Kinco CD2S Series User manual

1
Contents
Contents ................................................................................................................................................................... 1
Chapter 1 Product Acceptance & Model Description...............................................................................................4
1.1 Product Acceptance.............................................................................................................................4
1.1.1 Items forAcceptance (Wires Included)..............................................................................4
1.1.2 Nameplate of Servo Driver.................................................................................................4
1.1.3 Nameplate of Servo Motor.................................................................................................5
1.2 Component Names.............................................................................................................................. 5
1.2.1 Component Names of CD2S Servo Driver........................................................................5
1.2.2 Component Names of Servo Motor ................................................................................... 6
1.3 Model Description of Servo Motors and Drivers..................................................................................6
1.3.1 Servo Drivers...................................................................................................................... 6
1.3.3 Power,Brake and Encoder cable of Motors .......................................................................8
Chapter 2 Precautions and Installation Requirements.............................................................................................9
2.1 Precautions..........................................................................................................................................9
2.2 Environmental Conditions....................................................................................................................9
2.3 Mounting Direction & Spacing..............................................................................................................9
2.3.1 Precautions ........................................................................................................................9
2.3.2 Servo Driver Installation...................................................................................................10
Chapter 3 Interfaces and Wiring of CD2S Driver...................................................................................................13
3.1 Interfaces of CD2S Driver..................................................................................................................13
3.1.1 Interfaces.......................................................................................................................... 13
3.1.2 Wiring Diagram...............................................................................................................................15
3.1.3 X1 interface of CD2S Driver...........................................................................................................16
3.1.4 Power Interface X3 of CD2S Driver（CD432S/CD622S X3 and X7）.......................................17
3.1.5 X5 and X6 Interfaces of CD2S Driver............................................................................................. 18
3.1.5.1 X5 Interface...............................................................................................................................18
3.1.5.2 X6 Interface ................................................................................................................18
Chapter 4 Digital Operation Panel.......................................................................................................................... 19
4.1 Introduction ........................................................................................................................................19
4.2 Operation on Digital Operation Panel................................................................................................21
Example 4-1: Set the denominator of electronic gear ratio to 10000 with number system
switching....................................................................................................................................21
Example 4-2: Set the speed to 1000 RPM/-1000 RPM with separate regulation of bits..........22
Chapter 5 Motor Selection,Trial Operation and Parameter List.............................................................................24
5.1 Driver and motor configuration.......................................................................................................... 24
5.2 Trial Operation ...................................................................................................................................27
5.2.1 Objective........................................................................................................................... 27
5.2.2 Precautions ......................................................................................................................27
5.2.3 Operating Steps................................................................................................................28
5.2.4 Diagram of Trial Operation...............................................................................................28
5.3 EASY USE......................................................................................................................................... 28
5.4 Description of Parameters.................................................................................................................34
Chapter 6 Operation on Input/Output Ports ...........................................................................................................46

2
6.1 Digital Input Signals...........................................................................................................................46
6.1.1 Polarity Control on Digital Input Signals...........................................................................46
Example 6-1: Polarity Setting for Digital Input Signal DIN1......................................................47
6.1.2 Simulation of Digital Input Signals ...................................................................................47
Example 6-2: Simulate digital input DIN1 .................................................................................48
6.1.3 Status Display of Digital Input Signals ............................................................................. 48
6.1.4 Addresses & Functions of Digital Input Signals...............................................................48
6.1.5 Multiple electronic gear ratio switch function and multiple gain switch function..............50
Example 6-3: Driver Enable Setting..........................................................................................51
Example 6-4: Disabling Position Positive/Negative Limit Settings...........................................51
Example 6-5: Operation Mode Control on Drivers....................................................................52
6.1.6 Wiring of Digital Input Port ............................................................................................... 52
6.2 Digital Output Signals ........................................................................................................................53
6.2.1 Polarity Control on Digital Output Signals........................................................................ 53
6.2.2 Simulation of Digital Output Signals.................................................................................53
6.2.3 Status Display of Digital Output Signals...........................................................................54
6.2.4Addresses and Functions of Digital Output Signals......................................................... 54
Example 6-6: ―Ready‖ settings..................................................................................................55
6.2.5 Wiring of Digital Output Port.............................................................................................55
Chapter 7 Mode Operation.....................................................................................................................................58
7.1 Pulse Control Mode (―-4‖ Mode) ........................................................................................................58
7.1.1 Wiring in Pulse Control Mode...........................................................................................58
7.1.2 Parameters for Pulse Control Mode.................................................................................59
7.1.3 Examples of Pulse Control Mode..................................................................................... 62
Example 7-1: Pulse control mode ―-4‖ – enable the driver through external digital input ........63
Example 7-2 Pulse control mode ―-4‖ – enable the driver automatically after driver power on64
7.2 Speed Mode (―-3‖ or ―3‖ Mode)..........................................................................................................65
7.2.1 Wiring in Analog –Speed Mode.......................................................................................66
7.2.2 Parameters forAnalog –Speed Mode.............................................................................66
7.2.3 Analog Signal Processing ................................................................................................67
7.2.4 Examples of Analog –Speed Mode.................................................................................67
7.3 Torque Mode (―4‖ Mode) ....................................................................................................................68
7.3.1 Wiring in Analog –Torque Mode......................................................................................68
7.3.2 Parameters forAnalog –Torque Mode............................................................................68
7.3.3 Analog Signal Processing ................................................................................................69
7.3.4 Examples of Analog –Torque Mode................................................................................70
7.4 Internal Multi-position Control Modes (―1‖ Mode) ..............................................................................72
Example7-3: Internal Multi-position control mode.....................................................................73
7.5 Internal Multi-speed Control Modes (―-3‖ or ―3‖ Mode)......................................................................75
Example 7-4: Internal Multi-speed control ................................................................................76
7.7 Homing Mode (―6‖ Mode)...................................................................................................................77
Example 7-5：Using method 7 for homing...............................................................................84
Chapter 8 Control Performance .............................................................................................................................90
8.1 Driver Performance Tuning................................................................................................................90
8.1.1 Manual Adjustment...........................................................................................................90
8.2 Oscillation Inhibition...........................................................................................................................94

3
8.3 Auto reverse ........................................................................................................................95
8.4 Debugging example...........................................................................................................................96
8.4.1 Oscilloscope.....................................................................................................................96
8.4.2 Procedure for Parameter Adjustment...............................................................................97
Chapter 9 Communication....................................................................................................................................103
9.1 Transport Protocol ...........................................................................................................................103
9.2 Data Protocol ...................................................................................................................................104
9.2.1 Download(from Host to Slave).......................................................................................104
9.2.2 Upload(From Slave to Host)...........................................................................................105
Chapter 10 Troubleshooting.................................................................................................................................108
10.1 Alarm Messages ............................................................................................................................108
Table 10-1 Fault codes.........................................................................................................................................108
10.2 Alarm Causes & Troubleshooting..................................................................................................109
Chapter11 Appendix............................................................................................................................................. 110
Appendix 1: Selection Table for Brake Resistor.................................................................................... 110
Appendix 2:Selection Table for Fuse......................................................................................................111

4
Chapter 1 Product Acceptance & Model
Description
1.1 Product Acceptance
1.1.1 Items for Acceptance (Wires Included)
Table 1-1 Product acceptance
Item for Acceptance
Remark
Whether the model of a delivered CD2S
series servo system is consistent with the
specified model
Check the nameplate of a servo motor and
that of a servo driver
Whether the accessories included in the
packing list are complete
Check the packing list
Whether any breakage occurs
Check the external appearance completely
for any losses that are caused by
transportation
Whether any screws are loose
Check for loose screws with a screwdriver
Whether the motor wiring is correct
Purchase motor accessory packages if no
wires are purchased
1.1.2 Nameplate of Servo Driver
Fig. 1-1 Nameplate of a servo driver

5
1.1.3 Nameplate of Servo Motor
Rated power
Rated current
Rated rotation speed
Serial No.
Model
Rated voltage
Rated torque
Insulation class
Protection class
Bar code
Fig. 1-2 Nameplate of a servo motor
1.2 Component Names
1.2.1 Component Names of CD2S Servo Driver

6
Fig. 1-3 Component Names of CD2S Servo Driver
1.2.2 Component Names of Servo Motor
Fig. 1-4 Component names of a servo motor (brakes excluded)
1.3 Model Description of Servo Motors and Drivers
1.3.1 Servo Drivers
1.3.2 Servo Motors

7

8
1.3.3 Power,Brake and Encoder cable of Motors

9
Chapter 2 Precautions and Installation
Requirements
A Kinco CD2S series servo driver is installed on a base. If a driver is not installed properly, some faults may
occur. To avoid this, install the driver by abiding by the following precautions.
2.1 Precautions
1. Tightly fasten the screws that fix the motor;
2. Make sure to tightly fasten all fixed points when fixing the driver;
3. Do not tighten the cables between the driver and the motor/encoder;
4. Use a coupling shaft or expansion sleeve to ensure that both the motor shaft and equipment shaft are
properly centered;
5. Do not mix conductive materials (such as screws and metal filings) or combustible materials (such as oil) into
the servo driver;
6. Avoid the servo driver and servo motor from dropping or striking because they are precision equipment;
7. For safety, do not use any damaged servo driver or any driver with damaged parts.
2.2 Environmental Conditions
Table 2-1 Environmental conditions
Environment
Condition
Temperature
Operating temperature: 0C - 40C (ice free)
Storage temperature: - 10C - 70C (ice free)
Humidity
Operating humidity: below 90% PH (non-condensing)
Storage humidity: below 90% PH (non-condensing)
Air
Indoor (No direct sunlight), no corrosive gas or combustible gas
No oil vapor or dust
Height
Below 1000 m above the sea level
Vibration
5.9 m/s2
2.3 Mounting Direction & Spacing
2.3.1 Precautions
1. To prevent possible faults, install a servo driver in a proper direction;
2. To prevent possible faults, ensure that the space between a servo driver and the inner wall of the control
cabinet as well as that between the servo driver and the neighboring driver are the same as specified space..

10
2.3.2 Servo Driver Installation
1. Installing a servo driver:
Fig. 2-1 Installing a servo driver
2. Installing multiple servo drivers:
Ensure that there is enough space between a servo driver and the inner wall of a control cabinet. Additionally,
install cooling fans at the upper part of the servo driver. To prevent localized overheating of the environmental
temperature on the servo driver, you need to keep an even temperature in the control cabinet.

11
Fig. 2-2 Installing multiple servo drivers
3. Other Cases
Install the servo driver vertically on a wall.
Take fully into account heat dissipation when using any heating components (such as braking resistors) so
that the servo driver is not affected.

12
Fig. 2-3 Installation direction

13
Chapter 3 Interfaces and Wiring of CD2S Driver
3.1 Interfaces of CD2SDriver
3.1.1 Interfaces
Table 3-1 Interfaces of CD412S/CD422S/CD432S/CD622S
Interface
Driver
Symbol
Function
X1
CD412S
CD422S
CD432S
CD622S
COMI
Common terminal of digital inputs
DIN1～DIN7
Digital inputs. Valid signal:12.5V～24V.Invalid signal:<5V
OUT1+
Digital output 1+
OUT1-
Digital output 1-
OUT2+
Digital output 2+
OUT2-
Digital output 2-
OUT3
Digital output 3
OUT4
Digital output 4
COMO
Common terminal of digital outputs
GND
Ground signal
ENCO-Z
Motor encoder output interface
ENCO-/Z
ENCO-B
ENCO-/B
ENCO-A
ENCO-/A
AIN1
Analog signal input 1. Input impedance: 200 K
GNDA
Ground signal of analog
AIN2
Analog signal input 2. Input impedance: 200 K
GNDA
Ground signal of analog
PUL+
Pulse or positive pulse
interface (+)
Input voltage range：3V～24V
PUL-
Pulse or positive pulse
interface (-)
DIR+
Direction or negative pulse
interface (+)
DIR-
Direction or negative pulse

14
interface (-)
X2
24VS/GNDS
Logic power supply:‖18VDC～30VDC 1A‖
24VB/GNDB
Power supply for brake ―18VDC～30VDC 0.5A‖(CD622S 2A)
BR+/BR-
Brake interface
X3
CD412S
CD422S
U/V/W/PE
Motor cable interface
L/N
Main power supply（Single-phase AC220V）
RB+/RB-
Braking resistor interface
X5
CD412S
CD422S
CD432S
CD622S
RS232
RS232 interface
X6
ENCODER
IN
Encoder cable interface
X7
CD432S
CD622S
R/S/T
Main power supply（CD432S：Single phase or 3-phase
AC220V，CD622S：3-phase AC380V）
RB+/RB-
Braking resistor interface
DC+/DC-
DC bus power supply(Cannot use together with R/S/T)

15
3.1.2 Wiring Diagram
Fig.3-1 Wiring diagram of CD2S driver

16
3.1.3 X1 interface of CD2S Driver
Fig.3-2 X1 interface
Fig.3-3 Wiring diagram of X1 interface

17
3.1.4 Power Interface X3 of CD2S Driver（CD432S/CD622S X3 and
X7）
Fig.3-4 Power interface of CD2S driver
CD412S/422S(AC220V)
CD432S(AC220V)
CD622S(AC380V)

18
3.1.5 X5 and X6 Interfaces of CD2S Driver
3.1.5.1 X5 Interface
3.1.5.2 X6 Interface
Interface
Pin
No.
Signal
Description
Function
X5
(9-pin female
connector)
1
NC
N/A
RS232
communication
interface
2
TX
To transmit data
3
RX
To receive data
4
NC
N/A
5
GND
Ground of signal
6
NC
N/A
7
NC
N/A
8
NC
N/A
9
NC
N/A
Interface
Pin
No.
Signal
Description
Function
X6
(15-pin female
connector)
1
+5V
To output 5 V voltage
Input
interface of
encoder in
motor
9
GND
0 V
8
PTC_IN
N/A
2
A
To input phase-A signals
of encoder
10
/A
3
B
To input phase-B signals
of encoder
11
/B
4
Z
To input phase-Z signals
of encoder
12
/Z
5
U
To input phase-U
signals of encoder
13
/U
6
V
To input phase-V signals
of encoder
14
/V
7
W
To input phase-W

19
Chapter 4 Digital Operation Panel
4.1 Introduction
A digital operation panel functions to set user parameters in a servo driver, execute instructions, or display
parameters. Table 4-1 describes all display contents and functions of the digital operation panel.
Table 4-1 Display contents and functions of a digital operation panel
Number/
Point/Key
Function
①
Indicates whether data is positive or negative. If it is on, it indicates negative; otherwise it indicates
positive.
②
1. Distinguishes the current object group and the address data in this object group during
parameter settings.
2. Indicates the higher 16 bits of the current 32-bit data when internal 32-bit data is displayed in
15
/W
signals of encoder

20
real time.
3. Indicates the earliest error when history records of errors (F007) are displayed.
③
1. Indicates a data display format when parameters are displayed and adjusted in real time. If it is
on, it indicates the data is displayed in hexadecimal; otherwise it indicates the data is displayed
in decimal.
2. Indicates the latest error when the history records of errors (F007) are displayed.
④
1. If it is on, it indicates that internal data is currently displayed.
2. If it flickers, it indicates that the power part of the driver is in the working status.
MODE
1. Switches basic menus.
2. During the adjustment of parameters, short presses the key to move the bit to be adjusted, and
long presses the key to return to the previous state.
▲
Presses ▲ to increase set values; long presses ▲ to increase numbers promptly.
▼
Presses ▼ to decrease set values; long presses ▼ to decrease numbers promptly.
ENTER
1. Enters the selected menu by pressing this key.
2. Keeps current parameters in the enabled status.
3. Confirms input parameters after parameters are set.
4. Long presses this key to switch to higher/lower 16 bits when internal 32-bit data is displayed in
real time.
P..L
Activates position positive limit signals.
n..L
Activates position negative limit signals.
Pn.L
Activates position positive/negative limit signals.
Overall
Flicking
Indicates that an error occurs on the driver, and is in the alarm state.
If the parameter adjusting display mode is featured by the decimal system:
When the units place is flickering, press ▲ to add 1 to the current value; press ▼ to deduct 1 from the
current value. When the tens place is flickering, press ▲ to add 10 to the current value; press ▼ to deduct 10
from the current value. When the hundreds place is flickering, press ▲ to add 100 to the current value; press ▼
to deduct 100 from the current value. When the thousands place is flickering, press ▲ to add 1000 to the current
value; press ▼ to deduct 1000 from the current value.
If the parameter adjusting display mode is featured by the hexadecimal system:
When the units place is flickering, press ▲ to add 1 to the current value; press ▼ to deduct 1 from the
current value. When the tens place is flickering, press ▲ to add 0X10 to the current value; press ▼ to deduct
0X10 from the current value. When the hundreds place is flickering, press ▲ to add 0X100 to the current value;
press ▼ to deduct 0X100 from the current value. When the thousands place is flickering, press ▲ to add 0X1000
to the current value; press ▼ to deduct 0X1000 from the current value.
When adjusting decimal parameters, the display mode is automatically switched to the hexadecimal system
if the data is greater than 9999 or less than -9999. In this case, the 3rd decimal point from left to right is
highlighted.