Kinco JD Series User manual

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Kinco JD Series Servo User Manual
Content
Chapter 1 Product Acceptance & Model Description. ...............................................................................5
1.1 Product Acceptance.........................................................................................................................5
1.1.1 Items for Acceptance (Wires Included). ....................................................................................5
1.1.2 Nameplate of Servo Driver........................................................................................................5
1.1.3 Nameplate of Servo Motor ........................................................................................................6
1.2 Component Names..........................................................................................................................7
1.2.1 Component Names of JD Series Servo Driver. ........................................................................7
1.2.2 Component Names of Servo Motor. .........................................................................................8
1.3 Model Description of Servo Motors and Drivers. .............................................................................8
1.3.1 Servo Drivers.............................................................................................................................8
1.3.2 Servo Motors.............................................................................................................................8
1.3.3 Power,Brake and Encoder cable of Motors . .............................................................................9
Chapter 2 Precautions and Installation Requirements. ...........................................................................1 0
2.1 Precautions....................................................................................................................................1 0
2.2 Environmental Conditions..............................................................................................................1 0
2.3 Mounting Direction & Spacing........................................................................................................1 0
Chapter 3 Interfaces and Wirings of JD Driver. ......................................................................................1 2
3.1 Interfaces of JD Driver...................................................................................................................1 2
3.2 External Wirings of JD Driver.........................................................................................................1 3
3.3 I/O Interface of JD Driver...............................................................................................................1 4
3.4 X9 Interface(STO) of JD Servo......................................................................................................1 5
3.4.1 Overview .................................................................................................................................1 5
3.4.2 Interface Descriptions...........................................................................................................1 5
3.4.3 STO Function Descriptions...................................................................................................1 5
3.5 X1～X6 Interface of JD Driver........................................................................................................16
3.5.1 X1 Interface（Encoder out）................................................................................................17
3.5.2 X2 Interface（RS485）........................................................................................................17
3.5.3 X3 Interface（RS232）........................................................................................................17
3.5.4 X4 Interface (CAN) ...............................................................................................................1 8
3.5.5 X5 Interface (Master Encoder). ............................................................................................1 8
3.5.6 X6 Interface (Encoder in)......................................................................................................1 9
Chapter 4 Digital Operation Panel...........................................................................................................2 0
4.1 Introduction....................................................................................................................................2 0
4.2 Operation on Digital Operation Panel . ..........................................................................................2 2
Chapter 5 JD-PC Software Introductions.................................................................................................2 4
5.1 Software Installation.......................................................................................................................2 4
5.2 Quick Start.....................................................................................................................................2 4
5.2.1 Hardware Configuration for Running JD-PC . .........................................................................2 4
5.2.2 JD-PC Software Online...........................................................................................................2 4

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Kinco JD Series Servo User Manual
5.3 Menu Introductions .......................................................................................................................27
5.4 Driver Control................................................................................................................................28
5.4.1 Basic Operate.........................................................................................................................28
5.4.2 Control Loop........................................................................................................................29
5.4.3 I/O Port...................................................................................................................................30
5.4.4 Operation Mode......................................................................................................................32
5.4.5 Data Object ............................................................................................................................33
5.4.6 Driver Config ..........................................................................................................................34
5.4.7 ECAN Setting（CANopen PDO Setting）..............................................................................35
5.4.8 Oscilloscope...........................................................................................................................36
5.4.9 Error Control...........................................................................................................................41
5.4.10 Error History.........................................................................................................................42
5.4.11 Control Panel........................................................................................................................42
5.4.12 Initialize/Save.......................................................................................................................42
5.4.13 Driver Property.....................................................................................................................43
Chapter 6 Motor Selection,Trial Operation and Parameter List..............................................................44
6.1 Driver and motor configuration......................................................................................................44
6.1.1 Configuration Table for JD Servo Driver and Motor................................................................44
6.1.2 Procedure for Motor configuration..........................................................................................45
6.2 Trial Operation ..............................................................................................................................47
6.2.1 Objective ................................................................................................................................47
6.2.2 Precautions ............................................................................................................................47
6.2.3 Operating Procedure..............................................................................................................47
6.2.4 Diagram of Trial Operation .....................................................................................................48
6.3 Descriptions of Parameters...........................................................................................................48
Parameter List: Group F000 (To Set Driver Instructions).................................................................48
Parameter List: Group F001 (To Set Real-Time Display Data)........................................................49
Parameter List: Group F002 (To Set Control Loop Parameters) .....................................................51
Parameter List: Group F003 (To Set Input/Output & Pattern Operation Parameters)......................53
Parameter List: Group F004 (To Set Motor Parameters).................................................................56
Parameter List: Group F005 (To Set Driver Parameters) ................................................................58
Chapter 7 Operation on Input/Output Ports............................................................................................61
7.1 Digital Input...................................................................................................................................61
7.1.1 Polarity Control on Digital Input Signals.................................................................................61
7.1.2 Simulation of Digital Input Signals..........................................................................................62
7.1.3 Status Display of Digital Input Signals....................................................................................63
7.1.4 Addresses & Functions of Digital Input Signals......................................................................63
7.1.5 Wirings of Digital Input Port....................................................................................................67
7.2 Digital Output................................................................................................................................68
7.2.1 Polarity Control on Digital Output Signals ..............................................................................68
7.2.2 Simulation of Digital Output Signals（More details please refer to 7.1.2）............................69
7.2.3 Status Display of Digital Output Signals.................................................................................69
7.2.4 Addresses and Functions of Digital Output Signals................................................................69
7.2.5 Wiring of Digital Output Port...................................................................................................70

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Kinco JD Series Servo User Manual
Chapter 8 Operation Mode.....................................................................................................................74
8.1 Position mode（Mode 1）............................................................................................................74
8.2 Speed Mode（Mode -3 or 3）......................................................................................................74
8.3 Master-slave mode（Mode -4）...................................................................................................75
8.4 Torque Mode（Mode 4）..............................................................................................................75
8.5 Homing mode（Mode 6）............................................................................................................76
8.6 Driver Status Display.....................................................................................................................77
Chapter 9 Control Performance..............................................................................................................78
9.1 Auto Reverse ................................................................................................................................78
9.2 Driver Performance Tuning...........................................................................................................79
9.2.1 Manual Adjustment.................................................................................................................79
9.2.2 Auto Adjustment (Only for Velocity Loops)...........................................................................82
9.3 Oscillation Inhibition......................................................................................................................84
9.4 Debugging Example......................................................................................................................85
9.4.1 Oscilloscope...........................................................................................................................85
9.4.2 Procedure for Parameter Adjustment.....................................................................................87
Chapter 10 Communication....................................................................................................................93
10.1 RS232 Communication...............................................................................................................93
10.1.1 RS232 Communication Interface..........................................................................................93
10.1.2 RS232 Communication Parameters.....................................................................................93
10.1.3 Transport Protocol................................................................................................................94
10.1.3.1 Data Protocol.....................................................................................................................95
10.1.4 RS232 Communication Address of Servo Parameters.........................................................96
10.2 RS485 Communication...............................................................................................................96
10.2.1 RS485 Communication Interface..........................................................................................97
10.2.2 RS485 Communication Parameters.....................................................................................97
10.2.3 MODBUS RTU.....................................................................................................................97
10.2.4 RS485 Communication Address of Servo Parameters.........................................................99
10.3 CANopen Communication ..........................................................................................................99
10.3.1 Hardware Introduction........................................................................................................100
10.3.2 Software Introduction .........................................................................................................101
10.3.1.1 EDS.................................................................................................................................101
10.3.1.2 SDO ................................................................................................................................101
10.3.1.3 PDO ................................................................................................................................101
10.3.3 CANopen Communication Parameters ..............................................................................105
10.3.4 CANopen Communication Address of Servo Parameters ..................................................105
Chapter 11Alarm and Troubleshooting ................................................................................................106
11.1 Alarm Messages........................................................................................................................106
Table 11-1 Fault codes .........................................................................................................................106
11.2 Alarm Causes & Troubleshooting..............................................................................................107
Chapter 12 Appendix............................................................................................................................108

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Kinco JD Series Servo User Manual
Appendix 1:Example for CANopen Communication .........................................................................108
Appendix 2:Example for RS485 Communication..............................................................................117
Appendix 3:Example for RS232 Communication..............................................................................122
Appendix 4：Master-Slave Example ................................................................................................124
Appendix 5:Homing method..............................................................................................................129
Appendix 6：Use JD-PC software to import and export driver parameters......................................134
Appendix 6：Conversion between engineering unit and internal unit of common objects................138
Appendix 8：Common Objects List..................................................................................................139
Appendix 9：Selection for Brake Resistor........................................................................................146
Appendix 10：Selection for Fuse .....................................................................................................147

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Kinco JD Series Servo User Manual
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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Kinco JD Series Servo User Manual
1.1.3 Nameplate of Servo Motor
Fig. 1-2 Nameplate of a servo motor

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Kinco JD Series Servo User Manual
1.2 Component Names
1.2.1 Component Names of JD Series Servo Driver
Fig. 1-3 Component Names of JD Series Servo Driver

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Kinco JD Series Servo User Manual
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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Kinco JD Series Servo User Manual
1.3.3 Power,Brake and Encoder cable of Motors

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Kinco JD Series Servo User Manual
Chapter 2 Precautions and Installation
Requirements
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;
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
Please install the servo driver correctly according to following figure,or it will cause faults.
The servo driver should be vertically installed on wall.Take fully into account heat dissipation when using
any heating components (such as braking resistors) so that the servo driver is not affected.

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Kinco JD Series Servo User Manual
Fig. 2-1 Installing a servo driver

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Kinco JD Series Servo User Manual
Chapter 3 Interfaces and Wirings of JD Driver
3.1 Interfaces of JD Driver
Table 3-1 Interfaces of a JD driver
Interface
Applicable
Driver
Symbol
Function
X1
JD430,JD620
ENCODER OUT
Encouder output interface
X2
JD430,JD620
RS485
RS485 interface
X3
JD430,JD620
RS232
RS232 interface，
X4
JD430,JD620
CAN
CAN bus interface
X5
JD430,JD620
MASTER
ENCODER
Encoder input,pulse/direction input
X6
JD430,JD620
ENCODER IN
Motor encoder input
X7
JD430,JD620
A
24VS
External logic power (24 V +/- 15%) interface with a
minimum of 0.5 A current output
GNDS
COMI1
Common port of digital input signals
DIN1
Digital input interface
Valid signal：12.5V～24V
Invalid signal：less than 5V
DIN2
DIN3
DIN4
COMI2
DIN5
DIN6
DIN7
DIN8
OUT7+
Maximum output current：100mA
Maximum voltage：24V
OUT7-
B
GA
Gound signal of analog input
AIN1
Analog signal input interface 1. Input impedance: 200 K
AIN2
Analog signal input interface 2. Input impedance: 200 K
OUT1+
Digital output
interface 1+
Maximum output current：100mA
Maximum voltage：24V
OUT1-
Digital output
interface 1-
OUT2+
Digital output
interface 2+
Maximum output current：100mA,
Maximum voltage：24V
OUT2-
Digital output
interface 2-
OUT3
Digital output
Maximum output current：500mA,

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Kinco JD Series Servo User Manual
interface 3
Maximum voltage：24V
OUT4
Digital output
interface 4
Maximum output current：500mA,
Maximum voltage：24V
OUT5
Digital output
interface 5
Maximum output current：500mA,
Maximum voltage：24V
24VO
Power input of digital output signals
COMO
Common terminal of digital output signals
OUT6+
Digital output
interface 6+
Maximum output current： 500mA， mainly
used for motor brake
OUT6-
Digital output
interface 6-
X8
JD430,JD620
U/V/W/PE
Power cable interface of motor
X9
JD430,JD620
STO
Safty interface（STO）
X10
JD430,JD620
R/S/T;RB+/RB-;DC
+/DC-
Main power interface （220VAC ） ； Power circuit
interface,DC bus circuit interface
3.2 External Wirings of JD Driver
Fig. 3-1 External wirings diagram of JD driver
Power
supply
DC 24V

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Kinco JD Series Servo User Manual
3.3 I/O Interface of JD Driver
Fig. 3-2 I/O interface of JD driver
Fig. 3-3 Wirings of the I/O interface of JD driver

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Kinco JD Series Servo User Manual
3.4 X9 Interface(STO) of JD Servo
3.4.1 Overview
STO（safety torque off）function is used to force to close the signal of internal power
circuit in servo driver,so that it can cut off the motor’s current to cut off the output torque
of motor for safty.
JD series servo provide two channels of STO input signal control.The driver will cut off
the motor’s current and motor output torque when one of the STO signals is valid.
If users don’t want to use this function,please refer to 3.4.3 to forbid STO function,or the driver will
appear alarm 200.0.
3.4.2 Interface Descriptions
3.4.3 STO Function Descriptions
STO function forbidden:
Fig. 3-4 STO function forbidden of JD Servo
Note:When it need to forbid STO function,please use the short-circuit plates with the servo driver to
short-circuit the terminal as shown in Fig.3-4.
Name
Signal
Descriptions
STO
+24V
DC 24V power input
STOA+
STO function enable inputA
STOA-
STOB+
STO function enable input B
STOB-
GND
Signal ground

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Kinco JD Series Servo User Manual
In order to realize the safty function of driver,STO interface can be used to connect to safty
controllers,safty switches,safty sensors and so on.
Fig.3-5 Connection diagram between STO interface and safty controller
3.5 X1～X6 Interface of JD Driver
X1～X6 interface of JD driver use D-SUB connector.The styles of different D-SUB connectors are
shown in following figure.
Fig.3-6 D-SUB connector diagram of driver

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Kinco JD Series Servo User Manual
3.5.1 X1 Interface（Encoder out）
3.5.2 X2 Interface（RS485）
3.5.3 X3 Interface（RS232）
Name
Pin
Signal
Descriptions
Function
Encoder out
（9-Pin female）
1
+5V
Power
Encodder
output
5
Z2
Open collector output
signal of encoder
6
GND
Signal ground
2
A
To output A phase
signal of encoder
7
/A
3
B
To output B phase
signal of encoder
8
/B
4
Z
To output index Z
signal of encoder
9
/Z
Name
Pin
Signal
Descriptions
Function
RS485
（9-Pin female）
1
NC
N/A
RS485
interface
5
GND
Signal ground
6
+5V
Power
2
RX
Receive data
7
/RX
3
TX
Send data
8
/TX
4
NC
N/A
9
NC
Name
Pin
Signal
Descriptions
Function
RS232
（9-Pin female）
1
NC
N/A
RS232
interface
2
TX
Send data
3
RX
Receive data
4
NC
N/A
5
GND
Signal ground
6
NC
N/A
7
NC
8
NC
N/A
9
NC

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Kinco JD Series Servo User Manual
3.5.4 X4 Interface (CAN)
3.5.5 X5 Interface (Master Encoder)
Name
Pin
Signal
Descriptions
Function
CAN
（9-Pin male）
1
NC
CAN bus
interface
5
NC
6
NC
2
CAN_L
CAN_L
7
CAN_H
CAN_H
3
GND
Signal ground
8
NC
4
NC
9
NC
Name
Pin
Signal
Descriptions
Function
Master Encoder
（Triple rows
15-Pin female）
4
Pul+/A1+/CW+
Pulse,A1 signal of encoder
input.
Support orthogonal pulse
signal input 输入
Master
encoder
input/pulse
input
5
Pul-/A1-/CW-
10
Dir+/B1+/CCW+
Pulse,B1 signal of encoder
input.
Support orthogonal pulse
signal input 输入
15
DIR-/B1-/CCW-
9
Z1
Z1 phase signal of encoder
input
14
/Z1
1
+5V
Power supply
2
GND
Signal ground
3
NA
N/A
8
A
A phase of encoder input
13
/A
7
B
B phase of encoder input
12
/B
6
Z
Z phase of encoder input
11
/Z

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Kinco JD Series Servo User Manual
3.5.6 X6 Interface (Encoder in)
Name
Pin
Signal
Descriptions
Function
Encoder in
（Double
rows
15-Pin
female）
1
+5V
5V output
Motor
encoder
input
9
GND
0V
8
PTC_IN
PTC of motor input
2
A
A phase of encoder
input
10
/A
3
B
B phase of encoder
input
11
/B
4
Z
Z phase of encoder
input
12
/Z
5
U
U phase of encoder
input
13
/U
6
V
V phase of encoder
input
14
/V
7
W
W phase of encoder
input
15
/W

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Kinco JD Series Servo User Manual
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
Distinguishes the current object group and the address data in this object group during
parameter settings.
Indicates the higher 16 bits of the current 32-bit data when internal 32-bit data is displayed
in real time.
Indicates the earliest error when history records of errors (F007) are displayed.
③
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.
Indicates the latest error when the history records of errors (F007) are displayed.
④
If it is on, it indicates that internal data is currently displayed.
If it flickers, it indicates that the power part of the driver is in the working status.
MODE
Switches basic menus.
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
Enters the selected menu by pressing this key.
Keeps current parameters in the enabled status.
Confirms input parameters after parameters are set.
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.