Kinco CD420 User manual

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Contents
Chapter 1 Product Acceptance & Model Description............................................................................................. 4
1.1 Product Acceptance ..........................................................................................................................4
1.1.1 Items for Acceptance (Wires Included) ............................................................................4
1.1.2 Nameplate of Servo Driver...............................................................................................4
1.1.3 Nameplate of Servo Motor...............................................................................................5
1.2 Component Names...........................................................................................................................6
1.2.1 Component Names of CD420/CD430/CD620 Servo Driver.............................................6
1.2.2 Component Names of Servo Motor..................................................................................7
1.3 Model Description of Servo Motors and Drivers................................................................................7
1.3.1 Servo Drivers...................................................................................................................7
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 Wirings of CD Driver ................................................................................................... 12
3.1 Interfaces of CD Driver....................................................................................................................12
3.2 External Wirings of CD Driver .........................................................................................................14
3.3 X1 Interface of CD Driver................................................................................................................15
3.4 Power Interfaces (CD420/X2, CD430/CD620/X2 and X5) of CD Driver..........................................16
3.5 X3/X4 Interfaces of CD Driver.........................................................................................................17
3.5.1 X3 Interface....................................................................................................................17
3.5.2 X4 Interface....................................................................................................................17
Chapter 4 Digital Operation Panel....................................................................................................................... 18
4.1 Introduction .....................................................................................................................................18
4.2 Operation on Digital Operation Panel..............................................................................................20
Example 4-1: Set the denominator of electronic gear ratio to 10000 with number system
switching.................................................................................................................................20
Example 4-2: Set the speed to 1000 RPM/-1000 RPM with separate regulation of bits .........21
Chapter 5 Trial Operation & Parameter Introduction ........................................................................................... 23
5.1 Trial Operation.................................................................................................................................23
5.1.1 Objective........................................................................................................................23
5.1.2 Precautions....................................................................................................................23
5.1.3 Operating Steps.............................................................................................................23
5.1.4 Diagram of Trial Operation.............................................................................................24
5.1.1 Diagram of trial operation........................................................................................................................... 24
5.2 Description of Parameters...............................................................................................................25
Parameter List: Group F000 (To Set Driver Instructions)........................................................25
Parameter List: Group F001 (To Set Real-Time Display Data) ...............................................27
Parameter List: Group F002 (To Set Control Loop Parameters).............................................28
Parameter List: Group F003 (To Set Input/Output & Pattern Operation Parameters) .............30

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Parameter List: Group F004 (To Set Motor Parameters) ........................................................33
Parameter List: Group F005 (To Set Driver Parameters)........................................................34
Chapter 6 Operation on Input/Output Ports......................................................................................................... 35
6.1 Digital Input Signals..........................................................................................................35
6.1.1 Polarity Control on Digital Input Signals.........................................................................35
Example 6-1: Polarity Setting for Digital Input Signal DIN1.....................................................36
6.1.2 Simulation of Digital Input Signals..................................................................................36
Example 6-2: Analog-to-Digital Output Port: DIN1..................................................................37
6.1.3 Status Display of Digital Input Signals ...........................................................................37
Example 6-3: Driver Enable Setting........................................................................................39
Example 6-4: Disabling Position Positive/Negative Limit Settings ..........................................39
Example 6-5: Operation Mode Control on Drivers ..................................................................40
6.1.5 Wirings of Digital Input Port............................................................................................40
6.2 Digital Output Signals......................................................................................................................41
6.2.1 Polarity Control on Digital Output Signals......................................................................41
6.2.2 Simulation of Digital Output Signals...............................................................................41
6.2.3 Status Display of Digital Output Signals.........................................................................42
6.2.4 Addresses and Functions of Digital Output Signals .......................................................42
Example 6-6: ―Ready‖ settings................................................................................................43
6.2.5 Wiring at the Digital Output Port.....................................................................................43
Chapter 7 Mode Operation.................................................................................................................................. 45
7.1 Pulse Control Mode (―-4‖ Mode)......................................................................................................45
7.1.1 Wiring in Pulse Control Mode.........................................................................................45
7.1.2 Parameters for Pulse Control Mode...............................................................................46
7.1.3 Examples of Pulse Control Mode...................................................................................49
Example 7-1: Pulse control mode ―-4‖ –enable the driver through external digital input........49
Example 7-2 Pulse control mode ―-4‖ –enable the driver automatically after driver power on50
7.2 Speed Mode (―-3‖ or ―3‖ Mode) .......................................................................................................51
7.2.1 Wiring in Analog –Speed Mode.....................................................................................52
7.2.2 Parameters for Analog –Speed Mode...........................................................................52
7.2.3 Analog Signal Processing ..............................................................................................53
7.2.4 Calculation Procedure for Analog –speed Mode...........................................................54
7.2.5 Examples of Analog –Speed Mode...............................................................................55
Example 7-3: Analog –speed mode (without setting the dead zone voltage and offset voltage)
................................................................................................................................................55
Example 7-4 Analog –speed mode (setting the dead zone voltage)......................................57
Example 7-5 Analog –speed mode (setting the offset voltage)..............................................59
Example 7-6: Analog –speed mode (setting the dead zone voltage and offset voltage)........60
7.3 Torque Mode (―4‖ Mode)..................................................................................................................62
7.3.1 Wiring in Analog –Torque Mode....................................................................................62
7.3.2 Parameters for Analog –Torque Mode ..........................................................................62
7.3.3 Analog Signal Processing ..............................................................................................63
7.3.4 Calculation Procedure for Analog –Torque Mode..........................................................64
7.3.5 Examples of Analog –Torque Mode ..............................................................................64
Example 7-7: Analog –torque mode (without setting the dead zone voltage and offset voltage)
................................................................................................................................................65

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Example 7-8: Analog –torque mode (setting the dead zone voltage and offset voltage)........67
7.4 Internal Multi-position Control Modes (―1‖ Mode) ............................................................................68
Example7-9: Internal multi-position control mode...................................................................69
7.5 Internal Multi-speed Control Modes (―-3‖ or ―3‖ Mode) ....................................................................71
Example 7-10: Internal multi-speed control.............................................................................72
7.6 Internal Torque Control Mode (―4‖ Mode) ........................................................................................73
7.7 Homing Mode (―6‖ Mode) ................................................................................................................73
Example 7-11：Using method 7 for homing. ..........................................................................80
Chapter 8 Control Performance........................................................................................................................... 86
8.1 Driver Performance Tuning .............................................................................................................86
8.1.1 Manual Adjustment ........................................................................................................86
8.1.2 Auto Adjustment (Only for Velocity Loops).....................................................................90
8.2 Oscillation Inhibition ........................................................................................................................92
Chapter 9 Communication................................................................................................................................... 94
Fig. 9-1 Communication cables between a PC and a servo driver...................................................................... 94
9.1 Transport Protocol...........................................................................................................................94
9.2 Data Protocol ..................................................................................................................................95
9.2.1 Download(from Host to Slave).......................................................................................95
9.2.2 Upload(From Slave to Host) ..........................................................................................96
Chapter 10 Troubleshooting................................................................................................................................ 97
10.1 Alarm Messages............................................................................................................................97
10.2 Alarm Causes & Troubleshooting..................................................................................................98
Chapter 11 Specification...................................................................................................................................... 99
11.1 Servo Drivers and Motors Selection Table.....................................................................................99
11.2 Servo Driver ................................................................................................................................100
11.2.1 Technical Specification Table for Servo Driver............................................................100
11.2.2 Mechanical Dimension Diagram for Servo Driver.......................................................101
11.3 Dimensions/Torque Curve/Technical Specifications of Servo Motors..........................................102
11.3.1 SMH60 Servo Motor...................................................................................................102
11.3.2 SMH80 Servo Motor...................................................................................................103
11.3.3 SMH110 Servo Motor.................................................................................................104
11.4 Wiring Diagram for Servo Motor Cable........................................................................................106
11.4.1 Wiring Diagram for the Power Cable..........................................................................106
11.4.2 Wiring Diagram for the Encoder Cable.......................................................................107
Chapter Appendix.............................................................................................................................................. 108
Appendix One:Selection Table for Brake Resistor...............................................................................108
Appendix Two:Selection Table for Fuse ..............................................................................................108

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Chapter 1 Product Acceptance & Model
Description
1.1 Product Acceptance
1.1.1 Items for Acceptance (Wires Included)
Table 1-1 Product acceptance
Item for Acceptance
Remark
Whether the model of a delivered CD series
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
wirings are purchased
1.1.2 Nameplate of Servo Driver
AC input
Voltage specification
Current specification
Serial No.
Model
AC output
Output
specification
Output power
Bar code
Fig. 1-1 Nameplate of a servo driver

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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

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1.2 Component Names
1.2.1 Component Names of CD420/CD430/CD620 Servo Driver
Fig. 1-3 Component Names of CD420/CD430/CD620 Servo Driver

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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

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1.3.3 Power,Brake and Encoder cable of Motors

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Chapter 2 Precautions and Installation
Requirements
A Kinco CD series servo driver is installed on a base. If a driver is not installed properly, some faults may
occur. To avoid this, install the driver by abiding by the following precautions.
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..

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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.
Fig. 2-2 Installing multiple servo drivers
3. Other Cases

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

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Chapter 3 Interfaces and Wirings of CD Driver
3.1 Interfaces of CD Driver
Table 3-1 Interfaces of a CD driver
Interface
Applicable
Driver
Symbol
Function
X1
CD420
CD430
CD620
A
24VS
External logic power (24 V +/- 15%) interface with a minimum
of 0.5 A current output
GNDS
COMI
Common port of digital input signals
DIN1
Digital input interface
Valid signal: 12.5 V ~ 24 V
Invalid signal: less than 5 V
DIN2
DIN3
DIN4
DIN5
DIN6
DIN7
PUL+
Pulse or positive pulse
interface (+)
Input voltage range: 3 V to 5 V
If the input voltage is 24 V, the
interface is cascaded to the 2K
resistance.
PUL-
Pulse or positive pulse
interface (-)
DIR+
Direction or negative
pulse interface (+)
DIR-
Direction or negative
pulse interface (-)
B
GNDA
Analog signal ground
AIN1
Analog signal input interface 1. Input impedance: 200 K
AIN2
Analog signal input interface 2. Input impedance: 200 K
GNDA
Analog signal ground
OUT1+
Digital output
interface 1+
Maximum output current: 100 mA
Withstanding voltage:24V
OUT1-
Digital output
interface 1-
OUT2+
Digital output
interface 2+
OUT2-
Digital output
interface 2-
OUT3
Digital output
interface 3
OUT4
Digital output
interface 4
24VO
Power input port of digital output signals 5
COMO
Common port of digital output signals

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OUT5+
Digital output
interface 5+
Maximum output current: 800 mA
OUT5-
Digital output
interface 5-
X2
CD420
U/V/W/PE
Power cable interface of a motor
L/N
Main power interface (single-phase 220 VAC)
RB+/RB-
Braking resistor interface
CD430
CD620
U/V/W/PE
Power cable interface of a motor
X3
CD420
CD430
CD620
ENCODER OUT
Signal output interface of a motor encoder
RS232
RS232 interface that communicates with a host PC or
controller
X4
CD420
CD430
CD620
ENCODER IN
Encoder interface of a motor
X5
CD430
CD620
R/S/T
Main power interface (single-phase or three-phase AC 220V
for CD430 and three-phase AC 380 V for CD620)
RB+/RB-
Braking resistor interface
DC+/DC-
DC bus interface
-----
CD420
CD430
CD620
SHIELD
Fixed terminal for the shielded wires of motor cables

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3.2 External Wirings of CD Driver
Power supply
(L) RST (N)
Surge controller
AC reactor
CD420 (single phase)
CD430 (single phase/
three phases)
CD620 (three phases)
Circuit breaker
Noise filter
Electromagnetic contactor
Protective tube
Host computer
Communication control
Encoder output
Numeric display
Numeric display key
Logic power, I/O control
Encoder line
Power line
Shielded wiring terminal
Braking resistor
DC bus
Note: For the CD420/CD430/CD620, all interfaces are the same except for X2 and X5 power
interfaces. For details, see Figure 3-4.
Fig. 3-1 External wirings of a CD driver

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3.3 X1 Interface of CD Driver
Fig. 3-2 X1 interface of a CD driver
Fig. 3-3 Wirings of the X1 interface of a CD driver

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3.4 Power Interfaces (CD420/X2, CD430/CD620/X2 and X5) of CD Driver
Fig. 3-4 Power interfaces of a CD driver

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3.5 X3/X4 Interfaces of CD Driver
3.5.1 X3 Interface
3.5.2 X4 Interface
Interface
Pin
No.
Signal
Description
Function
X3
(9-pin
female
connector)
1
RXD
To receive data
RS232
communication
interface
5
TXD
To transmit data
6
GND
Ground of signal
2
A
To output phase-A
signal of encoder
Output
interface of
encoder in
motor
7
/A
3
B
To output phase-B
signal of encoder
8
/B
4
N
To output index
signal(Z signal) of
encoder
9
/N
Interface
Pin No.
Signal
Description
Function
X4
(15-pin
female
connector)
1
+5V
To output 5 V voltage
Input
interface of
encoder in
motor
9
GND
0 V
8
NC
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
N
To input phase-Z signals
of encoder
12
/N
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 signals
of encoder
15
/W

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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
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.

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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.

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4.2 Operation on Digital Operation Panel
Power ON Press MODE
Switching of basic menus
Parameter display (current speed is
displayed by default)
Press
Press
Press
Press
Press
Press
Press
Press
Press
Press
Press
Press
Press
Press
Press
Press
Press
Set driver instructions
Set real-time display of data
Set control loop parameters
Settings
I/O parameters
Mode operation parameters
Set motor parameters
Set driver parameters
Trial operation
Check wrong history records
Loop
Fig. 4-1 Operation on a digital operation panel
Note: If a non real-time display interface is displayed for the control panel, and no key operation occurs, the
real-time display interface is automatically skipped after 20 seconds to avoid misoperation.
Example 4-1: Set the denominator of electronic gear ratio to 10000 with
number system switching
1. Press MODE. The main menu is displayed. Choose F003.