7.2-6 Connector assembly...

  • Page 24: Getting Started

    AK840 Motion Controller User Manual 8. Getting Started 8.1 Device Description File Acquisition The AK8X0 series motion controller package file (.PACKAGE) integrates device descriptions for all CPU modules in the AK8X0 series. Please visit the Kinco official website https://www.kinco.cn/(CN), https://en.kinco.cn/ (EN) or contact Kinco's official customer service department to obtain the latest device description files.
  • Page 25 AK840 Motion Controller User Manual Fig. 8.2-2 Select file and install Step 3: After the prompt box appears, check the box ‘I want to continue despite the missing signature’, and click ‘Continue’ to proceed with the next step of the installation.
  • Page 26 AK840 Motion Controller User Manual Fig. 8.2-4 Wait for the installation to complete Step 5: Wait for the installation to finish. After that, you can close the installer and restart CODESYS software. Fig. 8.2-5 Installation complete...

  • Page 27: Upgrade Instructions

    AK840 Motion Controller User Manual 8.3 Upgrade Instructions 8.3.1 Upgrade via USB Step 1: Place the firmware program to be updated in the root directory of the USB drive. The firmware with the delapp suffix will erase the existing user program in the PLC (note that the USB drive must be formatted as FAT32).

  • Page 28: Upgrade Via Codesys

    AK840 Motion Controller User Manual 8.3.2 Upgrade via CoDeSys Step 1: After connecting to the AK840, go to the Device interface, and in the Files tab, place the firmware program in the runtime root directory. Fig.8.3-1 place the firmware program in the runtime root directory Step 2: Power off and restart the PLC.

  • Page 29: Ip Modification

    AK840 Motion Controller User Manual 8.4 IP Modification Step 1: After logging into the device, go to the PLC Parameters option under the Device tab. Modify the IP by entering the desired IP address in the preset value field of the corresponding channel, then click Write Parameters button in the upper right corner to apply the changes.

  • Page 30: Modbus Tcp

    AK840 Motion Controller User Manual 8.5 Modbus TCP 8.5.1 Modbus TCP Slave Step 1: The Modbus_slave_TCP (Modbus TCP Slave ETH1) is one of the default items created when generating a new program. Double-click Modbus_slave_TCP to open the settings interface and adjust the configuration. For instance, the default parameters for the ETH1 port are Port: 502 and Slave ID: 1, as shown.

  • Page 31: Modbus Tcp Master

    AK840 Motion Controller User Manual 8.5.2 Modbus TCP Master Step 1: Right-click on Device, select Add Device, and add Modbus Master TCP in the shown directory. Fig.8.5.2-1 Add Modbus TCP Master Device Step 2: Right-click on Modbus Master TCP, select Add Device, and then add Modbus Device TCP.
  • Page 32 AK840 Motion Controller User Manual Fig.8.5.2-3 Modify the configuration information Step 4: Right-click on Modbus Device TCP, select Add Device, and under the slave device, you can add a functional channel. In this example, add Function Code 16: Write Multiple Registers. Fig.8.5.2-4 Add functional channels Step 5: In the Write_Multiple_Registers tab, configure the parameters as shown in the diagram, setting the length to 10.
  • Page 33 AK840 Motion Controller User Manual communication. In the Write_Multiple_Registers channel, write 100 in the I/O mapping. If the Modbus_slave simulation software receives the value 100, it indicates that Modbus TCP communication has been successfully established. Fig.8.5.2-6 Use Modbus Slave to simulate communication...

  • Page 34: Modbus Rtu

    AK840 Motion Controller User Manual 8.6 Modbus RTU 8.6.1 Modbus RTU Slave Step 1: Right-click on Device, select Add Device, and add Modbus Slave 485 in the shown directory. Fig.8.6.1-1 Add Modbus RTU slave Step 2: Double-click to open the Modbus Slave 485 tab, and modify the configuration information in the Parameter interface.

  • Page 35: Modbus Rtu Master

    AK840 Motion Controller User Manual Fig.8.6.1-3 use Modbus Poll to simulate communication 8.6.2 Modbus RTU Master Step 1: Right-click on Device, select Add Device, and add Modbus Master 485 in the shown directory. Fig.8.6.2-1 Add Modbus Master 485 Step 2: Right-click on Modbus Master 485, select Add Device, and then add Modbus Device RTU.
  • Page 36 AK840 Motion Controller User Manual Fig.8.6.2-2 Add Modbus Device RTU Step 3: Double-click to open the Modbus Master 485 tab, and modify the configuration information in the Parameter interface. Fig.8.6.2-3 Modify the configuration information Step 4: Double-click to open the Modbus Device RTU tab, and modify the configuration information in the Parameter interface.
  • Page 37 AK840 Motion Controller User Manual Write Multiple Holding Registers. Fig.8.6.2-5 Add Modbus RTU functional channel Step 6: In the Write_Multiple_Registers tab, configure the parameters as shown in the diagram, setting the length to 10. Fig.8.6.2-6 Configure functional channel parameters. Step 7: After downloading the program, use Modbus_slave to simulate communication.

  • Page 38: High-Speed Input

    AK840 Motion Controller User Manual 8.7 High-speed Input All AK840 series PLCs support two high-speed inputs. • In Pulse/Direction mode: • For CH0 (Channel 0), the pulse signal connects to terminal I0, and the direction signal connects to terminal I1. •...
  • Page 39 AK840 Motion Controller User Manual Fig.8.7-2 High-speed counter apply interface...

  • Page 40: Error Diagnosis

    AK840 Motion Controller User Manual 9. Error Diagnosis 9.1 Error Query Method Error queries require logging into the device. After logged in, go to the Device interface, select the Logs tab, and click the Refresh button to display the latest device log information.

  • Page 41: Common Error Codes And Description

    AK840 Motion Controller User Manual 9.2 Common Error Codes and Description Name Codes Comment ERR_FAILED 0x0001 Common error ERR_PARAMETER 0x0002 Error parameters Function cannot be executed, since ERR_NOTINITIALIZED 0x0003 component has not been initialized yet. It may work later ERR_VERSION 0x0004 Version conflict ERR_TIMEOUT...
  • Page 42 AK840 Motion Controller User Manual Memory cannot be locked in THIS ERR_MEMORY_LOCK_FAILED 0x0025 operation ERR_LICENSE_MISSING 0x0026 License missing FOR the runtime ERR_OPERATION_DENIED 0x0027 Operation denied ERR_DEVICE 0x0028 Device error ERR_DISK_FULL 0x0029 Disk full ERR_CRC_FAILED 0x0030 Internal use in runtime File error. e.g. cannot open a file FOR ERR_FILE_ERROR 0x0032 writing because it could be write...
  • Page 43 AK840 Motion Controller User Manual ERR_SOCK_HOSTNOTFOUND 0x020B The host has NOT been found ERR_SOCK_HOSTUNREACHAB 0x020C Host is unreachable ERR_SOCK_ISCONNECTED 0x020D Socket is already connected ERR_SOCK_NOTCONNECTED 0x020E The socket is NOT connected ERR_SOCK_SHUTDOWN 0x020F Shutdown has been called on the socket FOR sockets OF TYPE DGRAM.

  • Page 44: Appendix

    AK840 Motion Controller User Manual 10. Appendix 10.1 EXP-BD Model List Model Description Available Slot ID BD20-CAN 1×CANopen EXP1 1×RS485,1×RS232 RS485 support Modbus RTU master/slave and free protocol, supporting up to 31 Modbus BD20-COM RTU slaves. EXP0/EXP1 RS232 support Modbus RTU master/slave protocol, supporting up to 31 Modbus RTU slaves.

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