Kinco CD422 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 CD422/CD432/CD622 Servo Driver......................................................7
1.2.3 Component Names of Servo Motor ..........................................................................................8
1.3 Model Description of Servo Motors and Drivers................................................................................8
1.3.1 Servo Drivers............................................................................................................................8
1.3.3 Power,Brake and Encoder cable of Motors...............................................................................9
Chapter 2 Precautions and Installation Requirements......................................................................................... 10
2.1 Precautions.....................................................................................................................................10
2.2 Environmental Conditions ...............................................................................................................10
Table 2-1 Environmental conditions..................................................................................................................... 10
2.3 Mounting Direction & Spacing.........................................................................................................10
2.3.1 Precautions.............................................................................................................................10
2.3.2 Servo Driver Installation.......................................................................................................... 11
Chapter 3 Interfaces and Wirings of CD Driver ................................................................................................... 13
3.1 Interfaces of CD2 Driver..................................................................................................................13
3.1.1 Interfaces of CD422/432/622..................................................................................................13
3.1.2 Wiring Diagram of CD2 Driver ................................................................................................15
3.1.3 X1 inteface of CD2 Driver.......................................................................................................16
3.1.4 Power Interface of CD2 Driver（CD422/X3、CD432/CD622/X3 and X7）............................17
3.1.5 X5 and X6 Interfaces of CD2 Driver........................................................................................18
3.1.5.1 X5 Interface.................................................................................................................18
3.1.5.2 X6 Interface.................................................................................................................18
3.2 Interfaces of CD Driver....................................................................................................................19
3.2.1 Interfaces of CD420/430/620..................................................................................................19
3.2.2 External Wirings of CD Driver.................................................................................................21
3.2.3 X1 Interface of CD Driver........................................................................................................22
3.2.4 Power Interfaces (CD420/X2, CD430/CD620/X2 and X5) of CD Driver .................................23
3.2.5 X3/X4 Interfaces of CD Driver.................................................................................................24
3.2.5.1 X3 Interface.................................................................................................................24
3.2.5.2 X4 Interface.................................................................................................................24
Chapter 4 Digital Operation Panel....................................................................................................................... 25
4.1 Introduction .....................................................................................................................................25
4.2 Operation on Digital Operation Panel..............................................................................................27
Chapter 5 Motor Selection,Trial Operation and Parameter List........................................................................... 30
5.1 Driver and motor configuration........................................................................................................30
5.2 Trial Operation.................................................................................................................................33
5.2.1 Objective.................................................................................................................................33

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5.2.2 Precautions.............................................................................................................................33
5.2.3 Operating Steps......................................................................................................................34
5.2.4 Diagram of Trial Operation......................................................................................................34
5.3 Description of Parameters...............................................................................................................34
Parameter List: Group F000 (To Set Driver Instructions).................................................................35
Parameter List: Group F001 (To Set Real-Time Display Data) ........................................................36
Parameter List: Group F002 (To Set Control Loop Parameters)......................................................37
Parameter List: Group F003 (To Set Input/Output & Pattern Operation Parameters)......................39
Parameter List: Group F004 (To Set Motor Parameters).................................................................42
Parameter List: Group F005 (To Set Driver Parameters).................................................................44
Chapter 6 Operation on Input/Output Ports......................................................................................................... 46
6.1 Digital Input Signals.........................................................................................................................46
6.1.1 Polarity Control on Digital Input Signals..................................................................................46
6.1.2 Simulation of Digital Input Signals...........................................................................................47
6.1.3 Status Display of Digital Input Signals.....................................................................................48
6.1.4 Addresses & Functions of Digital Input Signals.......................................................................48
6.1.5 Wirings of Digital Input Port ....................................................................................................51
6.2 Digital Output Signals......................................................................................................................52
6.2.1 Polarity Control on Digital Output Signals...............................................................................52
6.2.2 Simulation of Digital Output Signals........................................................................................52
6.2.3 Status Display of Digital Output Signals..................................................................................53
6.2.4 Addresses and Functions of Digital Output Signals ................................................................53
6.2.5 Wiring of Digital Output Port ...................................................................................................54
Chapter 7 Mode Operation.................................................................................................................................. 56
7.1 Pulse Control Mode (“-4” Mode)......................................................................................................56
7.1.1 Wiring in Pulse Control Mode .................................................................................................56
7.1.2 Parameters for Pulse Control Mode........................................................................................58
7.1.3 Examples of Pulse Control Mode............................................................................................63
7.2 Speed Mode (“-3” or “3” Mode)........................................................................................................65
7.2.1 Wiring in Analog –Speed Mode..............................................................................................66
7.2.2 Parameters for Analog –Speed Mode....................................................................................67
7.2.3 Analog Signal Processing.......................................................................................................68
7.2.4 Calculation Procedure for Analog –speed Mode....................................................................69
7.2.5 Examples of Analog –Speed Mode........................................................................................70
7.3 Torque Mode (“4” Mode)..................................................................................................................77
7.3.1 Wiring in Analog –Torque Mode.............................................................................................77
7.3.2 Parameters for Analog –Torque Mode ...................................................................................77
7.3.3 Analog Signal Processing.......................................................................................................79
7.3.4 Calculation Procedure for Analog –Torque Mode...................................................................79
7.3.5 Examples of Analog –Torque Mode .......................................................................................80
7.4 Internal Multi-position Control Modes (“1” Mode)....................................................................84
7.5 Internal Multi-speed Control Modes (“-3” or “3” Mode) ....................................................................87
7.6 Internal Torque Control Mode (“4” Mode) ........................................................................................89
7.7 Homing Mode (“6” Mode) ................................................................................................................89
Chapter 8 Control Performance......................................................................................................................... 102
8.1 Driver Performance Tuning ...........................................................................................................102

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8.1.1 Manual Adjustment ...............................................................................................................102
8.1.2 Auto Adjustment (Only for Velocity Loops)............................................................................106
8.2 Oscillation Inhibition ......................................................................................................................108
Chapter 9 Communication..................................................................................................................................110
9.1 Transport Protocol......................................................................................................................... 110
9.2 Data Protocol .................................................................................................................................111
9.2.1 Download(from Host to Slave)...............................................................................................111
9.2.2 Upload(From Slave to Host) ................................................................................................. 112
Chapter 10 Troubleshooting...............................................................................................................................113
10.1 Alarm Messages.......................................................................................................................... 113
10.2 Alarm Causes & Troubleshooting................................................................................................ 114
Chapter 11 Specification.....................................................................................................................................116
11.1 Servo Drivers and Motors Selection Table................................................................................... 116
11.2 Servo Driver ................................................................................................................................ 117
11.2.1.1 Technical Specification Table for CD422/CD432/CD622 Servo Driver............................ 117
11.2.1.2 Technical Specification Table for CD420/CD430/CD620 Servo Driver............................ 118
11.2.2 Mechanical Dimension Diagram for Servo Driver.............................................................. 119
11.3 Dimensions/Torque Curve/Technical Specifications of Servo Motors ..........................................121
11.3.1 SME/SMH60 SME/SMH80 Servo Motor ...........................................................................121
11.3.2 SMH110 Servo Motor........................................................................................................123
11.3.3 SMH130/150 Servo Motor.................................................................................................126
11.4 Wiring Diagram for Servo Motor Cable........................................................................................128
11.4.1 Wiring Diagram for the Power Cable.................................................................................128
11.4.2 Wiring Diagram for the Encoder Cable..............................................................................130
Chapter12 Appendix.......................................................................................................................................... 132
Appendix One:Selection Table for Brake Resistor...............................................................................132
Appendix Two:Selection Table for Fuse ..............................................................................................132

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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
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 CD422/CD432/CD622 Servo Driver
Fig. 1-4 Component Names of CD422/CD432/CD622 Servo Driver

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1.2.3 Component Names of Servo Motor
Fig. 1-5 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 CD2 Driver
3.1.1 Interfaces of CD422/432/622
Table 3-1 Interfaces of CD422/432/622
Interface
Driver
Symbol
Function
X1
CD422
CD432
CD622
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：5V～24V
PUL-
Pulse or positive pulse
interface (-)
DIR+
Direction or negative pulse
interface (+)
DIR-
Direction or negative pulse

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interface (-)
X2
24VS/GNDS
Logic power supply:24 V ±15% ,>0.5A
24VB/GNDB
Power supply for brake ,DC18~30V 2A
BR+/BR-
Brake interface
X3
CD422
U/V/W/PE
Motor cable interface
L/N
Main power supply（Single-phase AC220V）
RB+/RB-
Braking resistor interface
CD432/CD622
U/V/W/PE
Motor cable interface
X5
CD422
CD432
CD622
RS232
RS232 interface
X6
ENCODER
IN
Encoder cable interface
X7
CD432
CD622
R/S/T
Main power supply （CD432 ：Single phase or 3-phase
AC220V，CD622：3-phase AC380V）
RB+/RB-
Braking resistor interface
DC+/DC-
DC bus power supply(Cannot use together with R/S/T)

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3.1.2 Wiring Diagram of CD2 Driver
Fig.3-1 Wiring diagram of CD2 driver

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3.1.3 X1 inteface of CD2 Driver
Fig.3-2 X1 interface of CD2 driver
Fig.3-3 Wiring diagram of X1 interface of CD2 driver

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3.1.4 Power Interface of CD2 Driver（CD422/X3、CD432/CD622/X3
and X7）
Fig.3-4 Power interface of CD2 driver

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3.1.5 X5 and X6 Interfaces of CD2 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

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3.2 Interfaces of CD Driver
3.2.1 Interfaces of CD420/430/620
Table 3-2 Interfaces of 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 (-)
15
/W
signals of encoder

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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
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(Cannot use together with R/S/T)
-----
CD420
CD430
CD620
SHIELD
Fixed terminal for the shielded wires of motor cables