Motion iWMC Series User manual

User Manual
iWMC Series
Integrated Servo Wheel

Version modicaon instrucon
Date
Modicaon content
2022.09
V1.0
2022.10
V1.1
2022.12
V1.2
2023.02
V1.3

Preface
iWMC integrated servo wheel is a fully integrated design power module released by Kinco. The integraon of the
wheel, reducon drive, servo motor and driver modules into a single package opmises the wheel structure, simplify
the installaon process and shortens the whole wheel installaon me.
This product is available in two power opons and are Ideally suited for the travel axis of mobile robots with loads of
600 kg and 800kgs.
Please read the manual carefully and follow the operang requirements for seng up the drive correctly for opmal
performance.
Item for Acceptance
Descripon
Whether it match the
model you ordered
Please conrm whether the motor model, drive model etc. are consistent with the
model you ordered according to the motor and drive nameplate informaon.
Whether the motor wiring
is correct
Please check whether the motor wiring model is consistent with the order.
Whether any damage to
the appearance of the
product happen?
Please conrm whether the product has been damaged during transportaon.
Whether the product
accessories are complete?
Please conrm whether the various terminals of the driver、the motor oil seal and
keys are complete.
List of drive accessories
Product model
Accessories and quanty
iWMC10409-02222-A165-MBDT
iWMC10409-02222-A165-MADT
iWMC10415-05417-A180-MBDT
iWMC10415-05417-A180-MADT
Cercate*1
Service Guide*1
If there is any problem with any of the above, please contact us.

iWMC Integrated Servo Wheel User Manual
Cauons
Please read and follow the requirements in this manual carefully as it will help you set up and operate the drive
correctly and to opmize its performance. Please be aware of the contents of the warning and strictly follow the
requirements, otherwise dangerous situaons may occur.
Warnings
⚫Do not install if parts are missing when unboxing or the appearance of the wheel is damaged.
⚫Please install in a place which is well-venlated, dry and dust-free, no abrasive uid, no oil mist, no iron
powder, no chips, etc., and the surrounding items should be non-ammable.
⚫When installing/removing the servo wheel, stress must not be applied to the motor body and it must be
ensured that each xing bolt is locked in place.
⚫Avoid any foreign objects entering the servo wheel. Conducve foreign objects such as screws, metal shavings
or ammable foreign objects entering the servo wheel may cause re and electric shock.
⚫Do not use gasoline, thinner, alcohol, acidic and alkaline detergents to avoid discoloraon or damage to the
body.
⚫Before wiring, please make sure that the wheel is isolated for the power source.
⚫Do not plug and unplug the terminal directly when the power is on.
⚫Please use the original packaging for storage and transportaon, which provides sucient protecon to avoid
damage during transport.
⚫Please ensure that this document is available to design engineers, installers, and those responsible for
commissioning machines or systems using this product. Please consider the legal provisions applicable to the
desnaon, and:
—Regulaons and standards
—Provisions for tesng organizaons and insurance companies —Naonal specicaons
⚫Please ensure that the product is not burdened more than permied during transportaon and storage,
including:
—Mechanical loads
—Impermissible temperature
—Moisture
—Corrosive gas
⚫Please use the product by following the instrucons and warnings in this document strictly！

iWMC Integrated Servo Wheel User Manual
Table of Contents
PREFACE………………….................................................................................................................1
Cauons................................................................................................................................. 1
Chapter1 Model Descripon & Installaon ......................................................................... 1
1.1 Product Introducon and Nameplate Descripon ............................................................1
1.1.1 iWMC Integrated Servo Wheel Models ..........................................................................1
1.2 iWMC Integrated Servo Wheel Installaon & Precauons.....................................................2
1.2.1 Installaon Dimension ....................................................................................................3
1.2.2 Operator Requirements...................................................................................................3
1.2.3 Electrical Requirements...................................................................................................4
1.2.4 Environment requirements .............................................................................................4
Chapter2 System Interfaces And Wiring............................................................................... 5
2.1 iWMC Servo Wheel Wiring Diagram.......................................................................................5
2.1.1 iWMC Wiring Diagram....................................................................................................5
2.1.2 Brake Resistor And Fuse Specicaons ..........................................................................5
2.2 Interface denion..................................................................................................................6
2.2.1 iWMC Integrated servo wheel with Integrated Terminals ............................................6
2.2.2 Power Supply Port ...........................................................................................................7
2.2.3 Brake Resistor Port ..........................................................................................................8
2.2.4 Terminal Specicaons ...................................................................................................8
Chapter 3 KincoServo+ Soware Introducon....................................................................... 9
3.1Fast Start ..................................................................................................................................9
3.1.1 Language Conguraon .................................................................................................9
3.1.2 Open And Save Project Files............................................................................................9
3.1.3 Start Communicaon ....................................................................................................10
3.1.4 Node ID And Baud Rate.................................................................................................10
3.1.5 Object (Add, Delete, Help) ............................................................................................11
3.2 Inialise, Save And Reboot....................................................................................................11
3.3 Load Firmware.......................................................................................................................12

iWMC Integrated Servo Wheel User Manual
3.4 Read/Write Drive Conguraon............................................................................................12
3.4.1 Read Driver Conguraon ............................................................................................12
3.4.2 Write Sengs to The Drive ...........................................................................................13
3.5 Velocity Mode Introducon ..................................................................................................15
3.6 Digital I/O Funcons..............................................................................................................16
3.6.1 Digital Input...................................................................................................................16
3.6.2 Digital Output................................................................................................................17
3.7 Scope.....................................................................................................................................18
3.8 Error Display And Error History.............................................................................................20
Chapter4 Performance Tuning ............................................................................................23
4.1 Tuning Velocity Loop .............................................................................................................23
4.2 Tuning Posion Loop.............................................................................................................26
4.3 Other factors that aect performance..................................................................................28
Chapter 5 Alarm Exclusion...................................................................................................29
Chapter 6 RS485 Communicaon.........................................................................................33
6.1 RS485 Wiring.........................................................................................................................33
6.2 RS485 Communicaon Parameters.......................................................................................33
6.3 MODBUS RTU Communicaon .............................................................................................34
6.4 Funcon Code of Modbus.....................................................................................................34
6.5 Modbus Message Example ...................................................................................................35
Chapter7 CANOpen Communicaon...................................................................................37
7.1 CANOpen bus communicaon..............................................................................................37
7.2 CANOpen bus communicaon hardware..............................................................................37
7.2.1 CANOpen bus communicaon soware.......................................................................39
7.2.2 CANOpen bus communicaon sengs ........................................................................49

iWMC Integrated Servo Wheel User Manual
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Chapter1 Model Descripon & Installaon
1.1 Product Introducon and Nameplate Descripon
The iWMC integrated servo wheel is a cung-edge power module engineered by Kinco. This innovave design seamlessly
integrates the wheel, reducon gear, servo motor, and servo drive into one cohesive package. This integraon opmises the
wheel structure, streamlines installaon procedures, and signicantly reduces the me required for the enre wheel
installaon process. With a dual power supply design, the system ensures enhanced safety and reliability. The iWMC servo
wheel is ideally suited for mobile robots' travel axis, accommodang loads of up to 600 kgs and 800KG.
1.1.1 iWMC Integrated Servo Wheel Models
Model list
Specicaons
iWMC10409-02222-A165-MBDT
600KG Load Rang with reducon drive, with brake, with 165mm
diameter rubber covered wheel, standard extension cable connector
iWMC10409-02222-A165-MADT
600KG Load Rang with reducon drive, without brake, with 165mm
diameter rubber covered wheel, standard extension cable connector
iWMC10409-02222-0000-MBDT
600KG Load Rang with reducon drive, with brake, without 165mm
diameter rubber covered wheel, standard extension cable connector
iWMC10409-02222-0000-MADT
600KG Load Rang with reducon drive, without brake, without
165mm diameter rubber covered wheel, standard extension cable
connector
iWMC10415-05417-A180-MADT
800KG Load Rang With reducon drive, without brake, with 180mm
diameter rubber covered wheel, standard extension cable connector
iWMC10415-05417-A180-MBDT
800KG Load Rang With reducon drive, with brake, with 180mm
diameter rubber covered wheel, standard extension cable connector
iWMC10415-05417-0000-MADT
800KG Load Rang With reducon drive, without brake, without
180mm diameter rubber covered wheel, standard extension cable
connector
iWMC10415-05417-0000-MBDT
800KG Load Rang With reducon drive, with brake, without 180mm
diameter rubber covered wheel, standard extension cable connector

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Diagram 1-1 iWMC Integrated servo wheel motor model and nameplate informaon
1.2 iWMC Integrated Servo Wheel Installaon & Precauons
Drive parameters
Minimum
Normal value
Maximum
Input voltage
24V
48V
60V
Brake Voltage
—
24V
—

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1.2.1 Installaon Dimension
Diagram 1-2 iWMC10409-02222 Integrated servo wheel dimension
Diagram 1-3 iWMC10415-05417 Integrated servo wheel dimension
1.2.2 Operator Requirements
This product should only be operated by electrical engineers who are familiar with the following regulaons:
—Installaon and operaon of electrical control systems
—Applicable regulaons for operang safety engineering systems
—Applicable provisions for accident protecon and occupaonal safety
—Document for the product

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1.2.3 Electrical Requirements
Overvoltage alarm
—
68V
—
Undervoltage alarm
—
18V
—
1.2.4 Environment requirements
Environment
Condition
Operating temperature
0℃- 40℃
Operating humidity
5- 95%RH (No condensation)
Storage temperature
From -10℃to 70℃(No freezing)
Storage humidity
Below 90% RH (No condensation)
Protection grade
IP54
Installation site
No sunlight, no corrosive gases, no flammable gases, no oil and gas, no dust,
dry and lockable (such as electrical cabinets)
Installation method
Vertical or horizontal installation
Atmospheric pressure
86kpa - 106kpa
Height
The rated working altitude is below 1000 meters, and when the working altitude
is above 1000 meters, every 100 meters of rise needs to be reduced by 1.5%.
The maximum working altitude is 4000 meters.

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Chapter2 System Interfaces And Wiring
2.1 iWMC Servo Wheel Wiring Diagram
2.1.1 iWMC Wiring Diagram
The servo wheel operates with two separate power sources: a 24V logic power supply (connected to pins 1 and 2 of the
12-pin terminal) and a 48V power supply (connected to the 2-pin power terminals) . To ensure proper operaon, the servo
wheel must be connected to both of these power supplies.
Diagram 2-1 External wiring diagram of servo wheel motor
2.1.2 Brake Resistor And Fuse Specicaons
Table 2-1 Brake resistance reference specicaons
Brake resistor model
Brake resistance value
[Ω]
Braking resistance power
[W]
Brake resistance voltage
[VDC]
T-10R-100
10
100
500
Table 2-2 Fuse reference specicaons
Model
Drive power (W)
Fuse specicaons
iWMC10409 integrated servo wheel
500
20A/58VDC
iWMC10415 integrated servo wheel
1050
90A/58VDC

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2.2 Interface Denion
2.2.1 iWMC Integrated servo wheel with Integrated Terminals
Table 2-3 Denion of servo wheel integrated ports
Pin
No.
Name
Colour
Pin Function
1
24V
Red
Positive logic power supply input must be
plugged in. Input voltage: 24V Maximum
input current: 1A Negative logic supply
input
10
GND
Black
11
LOCK-
Blue
The forced release brake input is only used
in emergency situations such as the AGV
battery is dead. It should be noted that the
servo wheel cannot be connected by 48V
power supply when using.
2
LOCK+
Brown
Input voltage: 24V Maximum input circuit:
0.7A
3
CANH
Light green
CAN IN
12
CANL
Light blue
4
CANH
Pink
CAN OUT
13
CANL
White / Black
5
485A
Grey
485 IN
14
485B
White
6
485A
Yellow
485 OUT
15
485B
Green
7
OUT+
Purple
Digital signal output Maximum output
current: 100mA
16
COMO
Orange
Output common
17
DI1
White/ Red
Digital signal input
High level:
Input voltage 12.5VDC - 30VDC
Input current 4-20mA
Low level: 0VDC - VDC
Input frequency: <1KHz
18
DI2
White / Orange
8
COMI
White / Brown
Input common

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Diagram 2-2 iWMC Integrated servo wheel control wiring diagram
Diagram 2-3 Digital output PNP control wiring diagram
Diagram 2-4 Digital output NPN control wiring diagram
Diagram 2-5 Recommended circuit wiring diagram for forced releasing the brake
2.2.2 Power Supply Port
Pin No.
Name
Pin Function
3
DC-
Drive power supply input must be
connected.
1
DC+
Input voltage: 24~60VDC

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2.2.3 Brake Resistor Port
Pin No.
Name
Pin Function
1
RB+
External brake resistor input
2
RB-
2.2.4 Terminal Specicaons
Table 2-4 Terminal Specicaon Table
Servo Wheel End
Extension Cord End
Power cord
Rubber shell: SHANGYI
C6350HM-3P-V0 (milky white)
Pins: SHANGYI C6350M-TBe (Male).
Rubber shell: SHANGYI
C6350HF-3P-V0 (milky white)
Pins: SHANGYI C6350F-TBe (Female)
Rubber shell: MOLEX 430201800
Pins: MOLEX 430310004
Rubber shell: MOLEX 430251800
Pins: MOLEX 430300004
Brake resistance
Rubber shell: SHANGYI
C6350HM-2P-V0 (milky white)
Pins: SHANGYI C6350M-TBe (Male)
Rubber shell: SHANGYI
C6350HF-2P-V0 (milky white)
Pins: SHANGYI C6350F-TBe (Female)
Cable Specicaons:
Wiring Specicaons
Power cord
16AWG
Communicaon, I/O, etc
28AWG
Brake resistance
16AWG

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Chapter 3 KincoServo+ Soware Introducon
This chapter will introduce how to debug and congure servo driver by using KincoServo soware.
Figure 3–1Soware main window
3.1 Fast Start
3.1.1 Language Conguraon
Language can be switched between English and Chinese via menu item Tools->Language.
3.1.2 Open And Save Project Files
Create a new project le via menu item File->New, or by clicking the buon.
Open an exisng project via menu item File->Open, or by clicking the buon and selecng a .kpjt le.
Save a project via menu item File->Save, or by clicking the buon and saving as a .kpjt le.
Note
Saving the project only saves the window in the computer soware, and cannot save the parameters in the
drive.

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3.1.3 Start Communicaon
Click menu item Communicaon->Communicaon sengs. The following window appears:
Select the right COM port (if it’s not shown click the “Refresh” buon), baud rate (Default 38400) and COM ID (Node ID),
and then click the "OPEN” buon.
Once communicaon has been established with the driver, communicaon can be opened or closed by clicking the
buon.
3.1.4 Node ID And Baud Rate
The drive’s Node ID can be set by the DIP switch on the drive, please refer to the silkscreen on the product for seng.
The drive’s Node ID can be set via menu item Driver->Driver Property.
Table 3-2 Instrucons for Node ID and baud rate
Index
Type
Name
Value
Unit
100B0008
Usigned8
Node ID
DEC
2FE20010
Usigned 16
RS485 baud rate
Baud
65100C08
Usigned8
RS485 protocol
DEC
Note
⚫iWMC integrated servo wheel does not have RS232 debugging serial port, so you will need to use
the RS485 communicaon port (RS485 protocol defaults to RS232 communicaon protocol) to
connect with the computer. RS485 communicaon terminal denion refer 2.2.1 for details.
⚫Node ID and baud rate seng are not acvated unl aer saving and reboong.

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3.1.5 Object (Add , Delete , Help)
Open any window with an object list, move the mouse pointer to the object item and right click. The following selecon
window appears:
Figure 3–3 Basic Operaon Window
Click Add and double click the required object from the Object Diconary. The selected object is then added to the list.
Click Delete. The selected object is removed from the list.
Click Help to read a descripon of the selected object in the Object Diconary.
3.2 Inialise, Save And Reboot
Click Driver->Inialize/Save. The following window appears:
Figure 3–4 Inialise, save, reboot
Click the corresponding item to nish the necessary operaon.

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Note
Aer compleng the Inialise Control Parameters, it is recommended to store the control
parameters to save the default parameters in the drive.
3.3 Load Firmware
In general, the rmware of the driver is always up to date, but if for some reason you need to update the driver rmware,
please click menu bar “Driver”>“Load Firmware”
Figure 3-5 Load Firmware
Click "Load File" to select the rmware version (kinco), and then click "Download" to start updang the drive rmware.
Note
If the download is aborted for some reason, please rst turn power o. Then power up the drive,
select the rmware version and click Start Download, and nally turn on communicaon and
connect to the computer.
3.4 Read/Write Drive Conguraon
This funcon can be used to read / write mulple parameters simultaneously for large producon lots, to avoid seng the
drive parameters one by one.
3.4.1 Read Driver Conguraon
Click on the menu bar "Tools" -> "R/W Diver Conguraon" - > "Read Sengs from Driver", or click the buon , the
following window appears:

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Figure 3-6 Read Drive Conguraon
Click Open File to select a parameter list le (Kinco_Sengs_Without Postable.cdo), The list of parameters is displayed in
the window on the right.
Click Read Sengs from Driver to get the Drive Value and Result, and then click Save to File to save the sengs as a .cdi
le.
To export the driver's historical failure records, click to open the list and select the errlist.cdo le. It should be noted that
the errlist le can only read historical fault records, not driver conguraon parameters.
3.4.2 Write Sengs to The Drive
Click the menu bar“Tools”->“R/W Diver Conguraon”->“Write Sengs to Driver”, or click buon, the following
window appears:

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Figure 3-7 Write Driver Conguraon
Click "Open File" to select a parameter le (.cdi) , and the parameters will be displayed in the window on the right.
Click "Write to Driver" to get "Check Value" and "Result", "Result" is "False" to indicate that the parameter was not wrien
successfully, most likely the parameter does not exist in the current driver.
Click "Save in EEPROM" and then "Reboot" for all parameters to take eect.
Note
⚫When reading the driver conguraon, if the object does not exist in the drive, the result
will be "False" and marked in red. Only the parameters with the read result of "Ture" will be
saved in the .cdi le.
⚫Disconnect the 485/CAN/EtherCAT bus and disable the drive before wring sengs to the
drive, as this may prevent some objects from being wrien successfully.