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KINCO ED Series Servo Drives User Manual

1. from transmittor GND D D Figure 11 2 RS 485 Connection As shown in the above figure multiple drives can be connected to the RS 485 bus The RS 485 communication protocol supports multi axis applications ID numbers address number are selectable by DIP switches SO S1 S2 S3 Each ED has an unique ID No ID O is reserved by the system and cannot be set by the drive 11 2 2 Transport Protocol The RS 485 communication of the ED strictly follows a master slave protocol The host computer can send any data to each ED device connected to the bus The drive configured with ID No will calculate such data and return a reply Only one device host or slave can send data over the network at the same time Default communication settings for the ED are as follows Baud rate default 9600 Bps Data bits 8 Stop bits 1 No parity check The baud rate of the RS485 communication protocol is adjustable The object for RS 485 baud rate adjustment is index 2F9100 After changing the value it is necessary to save it and reboot the system so that it will take effect The value is calculated according to the following formula N 614400 baud rate 1 9600 bps N 63 bit timed error 0 19200 bps N 31 bit timed error 0 38400 bps N 15 bit timed error 0 Higher baud rate gt 38400 bps will lead to timed errors 57600 bps N 11 bit timed error 3 125 The transport protocol used by the RS 485 uses a data packet with fixed length of10 byt
2. 159113 39 05 32U9314 13 U1 0 92U8 SIJ woos os oe os OOL Isolating transformer WWOO lt yna 013409 0 39UB SIJ 193M0g Xew J0J 90ueJea o 338 d uoljeljeysul peziuenjes Figure 3 9 EMC Connection 21 KINCO ED Series Servo Drives User Manual Chapter 3 Interface Signal and Wiring 3 4 4 Wiring of ED Drive and PLC Interface Note The following is the typical wiring diagram between the ED200 and the PLC It is also applicable to ED216 ECOLIN216 and ED100 Note that the wiring of the ED100 power supply input is different For details refer to the hardware manual The fuse at the power supply input end of the ED216 and ECOLIN216 maximum output power 3600W adopts 20A the fuse at the power supply input end of the ED200 and ECOLIN200 maximum output power 1800W adopts 10A RS232 xO RS232 OUT 1 M4 OUT OUT 2 PLC M4 0UT2 DIN 1 AS DIN1 DIN 2 AS DIN2 DIN 3 Interface X3 DIN3 X3 DIN4 A3 DIN5S DIN 4 DIN 5 Limit switch pos Limit switch nea Xa DING Xa DINZ X3 DINS Home switch Ready XA READY Error reset Enable Powerstage 24 gt ES x4 RESET X4 ENABLE XA 24 X4 GND AB ENCODER IN BRAKE MOTOR DC BUS A AB JB Encoder Cable Brake and Motor Cable Encoder Brake Motor 10AT OY 24 170V Figure 3 10 ED Drive and PLC Interface Diagram 22 KINCO ED Series Servo Drives User Manual Chapter 3 Interface Si
3. that is calling the sequence 1 when the Target reached event happens The designated sequence format is Ox80xx indicated in hexadecimal system and xx is in the range of 00 FF 5 5 5 Counter The ED drive provides four counters and they correspond to objects indexes of 0x2190 0x2193 Each counter has two sub objects Sub01 and Sub02 SubO1 is used to store increments see Increment column in the figure below and Sub02 is used to store accumulated value To perform accumulative addition place the numbers in Sub01 and the value in Sub02 will add the numbers in Sub01 automatically 63 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN Counter ECO2Win38 ewp E Ioj xj Value to be added on counter Count ies o ldec y Counter O Value o Saeco y eas ofide y Counter 1 Value o ldec y a ofide y Counter 2 Value o Hfd y A ofide y Counter 3 Value o ldec y D Device online Figure 5 21 For example add 1 to the counter whenever the level of the external DIN input changes from L to H as shown in the figure below E Sequence A o o exp E a jol x Sequence Mo a7 E hex Sequence valid M ER copy ER Paste counter ECO2Hin iocontral emp TA 0 xj Value to be added on counter Count Counter D Increment ides Counter 0 Value ajc e Counter 1 Increment ofie Counter 1 Value o dec Counter 2 Increment odes Counter 2 Value ode
4. KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN In the above figure the parameter Active is controlled by the parameter 0x21210010 and 16 sequence numbers are assigned by 16 objects 0x21200110 0x21201010 The ED series drives provide 8 inputs DIN 1 DIN8 and the change of their levels can call different sequences Therefore the user can conveniently call the motor to execute different actions according to external conditions For example when DIN1 in the figure changes from L low level to H high level the sequence 0x0000 will be called when DIN2 changes from L to H the sequence 0x0022 will be called Upon completion of setting 0x21200110 in the object index list stores the sequence number 0x0000 and 0x21200210 stores the sequence number 0x0022 Note that in OxXXXX Ox represents the hexadecimal system the first two XX has special meanings which will be described respectively in different functions and the default value is 00 the last two XX represents Sequence No A typical servo application uses three inputs as limit and homing inputs refer to Chapter 8 Limit Switch and Homing If three inputs are used only five digital inputs will be available To call more sequences through the inputs you have to call sequences by the coding scheme described in the next section 5 5 2 2 Binary Code Call 1 Conditions for binary code calling 2 6 input signals for coding A high bit input for calling the s
5. ol ce IA 0 lt 2 2 2 lt wit n ake mn mas a q ol pmi i k te bh gt e _ oS es N De r gt y Figure 3 7 Wiring of Power Module P200 AA BA 19 Interface Signal and Wiring Chapter 3 3 4 2 Wiring of ED Drive and Power Module P200 AA BA KINCO ED Series Servo Drives User Manual 19p09U3 10101 Japosuy3 JOJO N Japosuy JoJo Sos SIX SIX i SIXY L six FSR J iosa ayesq i H jeujajxa jeuondg 43150093 pue OOZd 4130 sBulids Guidwejs ay 0 pajoauuos aq UeR95sa qes papjaiys sa qeo pap s1ys 34 asn LULUOOE spaso9xa y 6ua ajqeo ayyy voz uano dino Xen 00cd 03013 MO aA UaaIS Figure 3 8 Wiring of ED200 Drive and P200 Note The wiring diagram is also applicable to ED216 ECOLIN216 and ED100 Note that if the ED100 is 20 used the wiring diagram is different and only the P200AA can be used to connect with the ED100 For details refer to the ED100 hardware manual Interface Signal and Wiring Chapter 3 KINCO ED Series Servo Drives User Manual 3 4 3 EMC Installation wo 2 o U 2 Lt A 5 2 O o o 0 0 oO fan 0 D O w O w Oo Bis Lo E DU o o O O o o Ho O O aw oO o c o O sOUBIES D DOL tlre 6X OLX 6X OLX 6X OLX x 8X 8X dg d3 d3 A a OS Ess jeune 3d sajgeo papjeiys asn wwoo lt yyBua asm 51 J0J9ejuo 5
6. 9600 baud rate 8 bits 1 stop bit no parity check This transport protocol uses a data packet with fixed length of10 bytes byte O byte 9 MN 8 byte data CHKS ID is the ID No of the slave CHKS SUM byteO byte8 CHKS is the last two digits of the calculation result The host sends byte O byte 9 NN 8 byte host data CHKS The host receives byte O byte 9 byte 10 byte 19 NN 8 byte host data CHKS MN 8 byte slave data CHKS Note Each 10 byte packet has its own CHKS If the host sends a data packet with an unused ID to the ED no slave will respond to the packet Then the host will only receive the 10 byte data packet After the host sends the data correctly the slave will find the data packets in compliance with its own ID and check the CHKS value If the checksum does not match the slave will not make a response At present the hardware supports only 15 slaves A system with up to 127 slaves is under development 11 2 RS 485 Interface 11 2 1 Physical Interface For multi axis application the ED supports 2 wire half duplex and 4 wire full duplex RS 485 communication The ED supports a baud rate of 250 Kbps at the maximum and provides IEC1000 4 4 compliant ESD protection The wiring diagram is shown as follows 105 KINCO ED Series Servo Drives User Manual Chapter 11 Communication Protocols RS485 BUS ECOSTEP 200 X2 DSub 9p female LB to receiver y bdt from transmittor gt AL to receiver gt
7. Filter Sort Za REE DODODODO E nee EUNICE 4 00000000 s ao000000 nde Sub Name 2100h 00h Universal variable Oc ur G D0000000 El 2100h DER Universal variable Od ur 2100h OFh Universal variable e ur z 000000028 fojon 10h Universal variable OF w d ei ON r Run sequence sE 00h Configuration for events at ing Q online modus lh Sequence call when LA ec ing U2h Sequence call when LA ec ing Cancel Figure 5 14 Sequence Programming In the figure we can select Sequences No OO FF To validate this field select the Sequence valid check box The programming is simple Select the Index and Subindex of an object and then enter values in the right pane Up to 8 objects can be set in a sequence If you assign the value xx OO FF to the register of 0x21180008 the system will jump from the current sequence to sequence xx For details refer to Chapter 9 Sequencer Programming 5 5 2 Digital Input 5 5 2 1 Edge Controlled Call In the Digital Input window the user can set the sequences to be called by 8 digital inputs of the ED drive so that the internal sequences can be called by the digital inputs lol Status CINI alle alele DINZ ri hoz oood Oo Ina 0000 0000 DIN Mn 0000 0000 DINS 0000 0000 DINE i 0000 0000 DIN EJ 0000 0000 7 DING OO00 o000 me r ae Device online Device online Figure 5 15 58
8. Other functions O Supporting master slave control electronic gear ratio settable direct connection of external encoder signal with X7 MASTER ENCODER interface Oo Storing up to 256 motion curves with position speed acceleration deceleration and working mode definable for each curve 8 input ports to configure and call different programs Two programmable digital output interfaces used for signal feedback like Target reached signal and fault alarm signal Compatible with traditional servo control modes and supporting Pulse Dir and CW CCW control modes Full closed loop control 1 2 Composition A complete set of ED servo system is composed of an ED drive a Kinco servo motor motor cable encoder cable four terminal blocks configured with ED drive PDC power supply optional hardware and the software ECO2WIN You may request Kinco servo drive CD from our sales engineers or our agents The CD contains the electronic version of this user manual the latest version of the Eco2win software and related examples You can also download the latest software and related documents on our website at www kinco cn Please check whether the motor and drive models conform to the order and check whether the goods are complete against the packing list If you have any question please contact us If you have questions during operation please contact Kinco servo technical support engineers at 86 755 26585555 telephone exchange
9. 00 PA orotibus wersion ECOS TEP 2U00 PA protibus version Firmware 0 40 and greater ECOLIN 200 24 ECOLIN 200 24 Firmware 0 40 and greater ECOLIN 200 4 ECOLIN 200 04 Firmware 0 40 and greater ECOS TEP100 L4 IFCOS TRPIM00 4 Firmware 0AN and nreater Figure 4 6 Drive Configuration Automatic search mode is recommended Once the system finds the drive it will display the model number and the internal firmware version number of the connected drive indicating the communication is normal Then you can proceed with next operation otherwise locate the fault 5 Configure the servo motor Click lt Next gt to enter the motor model number selection interface as shown in the figure below 30 KINCO ED Series Servo Drives User Manual vm243531 e4p Motor configuration Type name 235 331 0650 5031 7 44 235 31 0650 503 7 AA Matos 2 Rotative ECOSTEP bas horque 1 800 1 5 Motor inertia 0 03400 0 0340 Max motor current Max voltage Winding resistance Winding inductance Current motor Ca as ow Standard motors A 6 50 Y BU mH Chapter 4 Use of ECO2WIN Software Documentation Resolution nec Inc Tey Number of pole pairs 2p 50 p steps per revolution EIC T SOOO metres Accept Restore Defaults A Cancel Figure 4 7 Motor Configuration Select the model of the motor currently connected with the drive in the list on the right of the interface
10. 0x10 MW Denominator of electronic gear ratio 2509 05 8 0x08 W Gear mode Note Index index address with the value range of 0x1000 0xXXXX 0x indicates hexadecimal system Subindex Sub address of index address with the value range of 0x00 Oxff Bits data length in the address denoted in hexadecimal system 8 Data length is 1 byte 8 bits 10 Data length is 2 bytes 16 bits 20 Data length is 4 bytes 32 bits For details on objects provided by the ED drive refer to Chapter 13 List of Common Objects 5 2 Direct Object Entry Right click the ECO Device with ID icon and then select Direct object entry in the pop up menu The following interface appears 39 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN Direct object editor ym23531 ewp Goto Find Filter Sort User defined User mask Entrys Index SubIndex Ma a wi X 8 user defined mask Oby Nam deftype_integerl deftype_integerl 00h deftype_intege32 deftype_intege32 00h deftype_unsigneds deftype_unsigneda 00h deftype_unsignedi deftype_unsignedi 00h deftype_unsigned3z ine oodgzh 00h INTEGER amp bit deftype_integer writeable mappable deftype_integer 03 hex y i Add online modus no filter sort by index Figure 5 1 Direct Object 3 Editor Enter index and subindex respectively in the Index and Subindex boxes and press the
11. 26 KINCO ED Series Servo Drives User Manual Chapter 4 Use of ECO2WIN Software KINCO HETE Kinco 22 38 KINCO A ee ee SRECOPLOAD AE PCH IFRS ARANA E WIKNO RE ECOFlash RR EE tel AAA AP AME ARA PIES Se AE AOI AES SAR OBA Bea b LIER SAREE Figure 4 1 Setup Interface Note The software to be installed consists of ECO2WIN ECOFLASH and ECO2LOAD Where the ECO2WIN software is the compulsory control software for the ED drive ECOFLASH is used to download special firmware and ECO2LOAD is used by the PC to back up and copy drive parameters in the file form In addition the CD contains additional software as shown in the following figure which includes Adobe Acrobat Reader and the PEAK series CAN adapter driver It is up to the user to decide whether to install such additional software Please note that if the user has chosen the PEAK CAN adapter to control the ED drive it is necessary to install the corresponding driver of the PEAK Presently PEAK company provides adapters with four optional types of interfaces parallel interface USB interface PCI and ISA KINCO RI 23 ol Kinco E ia 23 KINCO tel IRRA Ue PF a te jat Reader Peak System Technik ECO2 WINE Can bus E aE ax ECO2SWIN3ZFFAJA A Peak System Technik al AAC AE AJ Tx Bl FO IRS TE Fo 2 KINCO ED Series Servo Drives User Manual Chapter 4 Use of ECO2WIN Software Figure 4 2 Setup Interface IMPORTA
12. Ca e rotile veloc T0273 Cer astected fala a SNS WISIN SEI Oo 7 Oy on ee coy Pop re 12 2 5 1 Installing GSD File The GSD files of the ED drive provide settings for most common operation control states homing positioning etc in the form of modules It further provides register modules for random reading and writing If you plan to configure an object not defined in the GSD you can implement this function conveniently by modifying related description in the GSD file For example Module W controlword 6040 0 0x83 0xC0 0x60 0x40 0x00 EndModule Make a copy and modify related parameters for example adding control mode Module W TimerControl 2130 01 0x83 0xC0 0x21 0x30 0x01 EndModule After you reinstall the GSD file a new module configuration option is added 12 2 5 2 Configuration of GSD File Module Configuration format of the module is as follows _ INDEX HIGH INDEX LOW SUBINDEX String 1 Cyclic reading command Command string 0x43 Data length data following the SUBINDEX description is classified into byte and word Since the data length of all ED parameters include 1Byte 2Byte and 4Byte IDs used to describe data length include 0x80 1BYTE 0x81 2BYTE 0x83 4BYTE 0xC0 1WORD and 0xC1 2WORD During transmission the higher order 114 KINCO ED Series Servo Drives User Manual Chapter 12 Fieldbus Interface of ED Drive bytes will be sent first and then the lower
13. Device information and software version object OX2FEO ee ene eee e Type PPO PPR De peee 2FEO 03 20 unsigned Date of modification 0x0315490 means 20010128 which says the date of 1 28 2001 130 KINCO ED Series Servo Drives User Manual Glossary Glossary Mapping The value of an object at address Subindex Index Bitlength is another object address This pointer concept is known at many high level programming languages For example the actual master position address is 2509 06 20 To get a relative position map it at the address of the comparator target 2180 01 20 This procedure is called mapping and generates a very powerful concept Objects capable of being mapped are signed with M in the object catalog Statemachine The motor plus drive is defined as a system with different discrete states From the mechanical engineering the space description where s t v t t determines the whole system at any time is known This is also true for this drive motor system but it is also important to know whether the power is turned on whether there is an error or whether the nominal target is reached and some more things In CANopen this is described by a status word lts bitcode determines a special drive status By use of the control word it is possible to change the states of the drive Now the following important tasks are described by which we can observe this statemachine e Switch on the drive eo Start homing o Positio
14. mode STOP F8 Device status Movement sutoreverse Homing Error status Actual velocity 0 000 lines y Target velocity Poissy Actual position 1 000 inc i Target position po oline y Profile velocity Po am lines y Profile Acceleration 1600000 000 Hfincis 7 aka y Profile Deceleration J 1600000 000 Hfincys 74ea y Min Software position limit 0 000 inc Max Software position limit 0 000 inc online modus Figure 5 4 Parameter Settings in Movement Tab For detailed movement parameters to be set in different position and velocity modes refer to the description of operation modes in Section 5 3 1 It should be noted that the Min Software position limit and Max Software position limit parameters are used to set the forward counterclockwise direction by default and reverse limit position clockwise direction by default of the motor If you set Min Software position limit 160000inc and Max Software position limit 320000 inc in position mode 1 when the set target position 607A00 goes beyond the range defined by these two parameters the motor will no longer operate when it arrives at these two position values The default value is 0 indicating no limit exists To modify the counting direction of the motor encoder modify position polarity and velocity polarity For details refer to Section 5 4 5 5 3 4 Homing Control Click the Homing tab in the Device Control window as shown in th
15. so it can generate common text information If a fault enable bit in the drive is set the red LED corresponding to the external diagnosis bit EXT DIAG will blink immediately BIT3 of the first byte BYTEO in the diagnosis packet corresponding to the EXT DIAG is set New diagnosis information will be sent only after the fault flag changes For example the motor encoder is not installed which will lead to the setting of FAULT ENC ERROR _BIT BYTE 7 BIT2 and EXT _DIAG BYTEO BIT3 The diagnosis packet is as follows 0000 08 OC 00 02 05 4B 05 04 00 00 00 EXT DIAG Set FAULT ENC ERROR BIT Set The following information is shown in CPU fault diagnosis Ptad Online SIMATIC 300CPU 315 2 DP Betnebszustand del CPU RUN Status Fehler Betriebszustand del Bor Allgemein OP Slave Diagnose MesterAdmsse 2 Herstellerkennung 154 0548 Versorr Standarddiagnose des Slave Slave spezifische Diagnosedalen Snsprechubenvachung aktiviert FALILT_EWC_ERROF_BIT Kanalepezilizche Diagnose Schlieben aktualisisen Diucker Hilfe Figure 12 8 12 2 5 4 Operation Service The ED servo supports SYNC and UNSYNC global commands which are used to synchronize data transmission and clear data according to the standard If the ED servo receives a SYNC command it will lock the output data in the current status and will store all output data from the PROFIBUS in the subsequent data transmission cycles with the output status rem
16. the end positions can be protected by buffers high reproducibility can be achieved by the index pulse Disadvantage If the motor is changed or the coupling is loosened the reference point must be re calibrated 8 3 13 Found Reference Click the Homing tab in the Control Axis window and then click the lt Start homing gt button The second LED below the button turns green and the text found reference is displayed indicating the reference point is found as shown in the figure below Control Axis 1 100la ewp E Ioj x Operation EAS mode AE Wee 4 a j E TOP Fa Homing 6 Device status Movement Aautoreverse Homing Error status y dec Time limit for homing Homing Method 5000 ms 0 000 i Relocation zero point ale Velocity during 15625 000 E start homing search for reference switch Velocity during 1562 500 E Stap search for reference set point carried out homing Acceleration during 160000 000 incesti 9 ul found reference 4 online modus Figure 8 14 Reference Settings If homing is not successful check and correct the following values Time limit for homing Velocity for search for homing switch Velocity for search for reference point index pulse Acceleration for homing If the motor does not move check Oo whether the motor can run freely with the mechanical part after power off 98 KINCO ED Series Servo Drives User M
17. 1 EE O lt External quadrature encoder z 3 signal input interface which wx 4 can be set to the input x 5 interface forthe lt 5 pulse direction control signal a 7 or electronic gear and cam 8 control signal by programming ou g female connector Signal 5V 200mA Max A Pulse CVV B Direction CCVV N 24 GND A Pulse CW B Directian CCW IN Motor encoder input Number O Input interface ofthe motor quadrature encoder IDERIN nun OOOO ooo0oo0oo O ENC O oo O 9 pin D Sub female connector Figure 3 3 Internal Wiring of ED100 Drive 1 15 Signal 5V B N NC GND IA IB IN KINCO ED Series Servo Drives User Manual Chapter 3 Interface Signal and Wiring 110 Wiring Terminal X3 Output 1 OUT1 Output 2 OUT2 w 24V e Programmable 24V digital output Input 1 DIN1 osa interface under operation mode Input 2 DIN2 2 Input 3 DIN3 x Input 4 DIN4 E ima e Used to monitor motor operation Input 5 DIN5 ims range or status as well as the digital Positive limit switch DING input interface for homing control Negative limit switch DIN7 Homing switch DINS 2 Signal ground GND sone Analog input AIN AE Amalita iegut 10 10V 10 bit resolution analog signal Ae AS AIN fg input interface for position and Signal ground GND 10K velocity control signal input Phoenix MCVW 1 5 14 ST 3 81 e Two programmable 8 bit resolution EN Analog output 1 MON1 analog
18. AND mask FFEFFFFF Comparision value 00000000 Operator 0000 y Sequence call 0000 Release Auxiliary value 00000000 Interim ooogoo0d result Result ag Device online Figure 5 18 Comparator The drive provides four comparators and calls sequences by comparing operation results Four comparators correspond to internal objects Index 0x2180 0x2183 Sub index 01 09 For details refer to the section Comparator Objects in Chapter 13 List of Common Objects The computation process is as follows Mapping data source Offset and AND mask Interim result Result Interim result Operator Comparison value If the result is true the Result 1 Click Release and the pre entered sequence will be called To re call the sequence it is necessary to click Release again In the sequence the comparison has to be made again Comparator objects are defined as follows FUI hex Mapping data Mapping data source a 02 Offset Offset 2180 2183 04 Comparison Comparison value value Sequence call Sequence to be called when comparison result is True Ox 80xx 61 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN Internal auxiliary value can be read written or Table 5 11 5 5 4 Timer Controller Events 5 5 4 1 Timer Sequence Call mapped to other objects Comparator Objects The sequences in the ED can be called by timer and controller events which adds great flexib
19. BUS ECOLIN216 24VDC 170VDC specific to ECOLIN216 drive provided between DC BUS and BUS Table 3 2 Interface Function 14 KINCO ED Series Servo Drives User Manual Chapter 3 3 3 Internal Wiring of Drive 3 3 1 Internal Wiring of ED100 Drive RS232 1 1 direct connection to the PC CAN Pin gt Pin XS O Mumber Signal A Number 1 DCD 1 2 RxD 2 e RS 232 communication port o x 3 TxD ch 3 used bya PC to set drive 9 e A DTR da 4 parameters compile programs o ae 5 GND 5 and control system operations ole x 6 DSR L A 7 RTS 8 ETS O 9 RI 8 9 pin D Sub 9 pin D Sub 9 male connector X1 RS485 O Pin Number 9 pin D Sub female connector female connector e CANopen DS 402 fieldbus communication port e RS 485 fieldbus communication port supporting dedicated ED protocols orProfibus DP bus 1 i d 5 Supporting electrical isolation only with Profibus interface oooo ooooo FIELD BUS2 nah won oo O DIP switch for network ID e Station No setting switch for 0 15 serial BHEE Status indication LED Green 24V O ERR Red Green BUS RUN Green e Drive operation status LED so BR Interface Signal and Wiring Signal NC CAN_L CAN_GND NC CAN_SHLD GND CAN_H NC CAN_V Profibus DP Signal Signal NC NC RX NC TX TRXD TXD P NC CNTR P GND DGND 5V VP 5V RX NC TX RXD TXD N NC NC Master encoder input interface Pin Number o
20. Comparision value 00020000 Polarity 00 Polarity oo Inverting Inverting Auxiliary value o0000000 Auxiliary value ooogoo00 Interim result j gonoo0g0on0 Interim result gooo0oddoc Result Result online modus Figure 5 28 Digital Output We can see from the above figure that two outputs have the same control mode that is output after internal logic processing as detailed below Two outputs correspond to register addresses of 0x2160 and 0x2161 respectively 69 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN Index hex Subindex hex Name Meaning or Marina sues Maggi dla source 2160 2161 Offset Offset re AND mask AND mask Jada ai O os atan Py S os Airy intemal auia vave Interim result Comparison output Table 5 16 Digital Output Objects First the user has to map an object address to Sub01 as the source data for computation Then perform the computation according to the steps below Step 1 Sub01 Sub02 Result Step 2 Result and Sub03 Sub07 Step 3 Compare Sub07 with Sub04 If Sub05 0 the comparison result is True and Sub08 1 if the comparison result is False Sub08 0 If Sub05 1 the comparison result is True and Sub08 0 if the comparison result is False Sub08 1 Step 4 if the result of Sub08 is 1 the corresponding OUTPUT is of high level if the result is 0 the correspondin
21. Dive State MAGCKING sra da 113 12 2 5 Setting PROFIBUS Communication Parameters of the ED Drive with Siemens STEP7 113 Chapter 13 List Of COMMON Objects oocccocccocnoconncocncnonocanocanocnnnonanonarnnnnnonanonannnnnnnnnnnnnnnnnnnnnanonanennnnninanenos 119 E y Pee ee a ee ene ee et ee ee ee eee eee ee eee ore eer ee 131 APPENA S taa aaa id sata S 134 Appendix A Technical Specifications of the ED DrivVe oocccoccconconncocnconccooncocncncncnnncnnnnnnnorocnnnnnnconnnanonos 135 Appendix B Example of Sequencer PrograMMiNQ occocccocccocncocnconoconocononcnonnnoncnnononcnonnocononanonnnnnrnnncnonnnos 139 ADPIC a E o to O diia 139 DE Ti lAs AO PEA PU o A anna eerste ae mano 139 o OperatloMmLoe queno aida 139 AAA a Po uo O ECO rer ne pees eer ter een eeenee eee nee e ne Se 139 5 Definition Of SEQUENCES iii das 140 Appendix C Application Of ED DVE earn ada Arda 145 1 Position and Velocity Control by Pulse Direction SignNal oocccocccocccocnccocncconoconoconononnconnncnnncnanos 145 Za Master SIAVe CONTO ect dead 148 3 CW CCW Pulse Signal COntrOl ind ads 148 4 Control of the Velocity and Position of the ED Servo Motor by Analog Inputs ccocccoccccocnco 149 Appendix D Communication EXMP OSs cash Serctadivenndunlersnstceceldes E i r r 152 1 Connection of Touch Screen with ED Servo Drive and ApplicatiON occooccooncocnconccnncorncononos 152 2 Communication between Siemens S7200
22. E Oj x Position controller Velocity controller Current controller Coramutation others Commutation period 160 000 ines2p y Polepairs per commutation period pom d ace factor dependent on pon Max phase lead factor Po 60 dec Current for finding commutation pp ama y Delay for finding commutation somm A Damping for finding commutation oS Method for finding commutation CO Encoder increments reyvolutian eo00 000 Eine y Note The changed commutation values become only effective after storing and starting the drive controller again Use for it the dialog Administration online modus Figure 5 11 Commutation After the drive is powered on and enabled set drive control word to F it will provide a current for the motor to rotate to a certain angle so as to determine the position status of the motor If it is correct it will be displayed in Device Control gt Device Status gt Status word for Device state gt Commutation found The angle of rotation depends on the values of two parameters Current for finding Commutation and Delay for finding commutation Settings of Commutation parameters depend on the motor and operation environment In most cases these parameters are set when the project file is created Proper setting of Commutation is of vital importance for servo application Particular attention shall be paid to this point when using the ED servo drive ym23531 ewp pa Motor configura
23. E dec Time limit for homing To 5000 ms 0 000 inc Relocation zero paint Velocity during 15625 000 e start homing search for reference Homing Method switch Velocity during 1562 500 Sfins y Stop search for reference set point ar Inactive Acceleration during 160000 000 incs homing Definition of software position limits Set min software position limit 0 max software position limit 0 Parameter settings Axis 1 offline ewp oil Position controller velocity controller Current controller Commutation Others AS p gain Position control Po imss is y Feedforward Velocity ea y Feedforward Acceleration dee Max possible acceleration Pon ines y Max following error z000 fine y Following error o ooo Vine Target position window Pp 10000 line y Min Software position limit oine Max Software position limit Pp on line y 143 KINCO ED Series Servo Drives User Manual Appendixes Definition of Outputs Configuration digital outputs offline ewp E E E Of xj Output GUTI Output OUT gt Mapping data source 60410010 Status word for Device state statusword Offset 00000000 ANC mask 0000c4FF Comparision value honocas7 Polarity od FT Inverting Auxiliary value ooooo000 Auxiliary value oodanada Interim result j googgood Interim result oooo00000 Mapping data source aoaoga Offset 00000000 AND mas
24. ED servo is typical CANopen SLAVE equipment provided with dynamic PDO configuration capability PDO configurations are saved to the equipment so that it may be started for operation when the Master NMT Master is absent Communication can be used to observe the configuration of PDO by NMT Master or to configure the PDO manually There are four groups of common PDOs and each group consists of TxPDO and RxPDO Corresponding IDs the smaller the ID is the higher priority it has include TxPDO1 181h 1ffh RxPDO1 201h 27Fh TxPDO2 74 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN 281h 2ffh RxPDO2 301h 37Fh TxPDO3 381h 3ffh RxPDO3 401h 47Fh TxPDO4 481h 4ffh and RxPDO4 501h 57Fh In the ED drive RxPDO1 and TxPDO1 RxPDO2 and TxPDO2 have been pre determined during initialization Note The ED servo drive does not support self transmission and receiving function at present The PDO communication configuration is described later in this section Each PDO consists of three communication parameters ID msg id communication type type and inhibition time inhibit time According to the CANopen standard communication types cover 0 0x00 Synchronous packet non periodic PDO will be updated when the packet with synchronous ID 080h occurs on the bus 1 240 0x01 OXFO Synchronous packet periodic sending data periodically in the synchronization time window and the number indicates the number 1 2
25. Input Use DIN6 Positive limit switch DIN7 Negative limit switch DIN8 Homing switch positioned between the limit switches In addition to hardware wiring to set the DIN6 and DIN7 as positive limit and negative limit inputs it is necessary to set corresponding parameters in the Device configuration gt Digital input menu as shown in the figure below To validate the positive limit enter 20 in the AND mask of the positive limit switch To validate the negative limit enter 40 in the AND mask of the negative limit switch 8 2 Search Principle The control mode 6 is Homing mode In this mode the ECO2WIN searches the reference point automatically Digital inputs offline Input polarity oo REREREREREK Din Dimi Input status oo Positive limit switch OR mask 00 AND mask 20 Comparision value 20 Result oo Negative limit switch OR mask 00 AND mask 40 Comparision value 40 Result o0 Figure 8 1 Digital Inputs In mode 6 the following objects have to be defined 90 KINCO ED Series Servo Drives User Manual Chapter 8 Limit Switch and Homing Object Name Value Meaming 60600008 Chosen Mode of operation Set the operation mode to mode 60980008 Homing method User Homing method setting 607C0020 Relocation zero point Offset relative to the zero point setting 60990120 Velocity enn search for User Velocity ening search for limit or CON ene setng wien smh 60990220 Veloc
26. Master Upload refers to that the master sends a command to read object address in the slave and the master will generate an error if a non existent target address is uploaded The master sends byte O byte 1 byte2 byte3 byte4 byte5 byte6 byte7 SUB CMD INDEX INDEX RESERVED CMD Specifies the direction of data transfer 40 0x16 INDEX 16 bit value SUBINDEX 8 bit subindex RESERVED Bytes 4 7 not used The slave receives byte O byte1 byte2 byte3 byte4 byte5 byte6 byte7 SUB RES INDEX INDEX DATA RES Displays slave response 43 0x16 bytes 4 7 contain 32 bit data 4B 0x16 bytes 4 5 contain 16 bit data 4F 0x16 byte 4 contains 8 bit data 80 0x16 error bytes 4 7 contain error cause INDEX 16 bit value same as that sent by the master SUBINDEX 8 bit value same as that sent by the master If the data contains no error byte 4 byte 7 save the object value read from the slave with the lower order bits arranged before the higher order bits Correct value byte7 byte6 byte5 byte4 If there is an error data 108 KINCO ED Series Servo Drives User Manual Chapter 11 Communication Protocols contained in these four types is no longer object values read from the slave For example The master sends a upload command to the slave 01 40 ff 60 000000000060 This command reads target velocity 60FF0020 from the slave The slave answers 01 43 FF 60 00 00 20 4E 00 EF Indicates 01 Slave index is 1 43 Receive
27. O O eE EN 607F 20 RW M inc 64s Maximum possible velocity in mode 1 or 3 For example resolution 8000 inc 1000 RPM 8 533 333 inc 64s Performance object 0x6065 ff Command Description Type 6065 20 RW M Maximum following error at which the drive generates an alarm 2000 default value 60 well tuned drive 6067 position window for target reached flag default E o a OT is 10 607D aooo li M inc Minimum software end Minimum software end position 607D 02 RW M Maximum software end position if both are zero there is no limit 120 KINCO ED Series Servo Drives User Manual Chapter 13 List of Common Objects Homing 0x6098 ff Index Sub index Bits Command Type Unit Description 6098 RW N integer Methods Important homing methods from 1 to 34 Set the actual position to zero 6099 o1 f 20 RWM inc64s E ey fo Velocity for searching limit switch searching limit switch 6099 02 20 RWM inc 64s Velocity for searching phase N signal 20 l Home offset Motor object Ox60F6 ff A aed a Type 60F6 20 RW M integer Number of pulse increments per pole length for example the value for 50 pole 8000 resolution motor is 160 60F6 integer Number of poles he 10 RW M bic Phase offset of current angle in proportional to the velocity in the value range of 80 to 400 60F6 integer Maximum phase offset of current angle a quarter of integer Cun length INC bl 07 10 RW M ban
28. PLC and the ED through RS 485 Interface 156 3 Communication between Panasonic FPO with RS 232 Interface PLC and ED occccccccnccccnn 157 4 Communication between Mitsubishi FX2N PLC and ED through RS 485 ccoocccoccccccccccnccocicoconnno 158 Appendix E FullyClosed Loon CAN a elas ls LOS 161 Appendix F Importing and Exporting Data by ECO2LOAD ocoocccnccccccocccocicocicoccooncocnconoconcorncrocononanonnnnos 162 KINCO ED Series Servo Drives User Manual Chapter 1 Functions and Composition of ED Series Servo Drives Chapter 1 Functions and Composition of ED Series Servo Drives 1 1 Functions As domestic models for ECOSTEP series the ED series servo systems are a kind of fully digital intelligent servo system among all Kinco servo systems This user manual is also applicable to the programming of ECOSTEP ECOLIN and ECOVARIO drives For detailed drive parameter settings refer to their respective hardware manuals The ED series servo systems support fully digital control over speed position and torque The drive is integrated with such functions as drive control bus and I O The drive can store up to 256 sequences of programs and each sequence can store one motion curve including such important motion curve parameters as acceleration deceleration maximum speed and target position It can call a maximum of 128 motion curves directly through the eight I O ports With the communication function of
29. RW unsigned Target position of the eighth parameter in sequence 0 2000 Value of the eighth parameter in sequence O The following 16 registers correspond to 16 triggering operations triggered by status change of digital inputs DIN1 8 The registers save the number of programs to be called 2120 01 10 RW nas Sequence activated by event DIN1L H Register value is 0X0020 indicating sequence 0X20 is called 2120 10 RW unsigned Sequence activated by event DIN8L H Register value is 0X0010 indicating sequence 0X10 is called 2120 08 10 RW unsigned Sequence activated by event DINHL e LE S DIN1 4 coded combination used to triggering sequences 0X21200608 gt 0X0F00 is another example of coding the sequence number to be called In the example 123 KINCO ED Series Servo Drives User Manual Chapter 13 List of Common Objects when OFOO is entered in 21200510 DIN5 L H the sequence number represented by the DIN1 4 binary code will be called when DIN5 changes from L to H To complete the above 16 triggering operations the corresponding calls must be enabled The value of tom provides this function The 0X2118 can directly call any one of 2000 FF shes la A A A Type hal 10 unsigned High byte to enable H L low byte to enable L H OX1F1F DIN1 5 L H and H L are active OX010F DIN1 H L and DIN1 4 L H are active 2118 unsigned Direct call of sequence number used in programming 0X21180008 gt 0X20 Se
30. Series Servo Drives User Manual Chapter 13 List of Common Objects 0x21A00120 gt 0x21900120 0x21A00320 gt 0x00000002 0x21A00410 gt 0x0003 0x21A00220 gt 0x6070A220 last step target position Value from table 1 is multiplied by 2 and is copied into target position as destination Table object 0x21B0 Used to write values into the internal table Ox2D00 FF Command Description Type 21B0 Source objects should be put into the table 2180 02 log Rw unsigned Write command 21B0 03 RW integer Position in the table 0x21B00120 gt 0x60630020 Actual position 0x21B00308 gt 0xFF table position 255 0x21B00208 gt 0x01 Write command The actual position is written into table position 255 used for teach in Recording object 0X2201 FF index Sub index Bits Command Type Unit Description 2203 or 20 RO unsigned Array with recording values of the previous object 2203 02 20 RO unsigned Array with recording values ofthe previous object 2303 Array with recording values of the previous object 2201 unsigned Fourth recording object 2203 o4 20 Array with recording values of the previous object 2210 00s Counter size specifying how big the array is 2211 00s Position in the recorded array unsigned Time resolution of the recorded arrays Recording example actual velocity 0x22010120 gt 0x606C0020 actual velocity 0x22140010 gt 0x0005 time resolution 5 ms 0x22100010 gt 0x01F4 starts recording o
31. Time delay at commutation method 1 or 3 500 small load 1 5 times the motor inertia 1000 high load 20 50 times the motor inertia 60F6 W integer Drive method 3 horizontal applications 1 weight compensation vertical applications 60F6 11 10 RW M 12A 2047 I T current limit 0 2047 effective range 60F6 10 Time period to measure the effective current 0 12000 time constant of all motors are about 20 minutes the minimum safe value 121 KINCO ED Series Servo Drives User Manual Chapter 13 List of Common Objects Ine loop object OX60F9 ff ee Type inna 01 10 RW M inc s VC_KP proportional gain of velocity loop 50 soft gain 200 hard gain 60F9 integer VC_KI integral gain of velocity loop 0 no correction of transient deviations 1 default value 2 strong correction can cause oscillation RW M integer VC_KILIM limit value for VC_KI VC_KILIM shall be so pm higher than 10 of the static current kaid 10 W integer Digital input filter value velocity loop gain EFILT VC KP 1 Default value no lead compensation 2 Strong lead compensation 3 5 heave load low filter 60F9 05 integer output filter value for velocity loop 1 10 times load motor inertia 15 45 10 100 times load motor inertia Position loop object 0X60FB ff Command Description Type unsigned PC KP proportional value of position loop for example 1000 default value soft correction 3000 value for middle performance 8000 g
32. Yes EOI Le jEcouners zA 000 000 oso ves vee Yes ves Table 3 1 Model Table of Drives Note 12 bit DAC refers to the Digital Analog Conversion with a resolution up to 21 4096 which provides high precision current control and delivers more stable motor control 10 KINCO ED Series Servo Drives User Manual Chapter 3 Interface Signal and Wiring 3 2 Interfaces of ED Series Drives 3 2 1 ED100 Series Drives X1 Fieldbus interface providing CANopen or RS 485 interface 9 pin male connector X3 Digital output input interface X4 Logic power 24V input analog monitoring output and other functions X5 RS 232 interface usually used by the PC to download parameters 9 pin female connector FIELD BUS X7 External master encoder signal input interface X8 Encoder feedback signal input interface of the motor X9 Power cable interface and brake power interface of the motor X10 Power supply interface input range 24 VDC 70 VDC As shown in the figure on the left the GND 24V on the left of X10 is the same as the GND 24V of X4 both are control logic power input or LL a i Q Lu Lu lb un X interfaces of ED100 only one works at a time The GND DC on the right of X10 is the power supply interface ENCODER IN BRAKE MOTOR 1 I Figure 3 1 Interfaces of the ED100 Drive 11 KINCO ED Series Servo Drives User Manual Chapter 3 Interface Signal and Wiring 3 2 2 E
33. a resolution of 1um the proportion 1 25um 1um 1 25 The proportional gain of the velocity controller shall be set according to this value Appendix F Importing and Exporting Data by ECO2LOAD We provide special software ECO2LOAD for data import and export in a Kinco servo drive The interface is shown as follows cus ECOZLOAD Device ID i Test access Search Currently used interface no device found R5232 LOM wite data nto device Bead data out of device Load paramerter list Configuration ECOSTER x00 zeg CFG Admintstratian Version 1 0 0 9 A Figure F 1 The data in the Device ID box is the ID of the default drive The message no device found is displayed below To search a device click the lt Test access gt to judge whether the PC is connected normally to a drive If a drive is found the message device found will be displayed below the box If no such a message appears click lt Search gt for automatic search until a drive is found The software supports RS 232 CANOPEN and USB interface Each kind of communication parameters can be set separately Click lt Configuration gt to set them in the window appeared as shown in Figure F 2 When a drive is found normally the interface is shown in Figure F 3 162 KINCO ED Series Servo Drives User Manual Interface configuration OS on Peak CAN PClCard ECOYARIO USB R5232 Feak LAM Dongle Peak US6 4dapter Used in
34. and then click lt lt lt gt to confirm the selection 6 Set mechanic parameters When the previous step is completed click lt Next gt to enter the Mechanics type selection interface There are two options Rotative mechanic gear etc and Linear mechanic belt screw etc as shown below ym23531 ewp E xj Mechanics Mechanic type Rotative mechanic gear etc Linear mechanic belt screw etc 7 0000 revolutions Physical units to use on this axis Gear ratio Positions velocity Acceleration Accept Restore Defaults l OK Cancel Figure 4 8 Setting Mechanic Parameters 7 Save Click lt Next gt to enter the interface where you can enter the file name and path of the project to be created 31 KINCO ED Series Servo Drives User Manual Chapter 4 Use of ECO2WIN Software The software will automatically generate a default file name and path but the user can modify the file name and path as shown in the figure below Project assistant x Created project save The project creation is now complete Please name the project file DJA ECOZWIN 0 0 2270atemECozwWinl ewp Qohonally the Following further information can be added to the project Company AO Mots Figure 4 9 Saving File and Path Click lt Finished gt to create a new project A new interface appears inquiring whether to enter the ONLINE state in the Online state the u
35. enter data exchange state DATA_EXCHANGE otherwise it will not perform data exchange During the DATA_EXCHANGE period cyclic data exchange is carried out between the master and the slave 12 2 5 Setting PROFIBUS Communication Parameters of the ED Drive with Siemens STEP7 12 2 5 1 Installing GSD File Install the file in the HW CONFIG interface of the STEP7 software as shown in the figure below Upon completion of installation the JAT ECOSTEP ECOSTEP200 appears in the PROFIBUS DP Additional Field Devices Drivers directory in the CATALOG Then you can add it to the DP master system created by the user 113 K KINCO ED Series Servo Drives User Manual Chapter 12 Fieldbus Interface of ED Drive Milki Config SIMATIC 300 Station Station Edit Insert PLC View Options Window Help C pe a Gi im S E Customize Ctrl1 A1t E E ee Speci iy Module ias Standard E Configure Network e PROFIBUS DP Symbol Table Ctrl A14 T SIMATIC 300 Report System Error 6 8 SIMATIC 400 fH SIMATIC FC Based Control 30 Edit Catalog Profile re El SIMATIC PC Station Update Catalog ROFIBUS 1 DF master system 1 Install Her GSE 3 ECOS Import Station GSE p 131 ECOST 3 ECOSTEP 200 eae E Module Order mmber I Add Q Address Comment 195 RW Registers 256 263 256 265 F ia E eomtrolwora If aaa 285 Cer E statasmerd epee 285 ts CTO O 28 tip
36. is Enable Reset DIN8 DIN1 Note that the register has 32Bits that is 4 bytes byte 4 byte 1 from higher bits to lower bits Where Enable is used to enable the drive externally If the drive does not receive this signal it will generate an error Reset is to reset the error status of the drive Some functions of DIN1 8 have been described before Some new functions are described as follows as shown in the figure below e Digital inputs ECO pos ml JE Input polarity ha ENTER 10 E TER DINS Crd Input status 4 O E O O E Positive limit switch OR mask oo SAWO mask 00 Comparision value 20 Result oo Megative limit switch OR mask 00 StWO mask 00 Comparision value 40 Result 00 Device online Figure 5 27 Digital Input 68 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN In the figure the control commands correspond to the objects of 0x2170 0x2171 and 0x2172 respectively Where Input Polarity corresponds to 0x21700008 and eight bits correspond to the input status conversion commands for DIN1 to 8 When x is 1 the polarity of the corresponding DINx changes If the register value is 00 the polarity of the input is consistent with actual inputs If the external input is 0x00 inputs are all low we enter AA for 0x21700008 and DIN8 6 4 2 will be regarded as high level inputs If the external input is 0x01 DIN1 high level input val
37. order bytes Data in the sending buffer will be refreshed continuously usually in an interval of several ms For example the configuration date 0x43 0xC1 0x60 0x63 and 0x00 indicate that the value 2WORD in the parameter index Ox606300 Position_actual value will be placed in the sending area immediately following the byte 0x00 2 Cyclic writing command Command string 0x83 IDs for data length include 0x80 1BYTE 0x81 2BYTE 0x83 4BYTE OxCO 1WORD and 0xC1 2WORD 3 Random data reading writing command Command string OxC3 The configuration format is as follows Immediately after the note there will be two groups of 8 byte input output data The format of these two data groups is exactly the same as shown below Index H Index L DATA H DATA DATA DATA L Where Command is of vital importance Its format is shown below SCS BIT5 7 Control command to the Server Server Command Specify 2 reading request 1 writing request CCS BIT5 7 control command to the Client Client Command Specify 2 reading reply 1 writing reply 4 error information Tgl Bit4 Toggle bit copied to the response packet from the request packet Len Bit2 3 Bytes not used in the data buffer 0 3 Exp BIT1 Express fragment transmission Lsp Bit0 Length description Where BITO 4 will be ignored in the request packet but will work in the response packet If a request is not properly responded CCS equals to 4 BIT7 set t
38. ratio modifiable Seq03 25090220 0 Canceling the control of pulse direction signal Seq04 60400010 6 Motor off To enter the P D mode after power on set it as follows Set 21400a10 8001 in Direct Object entry The drive will directly call the first sequence after power on Remember to save the program after entering the word Exit the system turn off the system and then reboot the system to validate the setting If other servo parameters are set later the content in 21400A10 will be lost It is necessary to repeat the setting procedure To make the drive enter the P D mode through the I O Connect the DIN1 in the drive to the output of the external controller Trigger the DIN1 through an external controller for example a PLC and implement control over the ED drive through external pulse direction signal by calling the sequence 1 DIN2 is to cancel the control over the ED drive through external pulse direction signal and Din3 is to loosen the motor shaft The ED has eight inputs DIN1 DIN8 for external calling Each input can be set to correspond to two internal sequences rising and falling edges The input requirements include 24V 4mA high level gt 12V low level lt 5V and input delay 1 ms For details refer to the hardware manual The settings are as follows Sequencer programming gt Digital input the following setting represents a valid rising edge 146 KINCO ED Series Servo Drives User Manual Appendixes Events
39. supports the functions of rebooting boot saving and initializing parameters To perform these operations click lt Administration gt 163
40. vero S apo po po oo Homing o o fo j oc Settoposioningmode 139 KINCO ED Series Servo Drives User Manual Appendixes 1 1 Jo 1 0B __ Positioning curve 1 4000ino relative ee a Positioning curve 3 2000inc ae 0 08 me LAA curve 4 4000inc choclate fo Tor Restoring cuve 5 8000 sole o 4 h fo os Positioning curve 6 4000inc absolute a fo h o os Positioning curve 7 2000inc absolute o fo o os Positioning curve 8 Onc absolute 1 1 0 0 Positioning curve 9 8000inc absolute o fa fo fo o2 Positioning curve 10 4000inc absolute a fo 0 o o Positioning curve 11 2000inc absolute o fo lo o oo Settojogmede 5 Definition of Sequences Seq OF Driver on 60400010 6 Control word Motor off 60810020 0 Profile velocity Max velocity 0 1 inc s in positioning mode Seq 1F Seq 0E Drive off 60400010 06 Control word Motor off Seq 0D Homing 21600320 FOFF H Output0 and_mask OutputO_cfg and_mask 21600420 D0C7 Output0 cmp_mask Output0_cfg cmp_mask OUT1 if commutation found amp home found 4 operation enabled 60600008 6 Chosen mode of operation Set to homing mode 28400110 FFCF Controlword_bits and For control word AND prepared to start homing Seq 1D Homing 28400210 16 Controlword_bits or Bit4 1 start homing 140 KINCO ED Series Servo Drives User Manual Appendixes Seq 0C set to positioning mode
41. 0 DC BUS DC BUS GND DC Bus DC Bus insulation Phoeix MSTB 2 5 5 08 Figure 3 6 Internal Wiring of ED200 Drive 2 18 KINCO ED Series Servo Drives User Manual Chapter 3 Interface Signal and Wiring 3 4 Wiring 3 4 1 Wiring of Power Module P200 AA BA 1 ri b 7 ball sa a DA E E a ne a ll a mmi gt pu E a 1 5 r gt a e Y ky 0 Fr de a E g p D E miii i pul T ia S ka Tmi D sew gt z a Fe T La Se O ka nl al be F E a a a dant A wa W st j Cra gt a E o m ee H Sil Z ll a i 7 ca j ue A mi p 4 y fag Ef jal i Lt A J al w a K _ a Oo ES s5 hif f ae w w S fo D amp an a m of E j DO G g qn a d m Y ECBEL om F i i i a na r e sa a ae r ul Sat _ as aad a5 ep i Mi 1 7 p oa a E O a et Se fal n mE imi a k b be sis ae E kmi _ be i gj 3 ta Fr A ow g q m e G a hat al E p _ m e mer Loo A AS ie nn Le a i E bey SS hy T m aa m a il at oe et es SE 1 E 3 mi ry gt Sa pe E E amp a m i n El r a mm r fa sa phase hr s m p i me m D im 4 fi x a a E 0 a ar a Sl te Sa n aii pate co Las E y oF uf t Fs
42. 0 main circuit voltage lt 24V 00000100 short circuit of phase A 00000200 short circuit of phase B 00000400 short circuit current at Ready OUT1 2 or brake 00001000 external Enable low although the drive has been activated 00002000 exceeding error range during operation 00004000 overspeed encoder frequency gt 4MHZ 00008000 motor not found 00020000 1 T fault Boolean control word operation 0x2840 Index Sub index Bits Command Type Unit Description 2840 LOGIC AND operation with the actual control word OR operation with the actual control word Bus Characteristic object 0x2F80 0x2F90 2 Configuration of interfaces RS 485 and CANopen 2F80 RW unsigned Address number 0 127 corresponding to DIP switch value rareie2 00 08 RW unsigned Baud rate of CANBUS 129 KINCO ED Series Servo Drives User Manual KINCO ED Series Servo Drives User Manual GChapter13 List of Common Objects 1MBIT S 40M 2F81 gt 0x00 2F82 gt 0x14 500KBIT S 130M 2F81 gt 0x00 2F82 gt 0x1C 250KBIT S 270M 2F81 gt 0x01 2F82 gt 0x1C 125KBIT S 530M 2F81 gt 0x03 2F82 gt 0x1C 5OKBIT S 1 3KM 2F81 gt 0x47 2F82 gt 0x2F 20KBIT S 3 3KM 2F81 gt 0x53 2F82 gt 0x2F 2F90 unsigned Interface type O Standard RS 485 HA A ee 5 2F91 RW unsigned Baud rate Ox3F 9 6K Ox1F 19 2K OxOF 38 4K 2F92 RW unsigned Index high Ox60 for JETTER to indicate the address of high byte Ox60XX
43. 0 0X21600220 gt 0X0037 0X21600320 gt 0XFFFF 0X21600420 gt 0XC037 0X21600520 gt 0X0000 OUT1 outputs high level if the drive found commutation and reference and is in operation and the comparison result is true Limit switch object 0X2170 0X2171 LIMIT 0X2172 LIMIT ree nse ee IS Type 2170 RW LOGIC Change ee of the 8 digital inputs AAA apnea 2171 LOGIC Bollean and_value for the limit switch oe 0X21710208 gt 0X20 DING is high if the input polarity is 0X00 2171 LOGIC Bollean compare_value for the limit switch DIN6 0X21710208 gt 0X20 confirms whether DIN6 is high 0X21710308 gt 0X20 default DIN6 0X40 default DIN7 2171 04 RW LOGIC Status of the limit switch 0X00 not high level 0X01 high level no further motion in positive direction possible Counter object 0X2190 counter 1 to OX2193 counter 4 Index Subindex Bis CommandType Unt Desorplon Capture object 0X21C0 It is used to capture actual position value Command Description Type 21C0 80XX Jumps to sequence OxXX if 21C002 goes from O to 1 21C0 02 20 RW integer Start counting if there is a L H event on the N LIMPULS oe A of the master encoder the counting direction is positive 21C0 03 20 RW integer Result if event 21C002 takes place the actual position ee iaa value is copied into this address 125 KINCO ED Series Servo Drives User Manual Chapter 13 List of Common Objects 21C0 04 20 RW intege
44. 00 Gear factor Poo 10000 Gear divider Po 10000 Gear mode o Actual position master 0 00 line y Actual position slave 0 000 line Actual velocity slave 0 000 liners y Actual velocity master 0 000 diners y External Master position 000 line External Master velocity 0 000 fines D Device online Figure 5 30 Electronic Gear In the above figure the parameters correspond to 11 registers of Sub01 to SubOB from the top down The value in the Actual position master field is the number of pulses received from the X7 interface and is used 71 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN to judge whether the X7 interface can receive external pulse signals Electronic gear objects are defined as follows Subindex hex 01 Mapping Slave position Mapping Slave position data source 2509 0 Mapping Slave velocity Mapping slave velocity set to 60FF0020 that is frequency value from the X7 signal is multiplied by the electronic gear ratio and then converted into target velocity of the motor Gear factor Numerator of electronic gear ratio Denominator of electronic gear ratio Mode 0 1 Master slave quadruple Gear divider Gear mode frequency multiplication 2 Pulse direction signal control mode 3 CW CCW signal control mode Number of pulses actually received from the master encoder interface Actual position master Number of pulses assigned to the slave afte
45. 1 is result 1 and the OUT1 is of high level Likewise the OUT2 is for alarm output by using the 60400010 status word Where bit4 is Fault and can be used to judge whether the drive has a fault In addition to two programmable digital outputs OUT1 and OUTZ2 the ED drive has three special functional outputs of Ready Brake and Brake The Ready output is to output a high level value when the drive is in the Ready to switch on status and to output a low level value when the drive has a fault or is not in the Ready to switch on status Brake and Brake are used to provide brake power supplied with a voltage of 24V and a maximum of 1A continue for 100ms and then reduced to 0 5A The duration can be set in the Parameters settings gt Others gt Holding brake delay interface 5 6 3 Electronic Gear The parameter 0x2509 contains 11 sub indexes used to set various parameters for master slave mode and pulse direction control mode Firstly map Sub02 to 0x60FF0020 Target velocity The control mode depends on Sub05 When Sub05 2 the system receives the pulse direction signal from the X7 interface and implements the pulse direction signal control mode When Sub05 0 the system selects the master slave mode and the slave velocity Sub03 Sub04 Sub02 When Sub05 3 the system selects the CW CCW control mode as shown below Electronic gear ECOZWin38 ew4p a O xj Mapping gear position nooo0000 Mapping gear velocity 00000
46. 21600420 C437 Output0 cmp_mask OUT1 1 if status word satisfies commutation found home found amp operation enabled 60600008 1 Chosen mode of operation Set to positioning mode 1 28400110 FFCF Controlword_bits and For control word AND bit4 bit5 0 prepared to start positioning Seq 0B Positioning curve 11 607A0020 4000 Target position Target position 4000 inc 28400110 FFBF Controlword_bits and OutputO_cfg cmp_mask OUT 1 if commutation found amp home found amp operation enabled 60600008 6 Chosen mode of operation Set to homing mode 6 28400110 FFBF Controlword_bits and For control word AND bit6 0 absolute positioning mode 60810020 80000 Profile velocity maximum velocity 80000 inc s 60830020 500000 Profile acceleration 500000 16 inc s 60840020 500000 Profile deceleration 500000 16 inc s 21180008 0C Run sequence Call Seg 0C and be prepared for next positioning Sequences OA to 08 similar to sequence OB with different target positions relative Seq 07 Positioning 7 28400110 FFBF H Controlword_bits and OutputO0_cfg cmp_mask OUT1 if commutation found amp home found amp operation enabled 28400210 30H Controlword_bits or Bit4 bits 1 start absolute positioning 60810020 80000 Profile velocity Maximum velocity 80000 inc s 60830020 500000 Profile acceleration 500000 16 inc s 60840020 500000 Profile deceleration 500000 16 inc s 21180008 OC H Run
47. 2401 respectively and each contains four sub indexes Sub01 is mapping data Sub02 is Preshift Sub03 is Factor Sub04 is Output value The ED adopts 9 bit D A with the value range of 256 255 and the output range of 0 5V OV corresponds to the number 0 The computation formula is as follows Output value Source value factor 256 preshift 1 Actual Vout 2 5V Output value 2 5V 300 Here it is important to select an appropriate factor to keep the Output value in the range of 256 255 and keep the Vout in the value range of 0 367V 4 625V For details refer to Appendix B Sequencer Programming 5 6 5 Analog Input The ED has an analog differential input adopts the 10 bit ADC and corresponds to the internal object of 0x2508 It has six sub indexes Sub01 is the mapping object index and can be target velocity target position or any other internal object so that it can implement control over motor velocity and position by analog inputs Sub02 is factor Sub03 is Shift Sub04 is Analog input in data from ADC Sub05 is Analog input value result of multiplication Sub06 is Analog input highres state the ED provides the ADC resolution of 10 bits and is in the value range of 512 512 173 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN Analog input ECO2Win38 ewp i i 10 x Mapping 00000000 0 oy 1 2 0 High resolution High resolution mode y mode act
48. 25 Opening a Project a ene oO an eeu nd de 33 AZ A A O PP E PEO o teas E ES 33 4 2 5 IMporting EXportind oystentPlBS coca ad 37 Chapters Basic Fumctions Of ECO2WIN a a ete AE o 39 KINCO ED Series Servo Drives User Manual Contents dl OD EC IB ede NA O O ra one 39 Bez DiFeCh OD ec EN o ies enti 39 AD E Ren nn ren ee ee E Te ee ee Rene eee 40 Do ODETAUON WOGS sonas 41 5 032 Control Command and Status DIS DIAY scroll Maen ees 45 5 33 Setting Movement Parametros ees 46 Ss EAE E 47 5 3 5 Auto Forward Reverse Rotation Control oocccoccccccncccncocncconcnconnconnonononncnonnnnnnnnnnrnconnnnaninnnnnnnnnos 48 5020 ITO DIANA OSI O A AA A 49 94 Parameter Seta a a e cta atan eta de el odo EE 50 DAA POSO CONTO A Minrauloa tule vidas Susie duels Meccan aunties 51 90 42 Vele COMM ONCE lr adis 52 aye eG 8g v a1 CONTO lA 53 344 COMMM ULAL OM si be naciattinetd a A cin eta isaac 54 PAS US iii 56 5 5 Internal FOGK amming eri Rr ra lan 57 ISE ENCON AA AAA AOS ene 57 FIA DOENDO ern oreete alan rs cee RO Sa Ea AE ae ONO Tee ge Oo REE MT 58 SE A AP ae an eRe OC E er Re TE 61 5 5 4 Timer Controller Events muii in 62 dd OIM td oia 63 A AO 64 9 10 e tennis A sheen beech aseasanc mented Mebanted ERS 65 0 90 FOS INORG GO CUS ontario Do roo iiO annie 66 5 0 DEVICES C Olin GUANO a A st eae nec eats and nade ees 67 20 Fe b Bt weer espro do an e a E e A nd 68 o eaten eat tor re nen ne te eo TPR Neha a ee ee a eee eR Ome More 6
49. 40 of synchronous packets after which the PDO will be updated mainly applicable to motion control 252 0xFC The request from remote frames updates the PDO synchronously and responds to the request 253 0xFD PDO continuous update sending only after being requested by remote frames 255 OxFF Non synchronous RxPDO will update upon each reception and TxPDO will send packets in non inhibition time whenever the content changes Default inhibition time is 1000 ms As shown in the figure below Communication parameter offline ewp 0 x RX PDO 1 Ox 80000201 4 FF 1000 3 Rx PDO 2 Ox so0000m ox FE 1000 3 Rx PDO 3 Ox 0000 osf F 1000 3 Rx PDO4 Ox so000 ox F 1000 Rx PDOS Ox s0000000 4 osf FS 1000 Rx PDO 6 Ox s0000000 4 ox FE 1000 3 Rx PDO7 Ox s0000000 4 ox FF 1000 ex pDO 8 Ox s0000000 4 ox FE 1000 3 PDO1 ox ooma oxf FE 1000 3 PDO 2 ox 00080 oxf FE 1000 3 x PDO3 Ox 00000 ox FH 1000 3 PDO4 0xf 00000 ox FX 1000 3 x x x Poos 0 om o FS ooo y PDO 6 0x omn ox FRY ooo o y ppo7 ox ol ox FJ toot DO 8 0xf 00000 ox FH 1000 3 sync message o0000080 hex node_guarding_identifier 00000701 EShex y emergency _message_id oogo00s1 hex Figure 5 33 Communication Parameter The following is a PDO configuration example A PDO has the CAN packet with the ID of 0x201 and it will be received by RxPDO1 For example it may be the output of a CANopen I
50. 6 2 2 Current Adjustment Adjust the maximum current If a correct motor model is selected when creating a project file the maximum current of the motor is already set For details refer to Section 5 4 3 Current Controller 6 2 3 Checking Velocity Controller and Position Controller Parameters Finally check default settings of the velocity controller and position controller The load free parameters are set as follows ne Parameter settings Axis 1 EXO2Niol ep r om eon ma m aa m maon m ns ee e aaa ma Position controller velocity controller Current controller Commutation Others i 1 a p gain Position control 15 625 Nays Feedforward Yeloctbhy Feedforward Acceleration Max possible acceleration Max following error 2000 000 line Following error 0 000 fino Target position window 10 000 Tine Min Software position limit 00 Jing Max Sofware position limit O Device online Figure 6 5 Default Settings of Position Controller Parameter szeltines Axis 1 BOOG YVinT erp al E ee Position controller Y 1 Ey controller Current controller Commutation Others INIA A p gain Welocity control DE i gain Velocity control pia Imt component 10002 dec Time constant for error filter 2 lla 7 Time constant Output filter 2 468750 000 A Max velocity ingis Device online Figure 6 6 Default Settings of Veloc
51. 9 Lay Ore Elec lacada 71 Oe Pi lOO MONO dt a a o see 12 FES Analog INP taria o dos o do na ale de 13 SL COMMUNIC Ol rocas 74 5 7 2 TX PDO Mapping Address Settings ocococccoccoccnoccnononononnonanocnnnonononanonanonnnnonononanonarnnnnnonanoss 76 5 7 2 Rx PDO Mapping Address SettingS coocccocccconoconococnnocnonocononnnnnnonanncnnnonnnnnanonnrnnnnnnnaninaninenens 77 DO OSCIIOSCOD Gis ia e satan eiecesiu ensue taddec aaa ptowcmaeaau tune anieatunstunaane tee naeeu a tannsuedadecuenant saneeuerinees 78 EPOPEIA AES gerne an nem EE E A nn Onn EA E re E CODE Ree ae ne ee ee nee 80 Chapter o Erick RUM O MORA A A nines tates ade 81 6 1 Installation of Electrical COMpONenNtS ooocccccccoccccccnnocncocnnonnnoncnonnnnonnnnnnnnnnnonnnnnnnnnnnnnnnnnnnnnnnnnnonenenaninoss 81 6 1 1 Connecting Encoder Cable to Drive oocccoccccccccccncocncconoconocncnonononncnnnnnonanonnnnonononanonaronnnnnnnanes 81 6 1 2 Connecting Motor Cable with without Brake to X9 Interface of the Drive occoocccoccccocncoo 81 6 1 3 Providing Logic Power Supply for Drive Controller Power X4 cooocccococccncocccoccccccncconococonnnoss 82 6 1 4 Haraware Reset A A A A 82 0 15 Encoder signal ERAS al idea 82 6 1 6 Connection with External Enable Signal oocccocccccncccnccocncconocanncncnonononnnonannonanonannoncnonanenanoss 82 61 7 Providing BUS POWer X10 TO DIV o ed ea Dedo e o 82 KINCO ED Series Servo Drives
52. Axis Application The ED requires a three wire RS 232C to connect to a host computer Connect the wiring terminal X5 directly to the COM port of a PC as follows PC COM1 IRQ4 COM2 IRQ3 ED X5 RADA os 2 TX DOS usais 3 RX GND S aupa 5 GND 11 1 1 1 Multi Axis Application The host for example a PC PLC etc serves as a master and the ED serves as a slave The wiring is shown as follows Host Computer 3 5 2 35 2 36 2 352 X5 X5 X5 ss X5 ID 1 ID 2 ID 3 ID ECOSTEP ECOSTEP ECOSTEP ECOSTEP Figure 11 1 RS 232 Multi Axis Application ID numbers address number are selectable by DIP switches SO S1 S2 S3 Every ED needs an unique ID No ID O is reserved by the system 11 1 2 Transport Protocol The RS 232C communication of the ED strictly follows a master slave protocol The host computer can send data to any ED device connected to the TXD line of the host Upon receiving such data the device will immediately transfer the data to the next device in the transmission loop The last device in the loop will send the data to the host ensuring that each ED drive in the loop can receive data packets Each ED can process 104 KINCO ED Series Servo Drives User Manual Chapter 11 Communication Protocols data and judge whether such data is deliver to it whether the ID byte in the instruction is the same as its own ID No If yes it will process the data otherwise it will not process such data The ED requires the following settings
53. D200 ED216 ECOLIN200 ECOLIN216 Series Drives X1 CANopen bus interface 9 pin male connector X2 RS 485 or Profibus bus interface X3 Digital output input interface analog input X4 Logic power input interface analog monitoring output interface eternal enabling input interface external fault reset input signal Ready signal output interface X5 RS 232 interface used by the PC to download parameters 9 pin female connector X6 Synchronization signal output interface of the motor encoder X7 External master encoder signal input interface X8 Encoder feedback signal input interface of the motor to the encoder cable X9 Motor connection interface to motor power supply cable and brake power output interface X10 Power supply input interface 24 VDC 170 VDC the positive and negative poles of the power supply are connected to DC BUS and DC BUS respectively l na Mala z SN gald mi 5 o a m a a Nl HEOOONa Figure 3 2 Interfaces of the ED200 ED216 ECOLIN Drives 12 KINCO ED Series Servo Drives User Manual Chapter 3 Interface Signal and Wiring 3 2 2 Functions of Drive Interfaces Symbol FIELDBUS CANopen bus interface 9 pin male connector RS 485 interface of ED100 LA adopts this kind of interface RS 485 or Profibus bus interface ED100 does not have this interface OUT1 OUT2 Two customizable digital output interfaces usually used for Target reached X1 X2 Din1 Din8
54. D32 OUTPUT as shown in the figure below Properties gt DP slave Address ID Direct Entry Length lmit Consistent E kords E Total length Process image Data for Specific Jao 83 00 Maximum 14 bytes hexadecimal separated by comma or blank space a foe Figure 12 6 In the above figure we can select OUTPUT in the l O type box Then we can select addresses according to the insertion positions of modules Select 2 WORDs for data type To ensure consistent data transmission select TOTAL LENGTH In the lower of the window enter the index description of the parameter INDEX 6083 SUB 00 The user can select some address registers from PLC resources to save configured parameters and describe corresponding configuration parameters by the symbol table Make sure to process the configured length of data at a time Pay special attention to reading and writing of random 8 byte data because the STEP7 can process only 4 bytes in general Call the SFC14 DPRD_DAT and SFC15 DPWR_DAT to implement this function The configuration window is shown below 116 KINCO ED Series Servo Drives User Manual Chapter 12 Fieldbus Interface of ED Drive Profi Standard W AUSIMATIC 300 Station Configuration ST_ PROFIBUS DE 5 a E Y Additional Field Devices a 4 83 Drives De CFU315 2 DF 1 i Bia TAT IE 1 E IP Master ECOSTEP Elgg ECOSTEF 200 ae E Universal module jas Rt Registe
55. E E x RA5232 interface selectable interfaces COM connectors only available out of this system All COM ports Project for different target system Applied connector com Baud rate bits Device ID range Max transmission time 100 2 ms Interface active a an Accept Restore Defaults Cancel Figure 4 12 If the Peak CAN adapter is selected when creating a project after right clicking the Interface1 the CAN parameter setting window appears Appa mores ECO2Win33 ewp O y R EA ee T Configuration Peak CAN USB interface E info Peak CAN USB adapter versions 1 35 E Interface driver installed Baud rate at CAN bus f MEt 5 device ID range f 126 Max transmission time so ms Interface active a on Accept Restore Defaults A aem Figure 4 13 4 2 4 2 ECO Device with ID Icon The ECO Device with ID xx icon contains main functions of the ED drive Right click the icon and the following menu appears 34 KINCO ED Series Servo Drives User Manual 100aa ewp Interface 1 Modified Online Device status Oscilloscope Sequence programming Device configuration Direct object entry Administration Export data Import data Axis1 Device Control Parameter settings Properties Table 4 1 Chapter 4 Use of ECO2WIN Software rt Device status Mechanic For motor 1 at device ID 1 Oscillosco
56. ED an external controller can call the 256 sequences of programs stored in the ED to modify internal system parameters of the drive For a master slave control system or a simple synchronization system the implementation is simple and made possible when you input the external master encoder signals into the X7 port of the drive without the need of any other complicated software or hardware settings The ED series servo systems support multiple communication modes including RS232C RS485 CANopen and Profibus DP With open protocols provided by us a PLC a PC a single ship microcomputer or other controller can complete the setting of internal parameters of the ED series servo drives and the control over motion curves freely For simple application of direct connection between the touch screen and the servo system the ED series servo drives can be directly connected with the eView touch screen The user can then enter control parameters through the eView touch screen of text display Meanwhile the servo related parameters and real time data can be displayed This application is suitable for the occasion requiring only simple I O port control and logic control In addition this solution does not require a controller such as a PLC a PC or a single ship microcomputer which is necessary in a conventional solution and thus saving the cost for the user The ED series servo drives support three types of Kinco motors multipolar high speed and linear
57. ID Menu 35 KINCO ED Series Servo Drives User Manual Chapter 4 Use of ECO2WIN Software Properties Version Motor connections ECO device driver JECOSTEP 100 44 Firmware 0000 0041 eco10041 dev ID n g Interface RS232 interface COM Refresh interval co ms Online F Accept Restore Defaults Cancel Figure 4 15 Properties Window The ID in the above window is the DIP address on the drive automatically recognized by the system when a new project file is created If the drive DIP switch address is manually modified change the ID in the current window to be the same as the DIP switch address of the current drive The drive has four ID codes as shown in the figure below ma zi uu S1 O s ms SO is the lowest bit S3 is the highest bit On 1 Off 0 For example S3 Off S2 Off S1 0ff SO On 3 S2 1S0 0001 1 S3 Off S2 Off S1 On SO Off S3 2 S1 S0 0010 2 4 2 4 3 Motor xx at Device with ID yy Icon Right click on the icon and the following window appears The window is the same as the one for setting the Motor when creating a new project It is recommended not to change the data here 100a0 ewp E ES E Es Motor configuration Current motor Standard motors Type name 2351 6 0560 003 0 44 2351 6 0560 003 0 44 hatar type e Rotative Linear ECOSTER Mam torque 0 450 Mm 0 45 Nm Motor inertia 0 00770 m kgm2 103 0 0077 kogm 10 no original z icture Mas m
58. INCO ED Series Servo Drives User Manual Chapter 3 Interface Signal and Wiring cable connect the yellow green wire of the motor cable directly to the GND of the X9 interface When the power source of the drive exceeds 60 VDC the ground wire of the motor must be connected The motor cable and the encoder cable of the 23 series of motors have already been connected to the motor body when they are delivered out of factory However the motor cable and the encoder cable for the 34 series and 42 series of motors are independent and pluggable Figure 3 12 Fixing of Motor Cable 25 KINCO ED Series Servo Drives User Manual Chapter 4 Use of ECO2WIN Software Chapter 4 Use of ECO2WIN Software This chapter gives a detailed description of the programming software for Kinco servo drives ECO2WIN It mainly describes the functions of ECO2WIN version2 40 4 1 Software Setup The CD of the Kinco servo drive contains the setup software for ECO2WIN Operating system and hardware requirements WIN98 2000 XP Pentium CPU min 200 MHz Memory gt 64 MB CD ROM RS 232 interface parallel interface or USB interface Getting started When you insert the ECO2WIN setup CD into the CD ROM the system will automatically run the setup program as shown in the figure below Select the setup and debugging software KINCO fal TEEF Kinco SCD EJ KINCO fal IE aL p E Bt ECD Fle www kinco cn 325
59. INCO ED Series Servo Drives User Manual Chapter 8 Limit Switch and Homing 8 3 3 Homing Modes 3 and 4 Homing with Positive Homing Switch and Index DIN8 is connected with the positive homing switch signal index Pulse l j A Home Switch il 1 Home mode 3 and 4 Starting position Figure 8 5 Homing Mode 3 and 4 The drive moves along the homing switch direction and stops when detecting the instruction signal from the homing switch According to the level of the homing switch the drive turns either in positive or negative direction As soon as the change of homing level is recognized the next index pulse signal of the motor encoder is recorded as the reference point The bit reference found is set in the status word and the axis is decelerated till standstill Advantage The reference point is connected absolutely to the motor and mechanical part Disadvantage If the motor is changed or the coupling is loosened the system must be re calibrated 8 3 4 Homing Modes 5 and 6 Homing with Negative Homing Switch and Index DIN8 is connected with the negative homing switch signal ne E Index Pulse Home Switcn anu nee y i Home mode 5 and Starting position Figure 8 6 Homing Mode 5 and 6 The drive moves along the homing switch direction and stops when detecting the instruction signal from 93 KINCO ED Series Servo Drives User Manual Chapter 8 Limit Switch and Homing the homing switc
60. NT When the software is installed in a WIN98 system it is necessary to use the ECO2WIN INI file in the directory of Programming softwarelECO2WIN in the CD to overwrite the file with the same name in the setup directory c program file jat eco2win 0 0 0 241 by default and only then the software can work normally It is not necessary to perform such an overwriting operation in the WIN2000 XP operating system 4 2 Quick Start 4 2 1 ED Hardware Minimum Configuration Parameters of all servo drives the ED series can be set through the RS 232 or the CANopen interface by the ECO2WIN software If only one servo drive is required to use the ECO2WIN software it is better to have a suitable servo motor connected to the drive Connect the servo drive and the motor correctly according to Chapter 3 and the ED drive hardware manual Oo Minimum system requirements for programming through the RS 232 interface Servo drive ED100 ED200 or ED216 Control logic voltage 24 VDC provided for the drive Serial programming cable 9 pin D Sub connector for detailed wiring refer to RS 232C communication in Section 11 1 Optional ED servo motor Optional Power supply for the motor min 24 VDC Oo Minimum system requirements for programming through the CANopen interface Servo drive ED100 ED200 or ED216 Control logic voltage 24 VDC provided for the drive PEAK series USB or LPT adapter CANopen communication cable with external power supply required for details refer t
61. O module that is it represents the digital input of this I O module This module has 75 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN 64 digital inputs and it uses all 8 bytes available with a PDO In the ED servo drive these 8 bytes are mapped to general and mappable objects INDEX 0x2100 SUBO1 16 0x2100 01 and 02 each data has a length of 4 bytes Another PDO has the CAN packet with the ID of 0x181 and it shall be transmitted as TxPDO1 It contains 32 bit output of the I O module The output value is mapped by 0x210003 Once the output content changes 0x210003 will be transmitted at an interval of no less than 100 ms The third POD has 0x281 and will be transmitted by the ED servo drive when a Sync Msg signal occurs on the bus At least two devices are required if we carry out a test In other words we need a participant to confirm the transmitting end and meanwhile we have to enable the CAN network for PDO communication which may be done by a participating NMT MASTER device If the NMT MASTER is absent it is necessary to start the CAN Node an internal software module of the ED drive This can be done by setting the 0x1F8000 in the object dictionary to 3 default value is 0 after the ED servo drive is powered on At this time the ED servo drive will send the NMT START information to the bus and start itself Before setting the object value make sure all other devices over the bus have bee
62. P GND DGND 6 5V VP 5V 7 Rx ne galvanic insulation 8 Tx RxD TxD N only with Profibus D Sub 9 pin 9 ne ne Code Switch for Network ID 0 15 Status LED 24 V gn ERR rd BUS gn RUN gn Input Masterencoder Pin Signal 5V max 200 mA A Clock B Direction N 24V HAQOONA BALSA confi Direction i GO 0h oe td ba GND A Clock B iN Qutput Motorencoder Pin Signal LO HAOOIAH W 0 3 os amp bo Input Motorencoder Pin Signal e l 5V 2 A S 3 B 4 N 5 ne 6 GND 7 A f 8 B D Sub 9 pin 9 N Figure 3 5 Internal Wiring of ED200 Drive 1 17 KINCO ED Series Servo Drives User Manual Chapter 3 Interface Signal and Wiring Inputs Outputs Qutput 1 OUT 1 Output 2 OUT 2 Input 1 DIN 1 Input 2 DIN 2 iles Input 3 DIN 3 Input 4 DIN 4 Input 5 DIN 5 Limit switch positive DIN 6 Limit switch negative DIN 7 Home switch DIN 8 Signal ground GND Analog input AN Analog input AN Signal ground GND Monitor MONI Monitor2 MONZ Ready READY Error reset RESET Enable Powerstage ENABLE Signal ground GND Supply 24V 24V Supply ground GND Phoenix MC 1 5 3 81 Motor X9 Brake ling Brake BRAKE BRAKE GND MOTOR A Motor Phase A Motor Phase A MOTOR A Motor Phase B MOTOR B Motor Phase B MOTOR B 2 Phase Powerstage 170 VW 10A e 000 Phoeix IC 2 5 5 08 Power supply x1
63. Provide Chinese automation solutions for global customers K i n co Lash Fa ARA Kinco Electric Shanghai Ltd KINCO ED Series Servo Drives User Manual March 2006 KINCO ED Series Servo Drives User Manual Contents Contents Chapter 1 Functions and Composition of ED Series Servo DriVeS oocoocconcccccocioccconcononcnonncononcncanonnonnnonncanonos 5 TAME CC MOL Secreto A o o o tlie ors 5 MEE GOIMIIOS Mtl Obl daa a ea A 6 Chapter2Z Installation an Us ia A AA A A T 21Operating ENVirOnime nt rerai a a a TN T 2 2 Installation Clearance and Direction oocooccocccocncocnconoconoocnconncncnnnnconnnnrnnnrnnnnnnnnnnnnnnnnnnnnnrnnnnnnnnnnnnnnnes T 20 Preventing FOREIOM SuUDSIANCES ct ins T 2 4 Stallalloniol Encoder Cable na ao 7 pd eo A A EE O A eee 8 A Eh ee ee ee ene ee 8 2 02 Operating ENVIO AMEN axes A A A alse 8 2 5 3 Requirements for Mounting and Installation cccocccocncccncnocnconnonanoconnononocononanononnonanocnncnnns 8 2 5 4 Preconditions for Electric CONNECTION coocccoccccocncccnoncncnnnnconnconnnoncnoncnonnnnonnnnnnnnnnnnnnnnnnnncnnninannnnaninos 9 Paps FOP A O ae eee 9 Chapters internace Sigopaland WIN var Aaa 10 3 1 Models Of ED Senes DIVOS umm ag 10 3 2 IntetiaGes OED Senes Di VOCS iS A E N 11 32 EDIO SENES DIVE S ca cidcid lana a ALO 11 3 2 2 ED200 ED216 ECOLIN200 ECOLIN216 Series Drives oocccoccccoccccocncoccccccncncnononnoncononnnonnnnncnnnonos 12 3 2 2 Functions of Dri
64. User Manual Contents 6 1 8 Connection of Programming Cable occcocccccncconncccncccnococononnoncnonnnconrnnnnnonanonnnnnnnnonanonarnnnnninnnnos 83 62 ThialRUNnoOriS MOR io ral tan IE DO 83 6 2 1 Setting Motor Parameters sii ld ld iii 83 0 22 CUISINE AAG S MEN sd ii o 84 6 2 3 Checking Velocity Controller and Position Controller Parameters ooccooccconconcconnconiconicaninonnns 84 ea STE IEA CONTO NAPA ene te Ren Mren arte Sn ne mnnT mn PS ae Ee TEER tr RTE TCR aE ee aE RPE ee AS 85 Chapter 7 Parameter Setting in Forward Reverse Rotation Mode occocccocccocncoccooccocncocnconoconononcnononcnonons 86 7 1 Introduction to Forward Reverse Rotation cococccocccccnccoccconnccononannnncnonnnonncnnnnnonanonnnnonononannnnnnonaninos 86 7 2 Introduction to Different Forward Reverse Rotation MOdES oocococccocccoccconcncconcconocncnonononnnonnncnncnnos 86 7 2 1 Timed Forward Reverse Rotation with Position ConNtrol ooocococccocncccnncccncccnccnnnconnnonnonacnnnonos 86 7 2 2 Timed Forward Reverse Rotation with Speed Control ocoocccooccccncocnconncocnconiconcncnnonoconocanononnnss 88 7 2 3 Position Forward Reverse Rotation with Speed Control ooccocccoccconcccccocncoroconocononononononnonanonos 89 7 2 4 Speed Forward Reverse Rotation with Position Control ooocccocccocncccnccccncocccconnconnnonnnnonnnnnnos 89 Chapters Limit SWitGh ang HOMINIS wee eae sea ead es ee 90 6 1 Limi
65. Vt Vo at Vt Uniform velocity Vo Initial velocity a Acceleration or deceleration t Acceleration time S Vot 1 2 at S Acceleration displacement y Cinc s Even velocity Acceleration Deceleration t0 tl t2 t3 tta Velocity and time curves in mode 3 In mode 3 the following objects have to be defined o Name Valve Meaning _ _ 60600008 Chosen Mode of operation Set the operation mode to mode 3 60FF0020 Target velocity User Target velocity setting 60830020 Profile acceleration User Acceleration e 60840020 Profile deceleration eee Deceleration setting 60400010 Control word for Device state Lock the motor shaft if the above parameters are correctly set the motor will run according to the requirements of these parameters Table 5 3 Objects of Mode 3 For details refer to the sections Mode and Control and Target Object in Chapter 13 List of Common Objects Mode 3 RPM demand value without position control also called immediate velocity mode In this mode when a new value is assigned to the target velocity the motor will run at the new velocity immediately without a definable acceleration deceleration as described in mode 3 In mode 3 the following objects have to be defined Value Meaning 60600008 Chosen Mode of operation Set the operation mode to mode 3 60FF0020 Target velocity User Target velocity setting 43 KINCO ED Se
66. X80H in the control word and check whether the status word is 0x0031 Action Course Control Word Status Word Velocity Object Position Status Ox000F 0xC437 800inc s 8000 Initialize Start 0x001F OxD037 Start motion 0xD437 Target reached Address An address is specified in the following way First the index consisting of four hexadecimal numbers then the subindex consisting of two hexadecimal numbers and at the end a two hexadecimal code for the bit length of the data For example Index Subindex Bitlength 6041 00 10 or 60410010 Bitcode Bitcode means to represent several event states by a code 1000 1110 which could be 8 bit 16 bit or 32 bit and convert them into hexadecimal numbers An example is the distribution of the states high low at the 8 digital inputs Code DIN6 to 8 means high active and all the others mean low by the number 1110 0000 which is OxEO Velocity internal scaling RPM encoder resolution 64 60 internal unit inc 64 s Analog dem value 10V 10V gt factor internal unit conversion factor internal unit volt 24SHIFT 512 Maximum velocity is 1440U min gt 1440 60 8000 64 2 3 512 3000 Acceleration When the unit is rad s it equals to the internal value 16 inc s2 16 2 pi encoder resolution For example when a pulley runs at 100 mm revolution and the encoder is 8000 inc it equals to 9 81 0 1 2 pi 8000 16 2 pi 4969 16 inc s2 Digital current The cur
67. able on the current PC and the user can select one mode If you are not sure whether the settings of communication parameters are correct under this communication mode click lt Manual Configuration gt to configure parameters manually as shown in the following figure 29 KINCO ED Series Servo Drives User Manual Chapter 4 Use of ECO2WIN Software Interface configurati The following interfaces have been found Anede Interface Click on a of the inte Fou want to ECOSTEF de Peak CAM Donale versions 1 02 to 1 3 Peak CAM USB adapter versions 1 35 Peak CAM PCL 4dapter wersion 1 4 10 Manual configuration Cancel Figure 4 5 Manual Configuration 4 Configure the drive LE PEI III III III III CCPC eee eT Ture l conti Eurat LOI ous interfaces nt to run the lt lt Back Next gt Click lt Next gt to enter the next interface The software starts to search the drive in the communication line according to the selected communication mode Likewise there are two search modes default or automatic search If you select Manual Device Configuration for manual search you have to select the related drive model from the drive list as shown in the figure below manual selection of device driver Please choose the correct driver for your device ECOS TEP 200 44 ECOS TEP 00 44 Firmware 0 40 and greater ELLOS TEP 00 24 ECOS TEP 00 4 Firmware 0 40 and greater ECOSTEP
68. adjust the Kpp p_gain Position control value and Vff Feedforward velocity value of the position controller In general set the Kpp to 100 200 1 s and Vff to a value above 75 The following error will be reduced and the drive will no longer report the following error To adjust parameters it is necessary to read through this manual and have certain field experience Fortunately only a few parameters have to be adjusted 85 KINCO ED Series Servo Drives User Manual Chapter 7 Parameter Settings in Reversing Mode Chapter 7 Parameter Setting in Forward Reverse Rotation Mode 7 1 Introduction to Forward Reverse Rotation In this mode the drive works in the forward reverse rotation state and the parameters of the velocity controller and of the position controller will be optimized The Auto reverse window consists of two parts in the upper part the user can set limit values in the lower part the user can set target values Once reaching the limit values the motor will move in an opposite direction towards new target values ECO2WIN is a user interface for the ED drive All control commands are stored in the drive and will not get lost even if the ECO2WIN software exits In other words even if the ECO2WIN and Window software cannot work the drive can work normally Note Make sure the power supply can be switched off immediately at any time 7 2 Introduction to Different Forward Reverse Rotation Modes 7 2 1 Timed F
69. ained unchanged until the ED servo receives the next SYNC command Only until then will the stored output data be transferred to an external device The UNSYNC command is used by the ED servo to exit the SYNC mode 118 KINCO ED Series Servo Drives User Manual Chapter 13 List of Common Objects Chapter 13 List of Common Objects Based on the data communication protocols described in Chapter 11 the user can design programs with JAVA Visual C or Delphi software to implement different control modes Understanding of the data in the following tables will be helpful for programmers and users All parameter values are transferred in hexadecimal data In the later sections of this document we adopt the hexadecimal system and use Index 16 bit index and Subindex 8 bit subindex to represent the register addressing The digit 08 indicates the register will store data up to 1 byte and the digit 10 indicates that the register will store data up to 2 bytes and the digit 20 indicates the register will store data up to 4 bytes lt also covers the storage digits and read write property of the register read or write flag RW read only or write only flag RO WO and mapping flag M Modes and Control 0x6040 ff Command Description Type 6040 10 RW M bitcode Use control word to change status of drive gt machine state Ox06 power off OxOF power on OxOB Quick stop load stops voltage switched off Ox3F immediate absolute positioning Ox5SF r
70. al Appendixes AiG AE a E Be Se fe ae HE Ett Tee HAI B0T FH 2 agers HEHE TASEA Vee FUE accio Figure D1 2 3 A touch screen controls several ED servo drives a Wiring PLC RXD R5253 GND H TxD FCOSTEP ECOSTEP ECOSTEP ECOSTEP Figure D1 3 2 Parameter setting Parameter settings for the touch screen are the same as those in Figure D1 1 Note that the PLC No must be different from the ID of the ED drive For example if the touch screen controls two ED servo drives and the IDs for them are 1 and 2 respectively the PLC station No in the touch screen must be set to a number different from 1 or 2 for example set to 3 or any other value When the eView touch screen controls several ED servo drives it uses extended address mode instead of standard mode This is different from the touch screen controlling a single ED servo drive Set the parameters in the Edit gt System Parameters gt Editor menu in the EasyBuilder500 software as shown in the figure below 154 KINCO ED Series Servo Drives User Manual Appendixes PLO BE DO Reser miim i eiO 10 miel lo a TOPPA EE ES A E FEE iz Figure D1 4 c Setting address parameters It is necessary to set the address of the ED object when designing eView program Firstly set Index and then Subindex Different from address setting of the touch screen controlling a single ED servo drive address has to b
71. and the read command is 01 40 91 2F 00 00 00 00 00 FF FF check code 0 byteo byte 9 40 Read command d Description of the example The example 485RW PMW is a Mitsubishi program X2 Power on X3 Power off X4 Set control mode to 3 X5 Change velocity to 10 rev m X6 Reset X7 Read the baud rate of RS 485 communication of the ED drive For a detailed example refer to the user CD of the Kinco servo 160 KINCO ED Series Servo Drives User Manual Appendixes Appendix E Full Closed Loop Control The full closed loop control is usually applicable to high precision positioning system Usually a set of connection mechanism exists between the servo motor and the load for example linear guide so the encoder signal fed back from the servo motor shaft cannot represent the displacement and velocity signal of the load If the requirement of the system for positioning precision is not high this application can be implemented by semi closed loop control of the servo drive However if the requirement for positioning precision is high for example the precision to um level the full closed loop control mode has to be adopted As a result it raises higher requirements for the mechanical structure design and assembly of the whole system Under the conventional full closed loop control mode the feedback signal on the load end is connected to the controller end for example high end motion control card and the Kinco servo d
72. anual Chapter 9 Sequencer Programming Chapter 9 Sequencer Programming Sequencer programming means to assign values to objects that are executed similarly to a batch program Objects can be similar to memory addresses some can be set by the user for example velocity or position values others can only be set by the servo controller for example status word or error messages The drive provides up to 256 sequences for the user All programs are saved to the memory section which is secure against power failure Each program sequence has a corresponding program number which contains objects in the eight object lists with RW property After a program sequence is called all instructions in the program sequence will be executed once in an descending order An online command or another program sequence will not interrupt the execution of the instructions in the program sequence A program sequence can be executed by a control event Upon occurrence of each event a sequence of designated program can be executed If an event occurs the designated program sequence will be executed Some events may occur at the same time corresponding programs will be executed according to the sequence of triggered events The ED servo drive provides such typical control events as upper lower falling edge of input interface timer time determined by internal program arrived comparison result of two values as true positioning end reached etc Some events may be defined re
73. at DINI 8 100aa ewp SS iol ES Status DIN2 r 0003 0000 i DINS mj hoo 0000 pind OOOO OO00 r DINS C goood 0000 DIN E 0000 0000 DIN rm oooO 0000 DING OOOO 0000 alalalslely alalalslels D online modus d Ifthe drive generates an alarm during operation Following Error set Axis1 gt Parameter settings gt Position controller gt P Gain position control 100 200 After setting save the configuration Administration gt Save parameters to device now as shown in the figure below Parameter settings Axis 1 offline ewp i E oOj Position controller velocity controller Current controller Commutation Others P gain Position control Po 104 I 1 s Feedforward Velocity ae Feedforward Acceleration Po a dec Max possible acceleration pom lines y Max following error 000 000 fine y Following error 0 000 finc Me Target position window o mie y Min Software position limit o jie y Max Software position limit O oline e Receiving monitor pulse The Device gt Configuration gt Electronic gear gt Actual position master indicates the actual pulses received by the drive 147 KINCO ED Series Servo Drives User Manual Appendixes Electronic gear 100aa ewp 3 a ol xj Mapping gear position oooo00000 g Target velocity target velocity Gear factor Po 100007 Gear divider Po 10000 Gear mode hex Actual position
74. ation result In the test the operant can be modified by direct addressing Enter the values for Sub01 Sub03 and Sub04 and finally enter target object in Sub02 and a new operation result is generated immediately The computation in the sequence is the same Calculator objects are defined as follows Index hex Subindex hex Meaning 01 Source object 02 Target object contains computation result 05 Result of the operation is transferred to target object Table 5 13 Calculator Objects 5 5 7 Recording Table The drive provides a 256 x 32 bit storage area 0x2D00 0x2DFF for data storage The user can use this area flexibly to store some data for query or secondary processing as detailed below 65 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN Recording table ECO2Win38 44 _ O x Source object oooooo00 Writing contral an Write Table pointer lo 0 lt 00000000 o 0x00000000 lo 0x00000000 Jo oxo0000000 sl Device online vn Figure 5 24 Recording Object Indexes This function is implemented by the register 0x21B0 It contains three registers of Sub01 to 03 Enter the index of target register in the Source object Sub01 box enter address pointer Xx OO FF in the Table pointer Sub03 box and enter 1 in the Writing control Sub02 box Click lt Write gt to add the value entered in the Source object box to the address 2Dxx and at the
75. ation with position control timed forward reverse rotation with speed control position forward reverse rotation with speed control soeed forward reverse rotation with position control and speed forward reverse rotation with speed control For details refer to Chapter 7 Control Axis 1 ym23s31 ewp Ioj x Operation z E ae RPM demand value without position control 3 STOP Fs RPM demand value without position control 3 Device status Movement Autoreverse Homing Error status Turn after at Time amp Start Upper turning point 000 192 ms lower turning point 5000 1982 ms J Modity velocity for forth movement 80000 000 incs J for back movement 80000 000 incs J online modus Figure 5 6 Autoreverse Setting 48 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN 5 3 6 Error Diagnosis If the red Error LED of the drive blinks after the system is powered on it indicates a system fault The Error status tab in the Device Control window is designed to monitor fault status of the drive as shown in the figure below The ED drive assigns a status word 26000220 to indicate the fault status of the drive The object is a 32 bit word Each bit of the lower 18 bits and bitO to bit17 of the word represents a fault For details refer to Chapter 13 Error Codes Control Axis 1 ym23531 ewp 3 l aj xj o ti i iti E i an RPM d
76. button and the motor stops running but the motor shaft is still locked Note Press lt F8 gt or lt Stop gt and the motor shaft will be loosened immediately oak Control Axis 1 ECOZ00 TDI PCAN I5B 20p Operation Profile position mode 1 at E STOP F Le Profile position mode 1 Device status Movement Autoreverse Horning Error status Tum aftorfat Tire F E Start Max turning point ij Pause Lgm Lower turning point 1999 872 ins 5 Changs Postion Positive movement H rrr 100 000 Maegative movement y aT Device online Figure 7 2 Autoreverse According to the data shown in the above figure the motor will run in the timed forward reverse rotation mode in 2000ms During the period the motor will Accelerate to the defined velocity at the acceleration defined in Movement eo Decelerate according to the deceleration defined in Movement e Stop in a designated position If the motor reaches the positive or negative position in less than 2000 ms when it runs at the set acceleration deceleration and target velocity the motor will pause until 2000 ms is reached Then it will move in the opposite direction to the set position Time values and position values can be set even when a motor is running In the Movement tab the following parameters can be changed o Velocity eo Acceleration eo Deceleration If the ERR LED of the drive bl
77. ccnccnnnnocnnncnnnnnnnnnnnonnnnnnoncnnnnnos 97 8 3 12 Homing Modes 1 and 2 Homing on Limit Stop with Index Puls occcocccccccconnconnccocnnncoss 97 0 3 19 FOUNa Ree rencia ea ocio nando aed AA AE E 98 Chapter 9 Sequencer PrograMmMinNQ occcccnccccncccnnccnccncnnncnonononnnnnncnonnnnnnnnnnnnnnnnnnnnnnnnnennnnnnrnnnnnnnnnnnnnnnnnnrnnnnenanes 99 Chapter 10 Controller Performance AdjuStMenNt occococccccnccccccocncconoconncncnonononocnnnnnonononnnnncnonannnnrnnnnnnnnanenas 102 Chapter 11 Communication Protocols oocccoccooccccnconnconcocnoocnoncncnnnnnncnnnonronononononnnonrnonnnnnnnnnnonnncnonennnnns 104 TERS 232C Mt Mac ecc ieo cal natn bacareueumeahanaewacent 104 MAA Physical Interna e droit 104 Ferz ransp pont Protocol a 104 112 RS 40 INEN CE AAA a EN aeees 105 TUiZA PAY SICA Interact a E a do ee as 105 TAZ ZAS DO POO CO ii ici ene 106 To Data Protocol ea 107 113 1 Download From HOSTIO Sla VE isc A A E eee Oe 107 11 3 2 Ubload rromislave to Masle neninn ta dd e e eat 108 KINCO ED Series Servo Drives User Manual Contents Chapter 12 Fieldbus Interface of ED DriVe ooccocccocccocccoccocncocncococanoconcnnnonrnonnonononcncnnnonnnnnnnnrnnnnnnnnnannnnns 110 TAZA CANO DE MAB US MOTTA CS sad dada 110 122 FP RORBUS ING ACS annae e tees a a a a 110 12 23 IAToO du cun to PROFIBUS ranna A 110 122 2 WMStallatlON DESC DIN en b ld Ln daba atl aos Pie 110 12250 CONMSCUON WITE Dita dai 112 12 2 4 ED
78. connection from supply Wait after disconnection of the device from the power supply at least 6 minutes before you touch components which are energized during operation 2 5 2 Operating Environment The drive is intended for use in industrial equipment and meets the requirements of the Low Voltage Directive 73 23 EEC All technical specifications and permissible conditions mentioned in the documentation must be adhered to in all cases The following are prohibited unless expressly provided otherwise 1 use in hazardous areas 2 use near oils acids gases vapors dust radiation etc 2 5 3 Requirements for Mounting and Installation Upon mounting and installation note the following points O ensure that the equipment is installed on a suitable low vibration substructure or in an electric cabinet e allow good ventilation KINCO ED Series Servo Drives User Manual Chapter 2 Installation and Use make sure there is sufficient clearance between adjacent components be careful when handling components to avoid injury to persons or equipment Do not touch bend or damage electronic components and contacts do not change insulation layers 2 5 4 Preconditions for Electric Connection All installation instructions mentioned in the documentation must be considered and all work must be carried out Before electrical connection ensure that the electric components are disconnected from the power supply and prevented from being switched
79. d data contains 4 bytes saved to byte 4 byte 7 in the 10 bytes of the response byte4 00 byte5 20 byte6 4E byte7 00 Then DATA byte7 byte6 byte5 byte4 00 4E 20 00 5120000 80000 64 The internal unit of the target velocity 60FF0020 is inc 64s After conversion DATA 80000 inc s 600 rpm 109 KINCO ED Series Servo Drives User Manual Chapter 12 Fieldbus Interface of ED Drive Chapter 12 Fieldbus Interface of ED Drive 12 1 CANopen Bus Interface The ED servo is typical CANopen Slave equipment with dynamic PDO configuration capability PDO configurations are saved to the equipment so that it may be started for operation when the Master NMT Master is not available Communication can be used to observe the configuration of the PDO by NMT Master or to configure the PDO manually For details refer to Section 5 7 Communication Parameter Settings 12 2 PROFIBUS Interface 12 2 1 Introduction to PROFIBUS PROFIBUS is an international open fieldbus standard independent of equipment manufacturers and is widely applied in such fields as manufacturing automation process automation buildings transport and electric power industry It satisfies the European open fieldbus standard EN50170 and consists of three parts Profibus FMS Fieldbus Message Specification Profibus PA Process Automation and Profibus DP Distributive Peripheral Profibus DP is most suitable for high speed data transfer at a rate of 9 6Kbit s 12Mbit s i
80. e actual position as the reference point 8 3 11 Homing Modes 17 and 18 Homing on End Stop These two modes depend on mechanic end stop and define such position as the reference point Mode 17 The motor moves in the negative direction until end stop The mechanic end stop is defined as the reference point Mode 18 The motor moves in the positive direction until end stop The mechanic end stop is defined as the reference point Fig 5 10 Homing Modes 17 and 18 Starting position Figure 8 12 Homing Modes 17 and 18 Advantage Reduce switches and sensors wiring the mechanic end position is a reproducible reference point Disadvantage The mechanic position may change with low accuracy 8 3 12 Homing Modes 1 and 2 Homing on Limit Stop with Index Pulse Mode 1 The motor moves along the negative direction until the limit stop Then it turns into the positive direction until the index pulse is searched and its position is defined as the reference point Mode 2 The motor moves along the positive direction until the limit stop Then it turns into the negative direction until the index pulse is searched and its position is defined as the reference point Fig 5 11 Homing Modes 1 and 2 Starting position Figure 8 13 Homing Modes 1 and 2 97 KINCO ED Series Servo Drives User Manual Chapter 8 Limit Switch and Homing Advantage No external switches the reference point is coupled to the mechanic position
81. e added before the Index For example to control the object with the ID of 1 add 1 before the Index As shown in the figure below set the numeric input component to the ED object 607F0020 maximum velocity and enter 1 607f in equipment address box and enter 0_20 in equipment type box SEGA CAE PE E xj REE Sao E F THH jiaS07 FA E Tee HAE Jann moy m Figure D1 5 4 Example For example of the EasyBuilder500 driver file and the example of programs for the eView touch screen to control the ED drive refer to the CD of the Kinco servo drive The following is an interface in the example 155 KINCO ED Series Servo Drives User Manual Appendixes ense D E be fl 4B ie Figure D1 6 The user can also use a PC to control the ED drive through the COM port and by the online simulation mode of the Easybuilder without the need of compiling any serial communication program 2 Communication between Siemens S7200 PLC and the ED through RS 485 Interface 1 Setting communication parameters S7200 end S7200 PLC must use the free port communication protocol SMB30 09 free port mode The maximum length of buffer to be sent and received by the S7200 PLC is set to 256 bytes In this example set VB500H VB1280 VB50AH VB1290 as the sending buffer and set VB536H VB546H as the receiving buffer ED drive end RS 485 communication parameters on the ED drive end baud 9600bps Data
82. e following figure Where you can set the homing methods and other related parameters in the homing mode and set the start stop of homing search It should be noted that Time limit for homing can set the maximum duration for searching If no reference is found within the time limit the system will report No reference and the second LED in the lower right corner will turn yellow If a reference is found within the time limit the second Led in the lower right corner will turn green and the system will give the prompt of Found reference 47 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN Control Axis 1 ym23531 ewp E ioj xj Operation ES Homing 6 E STOP Fa Homing 6 Device status Movement Autoreverse Homing Error status 5 dec z Homing Method I Time limit 5000 ms l 0 000 E inc Relocation zero point velocity during 15625 000 Sines Start homing search for reference switch Velocity during 1562 500 E Stop search for reference set point aor carried out homing Acceleration during 160000 000 ingis homing O found reference online modus Figure 5 5 Homing Control 5 3 5 Auto Forward Reverse Rotation Control In the Autoreverse tab of the Device Control window the user can set different forward or reverse rotation modes for the system The ECO2WIN provides five forward reverse rotation control modes Timed forward reverse rot
83. e relationship between the linear encoder and the motor encoder First set 607E00 0 manually rotate the motor shaft counterclockwise and observe whether the value of position_actual_value Actual position in the Device control gt Movement interface changes towards the positive counting direction otherwise set 607E00 0x40 After determining the value of bit6 161 KINCO ED Series Servo Drives User Manual Appendixes change the counting direction of position_actual_ value by changing the value of bit7 at this time the value of bit6 cannot be changed PID parameter setting 00010040 E10 Before setting other parameters lower the values of ax_current parameter settings gt current controller and vc_kp parameter settings gt velocity controller gt p gain velocity control Pay special attention to the proportional gain vc_kp of the velocity controller which determines the resolution of the linear encoder For example if the resolution of the linear grating scale is 5 um vc_kp 5 00020040 E10 Before setting other parameters lower the value of max_current Meanwhile pay attention to the setting of vc_kp which depends on the resolution of the motor encoder The proportional gain of the position controller is affected by the value of linear encoder resolution motor encoder For example In a 100mm revolution screw rod system if the motor encoder resolution 10000um 8000 1 25um when using a linear grating scale with
84. elative positioning Ox1F Homing OxOF first OX80 clear internal faults 6041 10 RO M bitcode Status byte shows the status of drive OX0001 ready to be powered on OX0008 error detected 0Xx0400 target reached 0Xx4000 controller powered on 0X8000 reference found 6060 WO M number Operation modes 1 Positioning with position loop 3 Velocity with position loop 3 Velocity loop immediate velocity mode 4 Master slave or pulse direction control mode 6 Homing 7 CANOPEN based motion interpolation 119 KINCO ED Series Servo Drives User Manual Chapter 13 List of Common Objects Measurement data 0x6063 ff Command Description 6063 oe 20 ROM inc Actual Actual position value value 606C 00 20 ROM incl 4s Actual Velocity value after filtering 6078 6078 oo 10 RO Actual current value 60FD 20 bitcode Status words for 10 digital inputs DIN1 8 RESET External ENABLE 0x0201 0000 DIN1 is High level 0x0280 0000 DIN8 reference point is High level 0x02C8 0000 DIN8 7 and 4 are High level Target object 0x607A ff Command Description Type 607A RW M uae pecan in operation mode 1 shift to demand ee AAA 60FC 20 RO M i jee nema caper in operation mode 1 6081 20 RW M i Maximum velocity ee eerie trapezium profile in mode 1 6083 20 RW M 16inc s Acceleration of the trapezium profile 1000rad s is roughly 80 000 inc s 6084 16inc s Deceleration of trapezium profile 6073
85. emand value without position control 3 E STOP Fa RPM demand value without position control 3 Device status Movement Autoreverse Homing Error status Error masking TT intern HES WD m TT intern REGLER WD TT antivalence encoder O encoder counting 7 masterencoder IT drive temperature T logic voltage bus avervoltage T bus undervoltage TT short circuit phase 4 TT short circuit phase B TT short circuit at outputs external Enable low Error status intern HBS WD intern REGLERWD Y antivalence encoder encoder counting masterencoder drive temperature logic voltage bus overwoltage bus undervoltage short circuit phase 4 short circuit phase B short circuit at outputs external Enable low TT following error 7 overspeed 7 commutation following error overspeed commutation bus fault TT bus fault j2 t TT i2 t Y nlock Y plock online modus Figure 5 7 Error Status Fault Diagnosis The left pane of the window displays current fault status If no fault is found all LEDs are dark brown If a fault is detected the corresponding LED turns red Click the lt Reset gt button in the lower part of the pane or enter the control word 0x86 in the Control word for Device control box in the Device status tab to remove the fault or to set the drive to the Ready status The right pane of the window is the error detection selection bits inte
86. ence Na hex ER Sequence valid A E A re chen Entr Object Value 0 sogo0008 Chosen Mode of operation la 1 soFFOOZO Target velocity 22222000 ines y 2 60400010 Control word for Device state OOF Sfhex 21300220 Timer Delay time MES 21300110 Timer Sequence call a Pavon J Pavon aaooon00 J online modus Figure 5 20 We see from the above figure that the SEQO2 has two commands 3 and 4 When SEQOO is called it firstly sets the system operation mode to 3 and the motor runs at the velocity of 22222 inc s and then it sets the delay of the timer 1 to 5s When the timed time arrives SEQO1 will be called Note that the high bits for SEQ No must be 80 oo E cn dd 5 5 4 2 Sequence Call after Booting We recommend not to use this function Make sure the mechanical structure of the system provides necessary protection and the sequence to be executed immediately after power on will not cause collision due to different initial load positions in case of using this function 5 5 4 3 Sequence Calling by Controller Events The ED drive provides such internal events as Target reached and Home found which can be used in sequence programming The controller event corresponds to the object 0x2140xx For detailed description refer to Chapter 13 List of Common Objects For example set 21400110 8001 and define the function of the object 21400110 as control event Target reached
87. enters the negative direction until the limit switch switches to 24V Then the axis drives into the positive direction up to the first index impulse signal of the motor encoder The position corresponding to the index nearest to the stop position in the negative direction is the reference in the mode Then the reference found is set in the status word and the system is decelerated till standstill Advantage The reference point is connected absolutely to the motor and mechanical part Disadvantage If the motor is changed or the coupling is loosened the system must be re calibrated 8 3 2 Homing Mode 2 Homing with Positive Limit Switch DIN6 is connected with positive limit switch signal Index Pulse Home mode 2 Starting position Figure 8 4 Homing Mode 2 The limit switch is in the positive counting direction The system enters the positive direction until the limit switch switches to 24V Then the axis drives into the negative direction up to the first index impulse signal of the motor encoder The position corresponding to the index nearest to the stop position in the positive direction is the reference in the mode Then the reference found is set in the status word and the system is decelerated till standstill Advantage The reference point is connected absolutely to the motor and mechanical part Disadvantage If the motor is changed or the coupling is loosened the system must be re calibrated 92 K
88. equence The sequence number actually called BCD value entered Offset 2 Setting method Open the window Sequencer programming gt Digital Input and define a high bit input as the trigger signal Trigger Signal Input to Logic Max Value of Sequence No Enable BCD Input Status BCD Input without with Offset Offset CLIC fhe A l ov oo Table 5 10 For example define DIN1 DIN3 as BCD inputs and select any input from DIN4 DIN8 as a high bit signal The following figure defines DIN4 as the trigger signal and offset as 08 According to definitions in Table 5 10 set the Sequence if L gt H of DIN4 to 0708 59 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN Events at DIN1 6 A ewp Ioj xj status Sequence if L H Sequence if H L DINI DIN2 adai o000 DIM 0000 n al f DIN4 0705 0000 l DINS 0000 qa al DINE 0000 DIN 0000 0000 Dina E 0000 G Device online A la Figure 5 16 2 Calling Sequences by BCD Inputs When entering BCD 3 DIN1 1 DIN2 1 DIN3 0 1 indicating high level input O indicating low level input for DIN1 to Din3 and if DIN4 changes from L to H low level gt high level the sequence 8 3 11 will be called and the corresponding Sequence No is OB hexadecimal When entering BCD 6 DIN1 0 DIN2 1 DIN3 1 for DIN1 to Din3 and if DIN4 changes from L to H low level gt high level the s
89. equence 8 6 14 will be called and the corresponding Sequence No is OE hexadecimal Set the value of the trigger signal with a reference to Table 5 10 for example 0708 in the above table In the value OxXXXX the first two bits are high bits and correspond to the fourth column in Table 5 10 The last two bits are low bits and represent the offset corresponding to the fifth column in Table 5 10 Another example is that when DIN1 DIN6 serve as BCD inputs any one from DIN7 8 can be defined as the high bit trigger signal The following figure defines the trigger signal as DIN7 and offset as 40 When input level of DIN7 changes from L to H actually called sequence DIN1 DIN5 code 0x40 When the BCD corresponding to DIN1 DING is 3 the sequence 0x43 will be called Events at DIN1 8 kinco ewp loj x Input Active Sequence if L H Active Sequence if H L Status DINI Tn goood C gogo DIN 000g OOO ald ald a a ao o DINA 0000 pind 0000 0000 DINS 0000 0075 DING 0000 DIN SFAC 0000 DIN a 0000 0000 D online modus ald ald alls Figure 5 17 Digital Input 60 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN Note The maximum BCD input can be DIN6 There can be 256 Oxff sequences at the maximum so the offset BCD value cannot exceed the value 5 5 3 Comparator Madina data SOuUrCE Offset 00000000
90. er 24V GND input interface to be provided externally RS232 RS 232 interface 9 pin female connector usually connected with PC for programming purpose or directly connected with the eView touch screen or text display or connected with other controllers for communication with the ED drive ENCODER OUT Motor encoder output interface output motor encoder signal as the slave el encoder signal input in the master slave control mode ED100 does not provide this interface XT MASTER Master encoder signal input interface or programmed to set to pulse direction ENCODER Sa cn CWCOW conte setene gear or cine cam conta X8 ENCODER IN Encoder signal input interface of the motor directly connected to the servo A a nee Se Srodeo Bese BRAKE MOTOR Motor cable connection interface and brake power output GND X10 Power supply input interface different input ranges for different types of 24V drives GND ED100 provide this interface as logic power input interface equal to the 24V X5 6 X DC and GND interface of X4 13 KINCO ED Series Servo Drives User Manual Chapter 3 Interface Signal and Wiring ED100 24VDC 70VDC specific to ED100 drive provided between DC and GND ED200 24VDC 170VDC specific to ED200 drive provided between DC BUS and BUS ED216 24VDC 170VDC specific to ED216 drive provided between DC BUS and BUS ECOLIN200 24VDC 170VDC specific to ECOLIN200 drive provided between DC BUS and
91. er or slave 110 KINCO ED Series Servo Drives User Manual Chapter 12 Fieldbus Interface of ED Drive 3 A bus terminal resistor is located in the beginning and end of each segment to prevent misoperation Two bus terminal resistors must always be powered See figure 13 1 4 lf a segment contains more than 32 nodes use a repeater to connect different bus segments Number of repeaters in serial connection shall not exceed 3 as shown in Figure 13 2 5 Maximum cable length depends on transmission rate If a Type A cable is used the relationship between the transmission rate and the cable length is shown in the table below Distance Segment 1200 1200 M Table 12 1 Baud Rate and Transmission Distance 6 Parameters for Type A cable Impedance 135 165W Capacitance lt 30pf m Loop resistance 110W Wire gauge 0 64mm Wire area gt 0 34mm 7 The 9 pin D Sub connector is recommended for the PROFIBUS network using the RS 485 transmission technology The definition and wiring of pins are shown in Figure 12 1 8 When connecting different nodes make sure the data cables shall be in good order If the system is applied in an environment with high electromagnetic radiation for example automobile making industry use shielded cables to enhance the EMC performance 9 If braid shielded cable and shielding foil are used the two ends should be connected to the protection ground PGND Use shielded cables with as much area as possible
92. erent control modes 50 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN 5 4 1 Position Controller E iol xl Parameter settings Axis 1 ym23531 ewp Position controller i velocity controller Current controller Commutation Others SOU REE SONS ROR OOO COSO ONO n E p gain Position control I sa Feedforward Velocity a Feedforward Acceleration Idee El Max possible acceleration pois y Current Feedforward offset i B Max following errar 200 000 Eine x Following error 0 000 finc E Target position window f 10000 Sfinc y positon window as a online modus Figure 5 8 Position Controller In this window the user can set position controller parameters Where Kpp that is p gain position control Vff Feedforward Velocity and Max Following Error are very important parameters in control mode 1 and control mode 3 When the motor runs normally the following error value can be calculated according to the following formula Following error V V Vff 100 Kpp V Actual Velocity Using the Profile Velocity set value in calculation When Vff 0 Following error V Kpp and ensure the Following error shall be less than the Max Following Error otherwise the Following error may result in system shutdown Note The calculation of the following error is based on the comparison between the set position and the actual position When Vff 100 that is 100 feedfo
93. erved Reaction on fault 0 Disable drive immediately 1 Decelerate according to running track and then disable operation if possible Other values Press Quickstop to decelerate and the disable operation if possible Pay attention to two parameters Position polarity and Velocity polarity The positive counting direction of the motor is set to CCW when a drive is delivered out of factory To change the default direction modify these two parameters 5 5 Internal Programming The ED drive provides powerful control functions which find good expression in its internal programming control function The ED provides 16 5 KB space for the use of 256 sequences The programming process is simple and fast and supports multiple calling modes input triggered timed triggered event triggered direct calling etc The internal functions such as logic comparison arithmetic operation and data recording can be implemented in the sequences as described later in this section 5 5 1 Sequences Open the Sequences programming window and the following interface appears 57 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN O x Sequence entries M23s31 eu o Sequence Mo 01 4 hex im x Sequence valid W Copy Paste Execute LER chen Entr Object Value O sn4n0010 Control word for Device state 0006 Sfhex y L 21180008 select an object xf0 Sfhex gt _ co000000 Goto Search
94. es byte O byte 9 NN 8 byte data CHKS 106 KINCO ED Series Servo Drives User Manual Chapter 11 Communication Protocols ID is the ID No of the slave CHKS SUM byteO byte8 CHKS is the last two digits of the calculation result The host sends byte O byte 9 NN 8 byte host data CHKS The slave sends The host receives byte O byte 9 NN 8 byte slave data CHKS Note Each 10 byte packet has its own CHKS If the host sends an ID not existed in the network to the ED no ED will make a reply After the host sends the data correctly the slave will find the data packets in compliance with its own ID and check the CHKS value If the checksum does not match the slave will not make a response At present the hardware supports only 15 slaves A system with up to 127 slaves is under development 11 3 Data Protocol A data protocol is different from a transport protocol It contains 8 bytes of all 10 bytes of the above RS 232 and RS 485 protocols Definition of ED internal data complies with the CANopen international standard All parameters values and functions are expressed by index and subindex These parameters can be set either by RS 232C RS 485 or by CAN 11 3 1 Download From Host to Slave Download refers to that the host sends a command to write values into the objects in the slave and the host generates an error message when the value is downloaded to a non existent object The host sends byte O byte 1 byte2 byte3 b
95. es Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN 5 4 3 Current Controller Parameter settings Axis 1 ym23531 ewp i E en aj xj Position controller Velocity controller Eurrent controller Commutation Others Max Current ER Actual current 1 094 a o Current value for i t protection TT y Time constant for i t protection a A PT Actual Max value 14t value 14t protection protection 0 00 online modus Figure 5 10 Current Controller In this window the user can set the maximum rated current Max Current for the motor according to different drives The value is set to 8A for ED100 12A for ED200 and 14A for ED300 Note that almost all parameters have a unit of dec which is an internal unit of the system and whose corresponding value is the value actually saved and processed in the drive The Actual current frame displays the current phase current of the motor based on which the user can judge whether the current exceeds the rated value and virtually whether the motor selected by the system is overloaded The above figure shows the current controller of a motor when it carries no load Current value for i t protection Set the current value for i t protection Time constant for i t protection Set the time value for i t protection 53 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN 5 4 4 Commutation Parameter settings Axis 1 ym23531 e4p
96. eset fault Halt Reserved 1 Reserved 2 TT Manufactor specific 1 TT Manufactor specific 2 TT Manufactor specific 3 TT Manufactor specific 4 TT Manufactor specific 5 0006 hex Status word for Device state 0031 hex IX Ready to Switch On FT Switched On Operation Enable TT Fault I Voltage Disabled Quick Stop TT Switch On Disable Warning FT Manufacturer specific 1 Reserved 1 Target Reached Internal Limit Active TT Setp 4ck v 0 Hom att TT Foll Err Res Hom Err Commutation Found NT Reference Found online modus Figure 5 2 Control Axis 1 5 3 1 Operation Mode An Operation mode drop down list is provided in the upper part of the Device Control window In the list box the ECO2WIN provides the following optional modes Mode Meaning S Va Absolute relative positioning 60600008 1 RPM demand value with mit position control also called velocity mode 60600008 3 60600008 3 60600008 4 O with acceleration deceleration RPM demand value without position control also called immediate velocity mode Demand value over master encoder for example master slave control pulse direction control and CW CCW control are implemented by using this mode Torque control mode 60600008 4 Control mode using CANopen for interpolation operation 60600008 7 Table 5 1 Operation Mode Definition The object Operation Mode corresponds to the address 60600008 in
97. f 500 values Reading out of the recorded array 0x22110010 gt 0x1F4 actual velocity value of the first record 0x22030120 reading T 0 005 127 KINCO ED Series Servo Drives User Manual Chapter 13 List of Common Objects 0x22110010 gt 0x0001 last recorded value 0x22030120 reading T 2 500 Monitor object 0x2400 0x2401 The ED has two independent analog monitors and each monitor is corresponding to any internal value The output range is 0 5V and 0 is represented by 2 5V The scaling formula is V dimension 1V internal dimension factor 256 1 preshift 120 Index Sub index Bits Command Type Unit Description 2400 20 RW unsigned Sage mapped to analog output 1 Source value unsigned Factor mal between 0x0001 and Ox7FFF The above are ii for ada interface 1 For monitoring interface 2 change the address to 2401 For example set the output voltage of the analog output interface 2 to correspond to actual current change 0x24010120 gt 0x60780010 0x240102008 gt 0x0000 preshift 0 0x24010310 gt 0x001E factor 30 0x24010410 gt Source factor 256 preshift 1 Analog input interface 0x2508 The analog interface AIN and AIN can be mapped to every internal object RW It is mainly used to set the velocity value or the limit of the current value The internal range of the object is 512 512 DAC Ios is el cea IE Type 2508 01 20 RW unsigned Mapped target address for exam
98. for coverage to ensure sound conductivity In addition data cables shall be isolated from high voltage cables 10 If the data rate exceeds 500 Kbit s avoid using stub sections Use connectors currently available on the market to connect the data I O cables directly with the connector The bus connector can be connected or disconnected at any time without interrupting data communication of any other nodes YP 6 ReDTxDP 3 C N RaT P 390 Q DGHD 5 5 DGHD RxD TxD P 3 VP 8 CO 6 VP RxD TxD H 8 3 RxD TxD H 220 0 RxD TxD H 8 390 Q DGHD 5 Figure 12 1 Wiring and Bus Terminal Resistors of PROFIBUD DP and PROFIBUS FMS 111 K KINCO ED Series Servo Drives User Manual Chapter 12 Fieldbus Interface of ED Drive Terminal Terminal Terminal Repeater Terminal Note The repeater does not have a node address but calculated into the maximum node number of each segment 12 2 A Maximum of 32 Nodes Master or Slave in a Segment 12 2 3 Connection with ED As shown in the figure below connect the PROFIBUS to the PROFIBUS interface of the ED drive Pins are defined as follows frei 1 O 6 VP frei 2 O si s 7 frei RxD TxD P 3 O yl O 8 RxD TxD N CNTR P 4 Oo 9 frei DGND 5 Figure 12 3 Pin Definition of PROFIBUS Interface of ED Drive According to the EN50170 standard it includes the repeater auxiliary control signal CNTR P which supports PIN4 Note that
99. forward reverse rotation at a defined velocity set the operation mode to 1 To get a periodic forward reverse rotation the limit velocities defined in the upper part of the window have to be reached within the positions defined in the lower part of the window Therefore suitable acceleration and deceleration have to be set As a typical position control set acceleration and deceleration values in the Movement tab Additionally the value for Velocity on positioning in the Movement tab must be greater than the value for velocity defined in the upper part of the Reversing tab Otherwise the system cannot reach the velocity defined in the Reversing tab and cannot perform periodic forward reverse rotation Asymmetric values for forward reverse rotation speed in the Reversing tab lead to drifting in one direction and finally to a stable end position without forward reverse rotation 89 KINCO ED Series Servo Drives User Manual Chapter 8 Limit Switch and Homing Chapter 8 Limit Switch and Homing This chapter describes how to configure position limits and how to select different homing modes which is of vital importance to a system with starting and ending positions 8 1 Limit Switch and Homing Switch To set a reference point of a linear or rotative axis at least one electric switch is necessary Switch means mechanic switches as well as electronic sensors Inputs DIN6 DIN8 are limit position switches and homing switches
100. g OUTPUT is of low level For example if OUT1 is to be set to Target reached and OUT2 is to be set to alarm output the settings of the output are as follows Configuration digital outputs ym23s31 ewp E Of xj Output CITI Output LITE Mapping data source 60410010 Mapping data source 60410010 Status word for Device state Status word for Device state statusward statusword y Offset OO00000 Offset ooooo000 AND mask 00000400 4N0 mask oo000008 Comparision value 00000400 Comparision value pogonaga Polarity O Polarity T i Inverting Inverting Auxiliary value po000000 Auxiliary value ogoogo Interim result 00000400 Interim result 200000000 Result Result online modus Table 5 29 Example of Digital Output We can see from the above settings that to output the Target reached signal set the 11 bit Target 70 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN reached in the status word 60410010 to 1 In other words when the Target reached check box in the Device Control gt Status word for Device state is selected OUT1 will be of high level Enter 400 in the AND mask box to screen other bits with only bit 11 left to compare with the Comparison value field Set the Comparison value field to 400 to ensure that the bit 11 is True When the system is in the Target Reached state in the positioning mode the comparison result of OUT
101. g to DS301 DSP402 38 4K baud rate max 15 nodes Max cable length 400m Profibus DP Max 12M baud rate max 127 nodes Motor Encoder Input Motor encoder supply DC 5V max 0 2A provided by drive 136 KINCO ED Series Servo Drives User Manual Appendixes Signal specification Differential TTL line driver RS 422 A B N A B IN Pulse width Min 0 125 s Motor Encoder Output Unavailable with ED100 External supply 4 8 5 2 VDC max 0 15A Signal specification Differential TTL line driver RS 422 A B N A B IN Output frequency Max 2 MHz Master Encoder Input Master encoder supply provided internally by the 5V DC max 0 2A or 24V DC max 0 1A drive Signal specification Differential TTL line driver RS 422 A B N A B IN or 24V signal A B N Digital Inputs Digital Outputs Output current Max 0 5A Brake output 24V max 1A reduced to 0 5A after 100 ms Regeneration energy of inductive loads Max 0 2J internal Zener diodes provide fast 137 KINCO ED Series Servo Drives User Manual Appendixes Analog Input Input voltage range 10V differential input Input voltage Max 15V Input impedance About 100 kQ Input delay About 0 1 ms CE conformance EMC Directive Conforms to EC Directive 89 336 EEC Test conditions conform to EMC Installation EN 50082 2 interference immunity Procedures EN 55011 Class B RFI Emission Low voltage directive Conf
102. gnal and Wiring 3 4 5 Hardware Wiring of Minimum Configuration of ED Drive Note The following is the wiring diagram of the minimum configuration of the ED200 It is also applicable to the ED216 and ED100 Note that the ED100 power input voltage range is 24 VDC 70 VDC and the fuse shall adopt an 8A fuse For details refer to ED100 hardware manual The fuse at the power supply input end of the ED216 and ECOLIN216 maximum output power 3600W adopts 20A the fuse at the power supply input end of the ECOLIN216 maximum output power 1800W adopts 10A RS232 x5 R5232 x4 OUT1 x4 OUT AS DIN1 X3 DIN2 AS DINS X3 DIN4 A3 DINS A3 DING X3 DINZ AS DING Limit switch pos Limit switch neg o Home switch Ready XA READY Error reset Enable Powerstage XA RESET X4 ENABLE XA 24V XA GND way EERS AG ENCODER IN BRAKE MOTOR DC BUS A JIA B B E Motor Cable Encoder Motor Il 10AT OV 24 170W Figure 3 11 Hardware Wiring of Minimum Configuration of ED Drive 23 KINCO ED Series Servo Drives User Manual Chapter 3 Interface Signal and Wiring 3 4 6 Wiring of ED Drive and Motor The ED servo motor is configured with two pieces of cables One is the encoder cable which is configured with a 9 pin connector and the other one is the motor cable which is thicker than the encoder cable The encoder cable can be directly connected to the X8 Encode in
103. gnated Default ETX 03H Communication No protocol Control b12 b11 b10 see timed diagrams 0 0 0 RS Instruction is not being used RS232C interface page 10 20 onwards 0 0 1 Terminal mode RS232C interface 0 1 0 Interlink mode RS232C interface FX2N V2 00 or above 0 1 1 Normal mode 1 RS232C RS485 422 interfaces RS485 FX2N C only 1 0 1 Normal Mode 2 RS232C interface FX only Computer Link b12 b11 b10 0 0 O RS485 422 interface 0 1 0 RS232C interface B13 FX 485 No check Added automatically Network check No protocol Dedicated Protocol 159 KINCO ED Series Servo Drives User Manual Appendixes eis proio Foma Format ED end 2F910008 set N 63 that is baud rate of 9600 c Communication protocol Adopt free communication protocol and FX2N transfers data according to the ED commands Write 10 byte fixed transmission protocol ID as the ED address to be set by DIP switch O reserved CHKS calculation last two bits of the result 0 byteO byte 9 byteO byte 9 ID 8 Byte Date CHKS For example set the control mode to velocity mode 3 01 2B 60 60 00 03 00 00 00 11 01 ID address 2B Write command 606000 change index of control mode 11 CHKS Read For example read the 485 parameters of the ED with the ID of 1 By querying the ED object dictionary the set address of the RS 485 communication parameter baud rate is 2F9100
104. h According to the level of the homing switch the drive turns either in positive or negative direction As soon as the change of homing level is recognized the next index pulse signal of the motor encoder is recorded as the reference point The bit reference found is set in the status word and the axis is decelerated till standstill Advantage The reference point is connected absolutely to the motor and mechanical part Disadvantage If the motor is changed or the coupling is loosened the system must be re calibrated 8 3 5 Homing Modes 7 and 10 Homing with Homing Switch Index and Positive Initial Movement Hama eta a e a A tin aunten l l l PA Starting position Figure 8 7 Homing Modes 7 to 10 Figure 8 7 shows the homing mode defined by the DIN8 homing switch signal and index signal with the initial movement direction as positive direction 94 KINCO ED Series Servo Drives User Manual Chapter 8 Limit Switch and Homing 8 3 6 Homing Modes 11 and 14 Homing with Homing Switch Index and Negative Initial Movement Negativa Limit Seiinn _ i n A A Starting position Figure 8 8 Homing Modes 11 to 14 Figure 8 8 shows the homing mode defined by the DIN8 homing switch signal and index signal with the initial movement direction as negative direction 8 3 Homing Modes 15 and 16 Reserved They are reserved for future use 8 3 8 Homing Modes 17 31 Homing without Index Pulse Homing modes 17 31 corresp
105. happen Such setting is to ensure the occurrence of trigger condition otherwise you will not collect any data During data collection the mouse pointer changes to the shape of a hourglass 78 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN When the oscilloscope is working normally ensure that the motor works in a desirable mode In the following example the motor is set to Autoreverse mode with the reciprocating position range of 40000 to 40000 and the reciprocating speed of 200000inc s the operation mode is 3 m23531 eupO0scilloscope Actual position inc Actual velocity inct Scanrate ms 103 Channel Factor Offset Number of valud 400 3 1 w Actual position 1 00 0 eb IV Hrigger on signal 25 actual velocity E o o actual velocity r A C oin IY mf MA Manual start E 500 4 ms div Auto E ql 50000 div Auto Device Same 10 read values of curve Figure 5 36 Oscilloscope The above figure shows the velocity and position monitoring curves of a motor in auto reverse mode The reciprocating speed is 200000inc s the reciprocating position range is 40000 to 40000 and the operation mode is 3 Channel 1 is set to Actual position and channel 2 is set to Actual velocity Red line indicates velocity curve and green line indicates position curve Upon the completion of data collection you can save the c
106. he vertical or horizontal installation 2 3 Preventing Foreign Substances 1 The device must be installed in the control cabinet 2 Prevent metal filings metal wire ends or other foreign substances from entering the servo drive when installing the control cabinet 3 Prevent oil water metal dust and other foreign substances from entering the servo drive 4 Implement forced ventilation with the clean air for the control cabinet in places where hazardous gas or considerable dust exists to prevent such substances from entering the drive 2 4 Installation of Encoder Cable An encoder cable has a length limit To ensure long term reliable communication of cables pay attention to the following points 1 Check carefully the cabling method of cables Do not excessively bend the cable at the connection part nor let the connection part bear the cable weight KINCO ED Series Servo Drives User Manual Chapter 2 Installation and Use 2 If the servo cable is to be moved during operation pay attention to the load and bending of the cable Especially the extension cables must have good bend resistance The servo motor cables and encoder cables provided by KINCO have undergone strict bending test and can be used reliably If the servo motor is to be moved during operation the encoder and motor cables shall be moved as well ensuring that the strength and bending of cables are within permissible ranges In this application occasion a tow chain str
107. id we enter 01 for 0x21700008 and the status of DIN1 will be switched to low level The object 0x2171 contains four sub indexes used to describe DIN6 LMT and to judge whether DING is a high level input Sub01 OR mask is reserved for future use We enter 20 hex that is 0010 0000 in Sub02 AND mask to screen input status other than DIN6 Enter 20 hex in Sub03 Comparison value and the system will automatically perform logic AND operation between input status of DIN1 to 8 and the values in AND mask and compare the result with the value in Comparison value If they are the same Sub04 Result is set to 1 indicating DIN6 is a high level input otherwise Sub04 Result is set to 0 indicating DING is a low level input In this way only the positive limit switch signal is valid 0x2172 is similar to 0x2171 but it is used to describe DIN7 LMT Therefore AND mask and Comparison value must be set to 60 In this way the negative limit switch signal is valid 5 6 2 Digital Output The drive has two programmable digital outputs 24V 0 5A as described below Configuration digital outputs ym23531 e4wp E Of xj Output GUTI Output OUTS Mapping data source BOFEO1Z0 Mapping data source BOFEQLZ0O Digital outputs Output word Digital outputs Output word physical_value physical_value Offset oo000000 offset 00000000 AND mask 00010000 AND mask 00020000 Comparision value 00010000
108. ility to programming as shown in the figure below Configuration of further events ym23531 e4p Configuration timer events Timer Delay melo coors 7 0 000 Jm 7 Timer Reload time Timer sequence call IO x Enable Cyclical oadd Configuration booting Sequence call after booting pooo Enable Configuration controller events Entr Sequence Enable o lnea El 1 0000 locked E Controller event Target reached regler_event_target_ reached OOO flocked Controller event 2 regler_sequence 7 Description Controller event Home found regler_event_home_found Kal online modus Figure 5 19 Timer Events In the upper part of the window the user can configure timer events for calling sequences When we enter SEQ No in the format of 80XX XX indicating sequence O0 FF and enter delay time in the Timer Delay time box and select the Enable check box in the upper right corner the timer is enabled When the timed time arrives the corresponding sequence will be called How to implement this function in sequence programming Remember that the timer corresponds to two objects register addresses 0x21300110 corresponding to sequence No and 0x21300210 corresponding to timed time as shown in the figure below 62 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN Sequence entries ym23s31 ewp y Joj x Sequ
109. ill provide you with such information as whether the power is switched on whether the drive has a fault or whether the target position is reached The ED servo system adopts the CANopen international standard to define internal objects as well as its status word and control word The status word represents the current status of the drive and the control word is used to change the drive status In the left part of the Device status column in the Device Control window the user can enter different control commands in the text box to implement control over the motion of the servo system The control command defines the address in the object address table as 60400010 which is a 16 bit word Assigning different values to the word will implement different control actions Common values for the control word include Value Command 45 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN 0x06 Power off set drive to ready state OxOF Power on motor shaft in locking state Ox3F Absolute positioning Ox5F Relative positioning OxOF Start motion Ox1F Start searching reference in homing mode 0x80 Fault reset The right part of the Device status column in the Device Control window is a status display area The ED drive uses a status word 60410010 16 bit to indicate the status of the current drive Each bit of the status word indicates a status For example bitO represents Ready to Switch on and bit15 represents Refe
110. ill query whether to select ONLINE or Synchronize data If the user determines that the settings on interface device motor and mechanic in the current project are consistent with the currently connected system the user can perform such operation otherwise be cautious on data updating 4 2 4 Main Window When a project is created or a project is open the main window of the ECO2WIN software appears on the screen as shown below ymz3s31 ewp Interface 1 ECOSTEP Pelotor 1 at Mechanic For 100 4 4 device ID 1 motor at Firmware device ID 1 0000 0041 Modified F Figure 4 11 We can see from the above figure that the main window contains four icons of Interface1 device motor and mechanic Right click each icon and a corresponding menu appears Note Changes of properties in the menus of Interface ECO Device and Mechanic for Motor will only be effective after saving and reopening the project or restarting the system by Administrator restart refer to Section 5 9 4 2 4 1 Interface Icon Especially the properties of the interface icon should not be changed The preset baud rate is limited to 9600 bps for the serial communication On communication via CANopen the baud rate has to be set according to the cable length The standard setting is 1M Bauds Right click the Interface1 and the following dialog box appears 33 KINCO ED Series Servo Drives User Manual Chapter 4 Use of ECO2WIN Software 100aa ewp
111. in Shenzhen At present we have servo engineers ready for your service in Shenzhen Shanghai and Beijing For detailed contact methods please call 86 755 26585555 telephone exchange in Shenzhen or visit our website at www kinco cn KINCO ED Series Servo Drives User Manual Chapter 2 Installation and Use Chapter 2 Installation and Use 2 1 Operating Environment Operating temperature 0 40 C Storage temperature 10 C 70 C Operating humidity non condensing 5 95 RH 2 according to IEC 61131 2 Pollution degree 2 according to IEC 61131 2 Protection class IP20 Installation place Dust free dry and lockable for example an electrical cabinet Installation position Vertical refer to ED Series Drive Installation Manual Installation Height Up to 1000m above sea level full range Power loss 5 7Arms UDC bus lt 170V 40W Note the loss lt 40W when supply voltage lt 170VDC and rated current 5 7A 1M7 5Arms UDC bus lt 170V 40W Note the loss lt 40W when supply voltage lt 170VDC and rated current 5 7A 18 Arms UDC bus lt 170V 70W Note the loss lt 70W when supply voltage lt 170VDC and rated current 5 7A Cooling mode Convection heat sink required if continuous power loss gt 40W 2 2 Installation Clearance and Direction Install the device as per the clearance specified in Section 3 4 3 EMC Installation The ED100 drive adopts horizontal installation The ED200 ED216 drive adopts t
112. inate 700 if it is defined as relative motion when the target position is set to 700 the motor will move to the position of coordinate 1150 ARI ARI 100 O 100 200 S00 400 500 600 TOO 00 300 1000 1100 Figure 5 4 Absolute Relative Position In E mode the 7 objects have to be ee Value os a oe Mode of operation operation mode to OS positioning 60810020 Profile velocity User setting Max velocity 60830020 l User setting Acceleration Profile acceleration 60840020 Profile deceleration User setting 607A0020 Target position User setting Target position 60400010 Control word for Device Motor starts operation in absolute status positioning Motor starts operation in relative positioning Table 5 2 Objects of Absolute Relative Positioning Current pos For details refer to the sections Mode and Control and Target Object in Chapter 13 List of Common Objects Reference point Negative Mode 3 RPM demand value with mit position control also called velocity mode with acceleration deceleration This mode implements velocity control over the motor The operation curve consists of three sequences acceleration uniform velocity and deceleration as shown below The acceleration time can be calculated on 42 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN the basis of initial velocity uniform velocity and acceleration velocity
113. inks normally a following error occurs Check it in the Error status window 87 KINCO ED Series Servo Drives User Manual Chapter 7 Parameter Settings in Reversing Mode Reduce the values for velocity acceleration and deceleration in the Movement tab Increase the values for Max Following Error in the Controller setting axis 1 gt Position controller tab if necessary Bea Position controller l Velocity cantroller Current controller Commit r p gain Position control Feedforward Velocity Feedforward Acceleration Max possible acceleration Max following error Following emor Target positon window 15625 lr 0 000 fmm hd 0 001 fmm r Min Software position limit 0 000 r 0 000 Max Software pasition limit Y Device online Figure 7 3 Position Controller 7 2 2 Timed Forward Reverse Rotation with Speed Control For timed forward reverse rotation with speed control it is necessary to set the operation mode of the servo drive to 3 as shown below i Control Axis 1 IA Ppr Profile position mode 3 X STOP F rie 1 Profile position mode 3 Device status Movernent Autoreverce Homing Error status Turn atban at Tire Pee Max turning point Lower turning point Changs Positive movement Megatwe movement 1999 872 Sms E 4 1995 872 Welacity 0 000 tl aims E a a roms _ Device online Figure 7 4 Autore
114. interface of the ED drive The signal definition ED X8 Pin No of D Sub Male Round head Connector Connector Absent in ED100 E y AO Na is as follows Free 24V Free 24V Table 3 3 X8 Interface Signal Definition If the front end of the motor is configured with a brake a brake cable has to be configured in addition to the motor cable Four phase lines of the motor cable are connected to A A B and B of the X9 interface of the drive respectively Two wires of the brake cable are connected to the BRAKE and BRAKE of the X9 interface respectively For details refer to the following table ED X9 23 Series Motor 34 42 Series Motor SLM Series Linear Motor TA tacto oO ire COMA CTO E O LT TS Bo pomme f CTI Yellow green wire Yellow green wire Yellow green wire Note 1 Brake Darkish wire Brake wire configured with configured with brake brake Brake Light brown wire Brake wire 1 configured with configured with brake brake Table 3 4 Motor Cable Connection Note 1 The 23 series motors have two models the motor cable of one model has only four wires with shielded metal net inside and the other model has five wires among which four are motor phase lines and the rest one is the yellow green ground wire If it is a four wire cable the shielded metal net must be pressed under the spring and closely against the drive enclosure as shown in the figure below If it is a five wire 24 K
115. ion parameters as velocity position and current in dynamic curves The oscilloscope is very important in judging the operation status and adjusting performance of the motor It provides good visual effect when judging overshoot overvoltage and velocity stability A brief introduction to its application is as follows 1 Setting monitor parameters The oscilloscope has four monitor channels to monitor four different parameters of the drive If you adopt a RS 232 interface for communication with the drive the collection speed will be low In general it is recommended that only the most important parameter be selected and other channels be cancelled 2 Setting sampling time The parameter scanrate ms is used to set sampling period and the parameter Number of value is used to set the number of sampling points In the example below the sampling period is 10 ms and the display data will be refreshed after each 400 collections Usually the refresh rate is greater than the result of the above two parameters due to the communication time 3 Conditions for data sampling To trigger data sampling the sampling condition must actually happen Firstly set the sampling condition in Trigger on signal frame In the example below the trigger condition is that the actual velocity is O because in this example the motor takes position O as the midpoint and will conduct the reciprocating movement of 40000inc Therefore the condition of actual speed O can
116. ity Controller 84 KINCO ED Series Servo Drives User Manual Chapter6 Trial Run of Motor 6 2 4 Status Control Up to now we have set all parameters and can start the motor In the Device Control window set the operation mode to velocity mode 3 and set Target velocity 8000inc s and set Control word 0x06 If the drive does not generate an alarm it indicates the wiring is correct Then set Control word 0x0f and the motor will run at a velocity of 60 RPM At this time you can change the Target velocity value directly To stop the motor set Target velocity 0 but the motor shaft is still locked To loosen the motor shaft set Control word 0x06 Run the motor in different operation modes with a reference to Section 5 3 Steps oO ey IAS re Connect the logic and power supply of the drive The shaft is freely moveable without any load The 24V LED turns green and the RUN LED blinks in green In the Device Control window set operation mode to 3 and control word to 0x06 Set control command to Ox0F Check whether bit Commutation Found in the Device State Control is 1 or whether the status word 0x4437 or whether the motor shaft is locked Set Target velocity 8000inc s The motor will run at a velocity of 60 RPM If the drive generates an alarm troubleshoot according to section 5 3 6 Error Diagnosis Under default settings the drive is likely to report a following error fault At this time it is necessary to
117. ity during search for User Velocity ane search 609A0020 Acceleration during homing User Acceleration during homing A Steet 60400010 Control word for Device Ox1F Motor starts operation in this state ll mode start searching Table 8 1 Definition of Homing Objects Note A 24V level signal is required for activation of all switches active HIGH Figure 8 2 Homing The counting and moving directions in Figure 8 2 are the same as those described below The counting direction of the user system can be judged by Axis1 gt Device Control gt Movement Actual position If the value of Actual position is increased it indicates the positive direction If the direction is opposite to the direction expected by the user the user can set the address value 607E0008 The default value is 0 To change the counting direction change the value to 80 The user can also change the value by Position polarity and Velocity polarity in the Parameters setting gt Others window as described earlier in the document 8 3 Homing Modes 8 3 1 Homing Mode 1 Homing with Negative Limit Switch DIN7 is connected with the negative limit switch signal Negative Counting d 91 KINCO ED Series Servo Drives User Manual Chapter 8 Limit Switch and Homing Index Pulse dl epative Limit Swish Home mode 1 Starting position Figure 8 3 Homing Mode 1 The limit position switch is in the negative counting direction The system
118. ive y Chan Value Offset Apc 0 o 518 518 z i sa 527 520 2 0 509 509 3 1 505 507 4 97 D 97 5 798 0 E 0 Device online Figure 5 32 Computation formula Sub01 Sub04 Factor 2 Shift The following example shows how to adjust the motor velocity by analog inputs Suppose the input 10V corresponds to the maximum forward reverse rotation of 1500 RPM and the corresponding digital inputs Vin after ADC is 512 512 Step 1 Map Sub01 to the register address 0x60FF0020 and then confirm the value of Factor The internal velocity unit is inc 64s and 8000inc revolution The value 1500RPM can be converted into the maximum velocity that is Vmax 1500 60 8000 64 unit inc 64s Step 2 Computation Factor Vmax 512 24Shift suppose Shift 1 and then Factor 12500 According to the above computation formula we can obtain Target velocity Sub01 Vin Factor 24Shift Vin 512 Vmax When input is 10V Vin 512 Sub01 Vmax When input is OV Vin 0 Sub01 0 When input is 10V Vin 512 Sub01 Vmax We can see from the above that the computation of Vmax is of key importance Different mapping objects have different internal units and different input requirements Ascertain the internal unit during conversion Note When the control over the motor velocity by analog inputs is no longer required clear the value in 25080120 otherwise target velocity cannot be set in the positioning mode 5 7 Communication The
119. jects are defined as follows fed ter ae hex Value 0 Commutation period 160 Commutation period with its computation formula described earlier in Ml this section 02 Polepairs per 0 1 Pole pairs set to O for a linear motor Pe i 0 0 Max phase lead factor Refers to 8000inc rec and is proportionally increased with higher 60F6 resolution Current for finding 1024 Induction current normally less than the maar idemenstbo ner 07 Delay for finding 500ms Standard value A IS Damping for finding Maximum 0 20 Reducing the offset during homing Commutation method 3 For horizontal axes 2 For motors or linear motors with low pole pairs 1 For vertical axes Table 5 8 Meanings of Commutation Objects 3 Phase lead factor Depending on motor model operating dependent on velocity voltage and application referring to Table 5 9 Ml The value of the object 60F60310 Phase lead factor dependent on velocity depends on the motor model 55 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN and operating voltage For detailed settings refer to the table below Motor Type Voltage tage SS ESTE E o o EA EAN 23s21 0560 80N7 AA 280 o o 23837 0560 804 7 AA 800 0 po raasaz ose0 80u7 AA E o T rsaseo ose0 80q7 AA O eo ooo 0 somos SCC SCO E a S A sosszosaoaoasaaa OOO E OOOO KE S E v nan o ooo O A o fo Table 5 9 Settings of Commutation Parameters 5 4 5 Others Parameter setting
120. k 00000000 Comparision value oo000000 Polarity Po oo Inverting Result Result oo When commutation found amp home found amp operation enabled amp target reached high level will be output Definition of Analog Monitors Every analog monitor output mon1 2 has an output range of O to 5V 2 5V represents O of the mapped value Every object in the drive can be mapped to the analog monitor output by the following formula Umon 1V internal notation of dimension factor 256 preshift 1 120 According to the following example analog output 1 is mapped to the actual motor current and monitor output 2 is mapped to the actual motor velocity Monitor 1 Mapping 60780010 curr_act_val Pre shift O Factor 30 Umon1 1V 2047 12A 30 256 1 0 120 0 166V A Imon1 12A 12A 0 5V Monitor 2 Mapping 606C0020 vel_actual_val Pre shift 2 Factor 118 Umon1 1V 20000000 2344rpm 118 2564 1 2 120 0 5mv rpm Nmon1 5000 5000rpm 0 5V Saving all parameters Administration gt Save parameters to device now 144 KINCO ED Series Servo Drives User Manual Appendixes Appendix C Application of ED Drive 1 Position and Velocity Control by Pulse Direction Signal When the Pulse Dir signal is used to control the ED servo drive the Pulse Dir signal can be the TTL or differential signal provided by such pulse sources as PLC and motion control card Different modes have different wiring methods To p
121. length 9 Stop bit 1 Parity none The ED drive must use the RS 485 interface 2 Wiring They communicate with each other through the RS 485 interface ED200 RS 485 interface 7200 eView HMI 7 8 RX 8 D 1 RX 2 I RX 3 D 2 RX 5 GND 5 GND __ 5 GND 3 Functional description 57200 PLC Input Function Description OO 60600008 3 Set to immediate velocity mode 60FFO020 1000000inc s 117rpm Set target velocity in velocity mode 60600008 0x01 Set to positioning mode 10 3 607A0020 Set target position in the positioning mode 60810020 60rpm Set the maximum velocity in the 156 KINCO ED Series Servo Drives User Manual Appendixes positioning mode 10 5 60400010 0x5F Control command relative motion 10 6 60400010 0x06 Motor off 4 System operation Firstly enter 10 6 then enter 10 7 and enable the motor Set the controller to the velocity mode and set target velocity Set the controller to positioning mode set maximum velocity and target position and set the motor to relative or absolute positioning 5 Others S7200 can be connected to the X2 RS 485 interface of the KINCO servo through the RS 485 interface The eView touch screen of the user can be connected to the KINCO servo to implement monitoring and parameter setting functions and to deliver a system with complete input output display and setting functions For sam
122. locity Proportional Gain Kvi Velocity Integral Gain Kvi_ Limit Velocity Integral Limit O Filter Velocity Output Filter Limit Current Limit KM Torque Constant TA Coil Time Constant L R The following Recipe table is an important reference When the motor underperforms adjust these important parameters 102 KINCO ED Series Servo Drives User Manual Chapter 10 Controller Performance Adjustment Encoder resolution 8000 inc U cima ILIM Kwp einer omer Kp Table 10 1 Encoder resolution 16000 inc U CiNmirac ILIM Kvp EFimer O Fiter Kpp peo CON CO CIA CI ie a sedi E fioo asi E ps bp p p po Dd l i z A NO p80 POTS ECO e dh mm h i i lili O No oO i i Table 10 2 103 KINCO ED Series Servo Drives User Manual Chapter 11 Communication Protocols Chapter 11 Communication Protocols The ED supports powerful communication capabilities and adopts the control mode based on an object dictionary All controls come down to the configuration of internal objects The configuration can be implemented by multiple means including RS 232 RS 485 CANopen and Profibus lt supports the connection of multiple sites and simultaneous operation of multiple communication ports This chapter presents a description of communication ports and communication protocols 11 1 RS 232C Interface 11 1 1 Physical Interface 11 1 1 1 Single
123. lt Enter gt key The highlight bar will directly jump to the object the Name column will display the object name and the left lower corner of the window will display the data length property and value of the object If the property of an object is W you can directly enter the value in the numeric column on the right this operation is only allowed for a skilled ECO2WIN programmer who knows clearly the impact of the object to be modified on the drive 5 3 Device Control Device Control is a functional module in the Eco2win software which can implement online settings and state monitoring of the servo drive Right click the ECO Device with ID icon and then select Axis 1 gt Device control in the shortcut menu The following functional window appears If the system is connected to the power supply normally the default control word 60400010 of the servo drive after power on is Ox6 device state word 60410010 is 0x0031 and the operation mode 60600008 is O 40 KINCO ED Series Servo Drives User Manual Control Axis 1 ym23531 ewp Operation as mode tonada a a ENEE Chapter 5 Basic Functions of ECO2WIN x E STOP Fa Device status Movement Gutoreverse Homing Error status Control word for Device state Switch on I Disable voltage BM Quick stop TT Enable operation TT Set point f reserved Start homing Immed reserved reserved NT absolute or relative reserved rese TT R
124. master o00 fine y Actual position slawe poine Actual velocity slave 000 finos y Actual velocity master oins y External Master position o00 fine y External Master velocity 0 000 ingis D online modus Mapping gear velocity 60FFOOZ f Save all configurations Administration gt Save parameters to device now Note The direction signal shall be established before the pulse signal otherwise the pulse may get lost PDC adapter is a kind of adapter developed by us to convert TTL signal into differential signal 2 Master Slave Control In the previous section Position and Velocity Control by Pulse Direction Signal if the user sets 25090508 gear mode to O the control mode will change to master slave control mode The position and velocity signals of the servo drive are encoder signals from the master encoder interface of the ED drive 3 CW CCW Pulse Signal Control Settings of the CW CCW pulse signal control are basically the same as those in the pulse direction signal control mode with the exception of Gear mode 3 Refer to the following table in wiring The wiring method is the same as that described in the Position and Velocity Control by Pulse Direction Signal section X7 MASTER ENCODER 148 KINCO ED Series Servo Drives User Manual Appendixes 4 Control of the Velocity and Position of the ED Servo Motor by Analog Inputs 1 Wiring panies ECOSTEP 200 X5 RS232 PC Interface f
125. motor In addition check and confirm all parameters are correctly set and make sure the maximum current is set according to the motor model before motor operation After all necessary checks are made run the motor 6 2 1 Setting Motor Parameters First create a new project file or open an existing one with the ECO2WIN software For details refer to Section 4 2 2 and Section 4 2 3 If the user selects the motor model when creating a project file the Parameter setting gt Commutation window See Section 5 4 4 will display the following information Faraneter settings Axis 1 ECU YinT emp Postion controller Velocsty controller Current controller Commutation period 160 000 linc zp Polepairs per cormnutation period 0 000 p Phaze lead factor dependent on Y Velocity sl Max phate lead factor 50 Jer v Current for finding commutation 5 997 a Delay for finding commutation 500 000 45 w Camping for finding commutation H Method for finding commutation o asd i Device online Figure 6 4 For a Kinco rotative motor the parameters are preset as shown in the above figure The parameter Phase lead factor dependent on Velocity is different and it is to be set according to the requirements set out in Section 5 4 4 For a Kinco linear motor set the motor according to the requirements described in Section 83 KINCO ED Series Servo Drives User Manual Chapter6 Trial Run of Motor 9 4 4
126. motors Because multi polar motors have a large number of poles 50 and the current switchover speed is high when the motor runs at a high speed greater than 1000RPM and the back electromotive force of the motor winding is greater the torque of the motor will reduce when it runs at a high speed However the motor has good quick start stop performance and is suitable for application environments of frequent start stop and considerable load inertia to take the place of ordinary AC servo motors High speed motors are servo motors with less polar logarithm The performance of these motors will not be compromised when they run at a high speed They can deliver constant torque output at a rated rotation speed around 3000 RPM Since linear motors have simplified the mechanical structure they deliver higher precision and quicker response speed Basic functions O Fully digital speed position and torque control Oo Monitoring and alarm function for such faults as short circuit overvoltage undervoltage over temperature encoder fault following error and t Oo Providing communication options RS 232 RS 485 or CANopen Profibus DP Oo Analog monitoring and control of internal objects like speed and torque 5 KINCO ED Series Servo Drives User Manual Chapter 1 Functions and Composition of ED Series Servo Drives Intelligent brake control Up to 27 homing modes Enabling drive and fault reset by external input Providing Ready state by digital output
127. mplements economic equipment level network applicable to the communication between online controller and distributed intelligent I O and satisfies the quick response requirements of the AC DC velocity regulation system Profibus DP works in the mode of master slave communication communication between master and slave and token communication communication between masters The master slave communication works in strict accordance with the cycle mode All watchdog timers will check whether the master and slave have any fault in a very short period of time and the extended PROFIBUS DP diagnosis function can locate the fault quickly and each station can modify its station number conveniently For more information please visit WWW PROFIBUS COM 12 2 2 Installation Description PROFIBUS DP transfers data mainly in the RS 485 mode or by optical fiber technology Basic features for RS 485 transmission technology are as follows Network topology linear bus with active bus terminal resistors at both ends Transmission rate 9 6K bit s to 12M bit s Transmission media Shielded twisted pairs or unshielded cables depending on environment EMC Number of nodes Each segment supports 32 nodes with 126 nodes at the maximum including inter segment repeater Connector Preferably use 9 pin D Sub connector Notes on installation 1 All devices must be connected to the bus 2 Each segment can contain a maximum of 32 nodes mast
128. n powered on and ready for receiving information Starting the network for multiple times has no impact on the setting Therefore if the bus carries more than one ED servo drives it is preferable to perform this configuration for each ED servo drive 5 7 2 Tx PDO Mapping Address Settings Object addresses for TxPDO 1 8 are 0x1800 0x1807 Three specific parameters are represented by three sub indexes as shown below index hex Sub index hex Name Meaning 02 tx pdo parameter type Communication type tx_pdo_parameter_inhibit Inhibition time Table 5 18 Tx PDO Definition Mapping addresses of TxPDO 1 8 are 0x1A00 0x1A07 Specifically 8 object addresses are represented in 8 sub indexes ranging from 01 to 08 Each PDO can map up to 8 objects 8 bytes at the maximum Therefore you can map 2 x 32 bit objects or 4 x 16 bit objects or 1 x 32 4 x 8 bits objects and so on The following figure shows an example of TxPDO Where 1 indicates one object is defined 0 indicates no object is defined and 3 indicates three objects are defined In the example Tx PDO1 sets one object 21000320 TX PDO2 sets three objects 60FF0020 Target velocity 60600008 Operation mode and 60400010 control command 76 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN TX PDO Mapping offline ewp E 2 oj x pDO 1 14 210003244 00020008 24 00020008 T 00020008 00020008 00020008 4 00020008 4 oo
129. nd wire of the motor 34S 42S series motors or shielded cable 23S series motors to the drive for 34S 42S motors connected to the ground screw of the drive for 23S series to the GND of the X9 interface shielded cables must be pressed securely by the clamping screw as shown in the figure below For wiring sequence refer to Section 3 4 6 Figure 6 3 Motor Connection 6 1 3 Providing Logic Power Supply for Drive Controller Power X4 Valid value range for logic power voltage 18V 30V DC to 24V and GND of the X4 interface 6 1 4 Hardware Reset If the wiring is correct the RUN indicator blinks and the 24V indicate will turn green If the BUS indicator goes on it indicates the power supply for the drive is not connected If no error is found power on the drive again or short circuit the RESET and 24V signals of the X4 interface to remove the alarm 6 1 5 Encoder Signal Check The drive is in the basic state If you connect the drive to a PC via the RS 232C interface open the ECO2WIN software and you can view the encoder data Axis1 gt Device control gt Movement gt Actual position while rotating the motor shaft manually If the data does not change please check whether the encoder cable is connected correctly If the Master Encoder interface X7 is also connected to a master encoder you can monitor the change of master encoder data in the functional module Device configuration gt Electronic gear gt Actual position master
130. nded for test The factory default setting is to detect all faults The user can choose to mask all faults to let the motor continue to run or to select a bit marked with x to ignore the single fault by the system Remember to ignore a fault only when necessary otherwise the hardware may be burned when the system no longer detects this kind of fault Take the i t fault for example This fault is designed to protect the motor coil from overheating It consists of two parameters one is the maximum current and the other is overheat time When actual current is greater than the set value and the duration is three times over the overheat time the system will generate a ift fault Once the motor is reset upon a fault the user can enter the control word OxOf to re lock the motor shaft The following errors can be corrected easily Temperature The temperature of the heat sink of the drive shall not exceed 80 C Check the ambient temperature and reduce the temperature if necessary Logic supply 24 VDC logic control power X4 interface normally too low Overvoltage An overvoltage fault occurs if the ED100 power voltage gt 75 VDC or the ED200 ED216 power voltage gt 180 VDC Undervoltage Too low a motor voltage a undervoltage fault occurs if the voltage lt 24VDC 49 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN External Enable No 24V input at the Enable end of the X4 interface Following error Re set
131. ning in absolute mode Object Description Status word 60410010 Consisting of important flags error communication Ready target reached reference found motor switched on off Control word 60400010 Determines states power on motor Enable Reset Start motion absolute or relative motion Operation mode 60600008 For example 1 Positioning 6 Homing Homing 60980008 For example 32 means at next n phase pulse Velocity 60810020 Velocity v t curve Acceleration 60830020 Positive slope in v t Deceleration 60840020 Negative slope in v t Target position 607A0020 Position increments Therefore we have the following course Action course Control Word Status Word Status Logic on 0x0006 0x0031 Ready to switch on Power on Ox000f 0x4437 Communication found no error power on Power off 0x0006 0x4031 Power off Choose the homing method Number 32 60980008 gt 0x20 and start homing Action Course Control Word Status Word Operation Mode Status Ox000f 0x4437 0x01 Motor and controller powered on 131 KINCO ED Series Servo Drives User Manual Appendixes homing32 0x06 Start 0x001f 0xD437 Reference found Ready to make an 0x000f 0x01 absolute relative 0x004f positioning 0xC437 Set Point Start Fifth bit in control word is set To start motion firstly initialize the value for the acceleration deceleration and operation velocity By these minor operations we can handle 80 of communication To reset the system enter O
132. ns of the drive 6 1 Installation of Electrical Components To run the motor the following components have to be configured e Logic voltage 24VDC low voltage isolated from 230 VAC the logic power supply provided for the control circuit of the drive eo Power supply 24VDC 150VDC Power supply provided for the drive e ED200 or ED100 drive wiring terminal power terminal X10 motor terminal X9 I O terminal X3 logic power terminal X4 e Motor and related cables motor cable encoder cable RS 232 programming and communication cable e A mechanical structure with homing and limit switches for example guide rail Figure 6 2 Figure 6 1 6 1 1 Connecting Encoder Cable to Drive The motor encoder signal is defined according to RS 422 The X8 interface of the drive provides the encoder with 5V power supply so that no external power supply is required The encoder cable is connected to the X8 interface of the drive For definition of encoder cable signals refer to Section 3 4 6 6 1 2 Connecting Motor Cable with without Brake to X9 Interface of the Drive Connect four phase lines of the servo motor to X9 A A B B connect the ground wire yellow green wire 81 KINCO ED Series Servo Drives User Manual Chapter 6 Trial Run of Motor to GND of the X9 interface and connect BRAKE and BRAKE of the X9 interface to the brake cables 24V 1A All cables must be fixed securely to racks Make sure to connect the grou
133. o 1 Since the ED serves as a CANOPEN device a fault code will be placed in the data area according to the CANOPEN DS301 standard For example A The master reads the address 0x100000 equipment specification description from the slave and the slave answers 0x00000192 402 in decimal system CANOPEN DS402 standard Request packet 0x10 0x00 0x00 0x40 0x00 0x00 0x00 0x00 Reply packet 0x10 0x00 0x00 0x43 0x00 0x00 0x01 0x92 B The master sets the maximum current 1023 HEX O3FF in the slave address 0x607300 Request packet 0x60 0x73 0x00 0x20 0x00 0x00 0x03 OxFF Reply packet 0x60 0x73 0x00 0x60 0x00 0x00 0x03 OxFF 115 K KINCO ED Series Servo Drives User Manual Chapter 12 Fieldbus Interface of ED Drive C The master sets the maximum current 3071 OxOBFF in the slave address 0x607000 The value is greater than 2047 so an error occurs and the packet with type 6 code 9 and error code 31 is returned Request packet 0x60 0x73 0x00 0x20 0x00 0x00 Ox0B OxFF Reply packet 0x60 0x73 0x00 0x80 0x06 0x09 0x00 0x31 D The master calls the sequence SEQO2 from the slave Request packet 0x21 0x18 0x00 0x20 0x00 0x00 0x00 0x02 Reply packet 0x21 0x18 0x00 Ox6C 0x00 0x00 0x00 0x02 The user can also configure Universal Module in the HD and then set input output structure in the PROPERTY menu in DP SLAVE For example to set Profile acceleration corresponding to Index 0x6083 SUBOO type UNSIGNE
134. o operation instructions for PEAK series USB and LPT adapters Optional ED servo motor Optional Power supply for the motor min 24 VDC 4 2 2 Creating a New Project File 1 Start ECO2WIN 28 KINCO ED Series Servo Drives User Manual Chapter 4 Use of ECO2WIN Software ECOZ WIN 10 x File Extras Window Help Ra 722 eH E Figure 4 3 Starting ECO2WIN 2 Confirm the welcome window 3 Set the COM port Presently ECO2WIN software supports serial port and PEAK CANopen series adapters If you use the PEAK CANopen adapter for programming and setting of ED parameters it is necessary to install the corresponding driver of PEAK CANopen adapter The CD contains the driver xl Interface configuration Step 2 The following interfaces have been found S232 interface COM O RS232 interface COM Please mark the interface at which you want to run the ECOSTEF devices If the desired interface was not found please check if it is in full working order hardware device driver and try a new identification With some extraordinary configurations a manual configuration might be necessary Identify again Manual configuration cancel lt lt Back Figure 4 4 Setting COM Port The communication mode can be selected either manually or by automatic search In general automatic search is recommended In this way the ECO2WIN will automatically display the list of the communication modes with the ED avail
135. o20008 Poo 2 03 ooo20008 24 o0020008 00020008 4 00020008 4 00020008 l 00020008 00020008 00020008 Poo 3 0 00020008 4 o0020008 4 o0020008 24 00020008 4 00020008 En 00020008 00020008 00020008 DO 4 03 00020008 4 oo020008 4 00020008 00020008 4 00020008 00020008 00020008 00020008 Poos 03 00020008 4 o0020008 00020008 4 00020008 4 00020008 00020008 00020008 00020008 Poog 03 00020008 44 oo020008 o00z0008 24 nonznone 4 00020008 00020008 00020008 00020008 Poo 7 03 ooo20008 24 o0020008 00020008 4 00020008 00020008 00020008 l 00020008 00020008 poe 0 00020008 24 o0020008 4 o0020008 24 00020008 4 00020008 00020008 gt l 00020008 00020008 pl oa oa a a oa oa Figure 5 34 TX PDO Settings 5 7 2 Rx PDO Mapping Address Settings Object addresses for RxPDO 1 8 are 0x1400 0x1407 Three specific parameters are represented by three sub indexes as shown below index hex Sub index hex Name Meaning oe rx_pdo_parameter_type Communication type rx_pdo parameter_inhibit Inhibition time Table 5 19 Rx PDO Definition Mapping addresses of Rx PDO 1 8 are 0x1600 0x1607 Specifically 8 object addresses are represented in 8 sub indexes ranging from 01 to 08 Each PDO can map up to 8 objects 8 bytes at the maximum Therefore you can map 2 x 32 bit objects or 4 x 16 bit objects or 1
136. of the mapping X7 Mapping Slave velocity interface is the target velocity 25090310 Gear factor User Numerator of electronic gear ratio setting 25090410 Gear divider User Denominator of electronic gear ratio aa renata 25090508 Gear mode 1 Set to pulse direction signal control 2 Set to master slave control 3 Set to CW CCW pulse signal control Table 5 5 Objects of Control Mode 4 For details refer to Section 5 6 3 Electronic Gear Mode 4 Torque control mode In this mode the motor will output at constant torque The output torque depends on the value of target torque To implement the torque control mode follow the operation procedures below 1 Set 606000 4 with the Direct object editor of the ECO2WIN software refer to Section 5 2 2 Set the 607100 to a desirable current value in the Direct object editor set it to 8A at the maximum for ED100 to 12A for ED200 and 14A for ED216 3 Set 60400010 6 in the Device control or directly set it in the Device control and then lock the motor shaft that is set 60400010 F 44 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN Warning Before locking the motor shaft pay attention to the drive Because it has constant torque output the motor velocity is only restricted by the value of target torque Make sure the load is correctly installed and in normal operation before any operation Remember to set the maximum velocity In the torque control mode
137. ol word 06 Stop control word 2E Check code for calculations of check code refer to Section 11 1 2 The user can design a subprogram to automatically calculate the check code All above calculations are based on the hexadecimal system For detailed control and status commands refer to the object dictionary of the ED At last the Panasonic PLC sends the serial command F144 to the ED drive xO H DF 1 Fi44 TRIS DT 400 E 10 The above command will send the first 10 bytes of the DT401 to the serial port and the DT400 DT405 is set to stop When the command is sent out the motor ID 1 stops operation 4 Communication between Mitsubishi FX2N PLC and ED through RS 485 a FX2N is connected to the RS 485 interface of the ED through the FX2N 485BD 158 KINCO ED Series Servo Drives User Manual Appendixes Shielded cable FX 2N 485BD Figure D4 1 b Configuring communication parameters Mitsubishi FX2N end Set D8120 H0C81 no protocol no start character no end character digital bits 8 stop bits 1 no parity check baud rate 9600 D8120 HOC81 b15 b12 0000 b11 b8 1100 b7 b4 1000 b3 b0 0001 Bits Definition OS B0 Datalength ozis ews oo B2 B1 00 no parity 01 Odd parity 11 Even parity Stop bits 0 1 bits 1 2 bits Baud rate bps 1000 9600bps 1001 19200bps Header character 1 D8124 designated Default STX 02H Terminator character 0 none 1 D8125 desi
138. ollected data in the format of data or graph for comparison E is used to export the collected data into a text file El is to save the collected curves as graphs 19 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN 5 9 Administration 10 x Save all parameters Save parameters to device now Initialize all parameters Initialize parameters in device now Initialize communication paramete Restart device now Initialize configuration parameters Initialize sequence and offline E Figure 5 37 The administration function covers saving parameters initializing parameters and restarting the device The most frequently used function is saving parameters Whenever we modify the parameters in the ED drive remember to save the modifications so that you don t have to configure or download parameters again when the drive is powered on in the next time This is irrelevant to the saving of project To restore drive parameters to factory default settings click lt Initialize parameters in device now gt and then click lt Restart device now gt Then the Error LED on the front panel of the drive turns red and will then turn green in several seconds indicating the initialization succeeds 80 KINCO ED Series Servo Drives User Manual Chapter6 Trial Run of Motor Chapter 6 Trial Run of Motor In this chapter we will first describe the trial run of the motor and then detail on he functio
139. on accidentally you have double checked that the equipment is de energized you have ensured that any additional monitoring and protective devices are properly installed When connecting the equipment to the power supply ensure that the applicable standards and regulations are complied with the power connections are safe and secured the EMC compliant installation e g separate arrangement of earth wires filters communication cables and power cables is realized 2 5 5 Operation Do not disable monitoring and protective devices during the trial run Covers electric cabinet doors etc must always be closed during operation Contact the manufacturer or agent if necessary KINCO ED Series Servo Drives User Manual Chapter 3 Interface Signal and Wiring Chapter 3 Interface Signal and Wiring 3 1 Models of ED Series Drives Based on the maximum output power and communication ports provided the ED series drives consist of the following models Max Output RS485 12 a Power EDIOO AA 000 000 Seow Yes Yes A rED100 PA 000 000 sew Yes ves rED200 AA 000 000 1ewow ves Yes vs ED200 ZA 000 000 1e00w Yes Yes Yes ves ED200 PA 000 000 180w Yes es rD200 0A 000 000 1e00w Yes Yes ve Eozeno _3600W ves Yes ve rED216 ZA 000 000 3600w Yes Yes Yes Yes rED216 PA 000 000 3600W Yes ves rED216 0A 000 000 _3600W Yes ves vs Yes Yes ves
140. on of motor output Motor phases to DC BUS and between motor cables Operating Environment 5 95 RH 2 according to IEC 61131 2 Protection class IP20 Place of installation Dust free dry and lockable for example an electrical cabinet Installation position Vertical refer to ED Installation 135 KINCO ED Series Servo Drives User Manual Appendixes Installation altitude Up to 1000m above sea level full range Powerloss o i O ED100 5 6Arms UDC BUS lt 70V ED200 5 7Arms UDC BUS lt 170V 7 5 Arms UDC BUS lt 100V 8 5 Arms UDC BUS lt 170V Cooling Convection Heat sink required if power loss gt 40W Mechanical Specifications Dimension without heat sink HxBxT mm ED100 200x87x50 without mating connectors Dron ee ASAT tn zen treat comes Interface 9 pin female connector RS485 X2 RS232 X5 Encoder output X6 Master encoder input X7 Encoder Motor Input X8 I O connectors X3 X4 Pluggable terminal with screw Phonix MC 1 5 3 8 1 Pluggable terminal with screw Phonix IC 2 5 3 08 Bus power supply connectors X10 Hot pluggable terminal with screw Phonix MSTB 2 5 5 08 Communication Interfaces CANopen conforming to DS301 DSP402 Max 1M baud rate max 127 nodes Max cable length 40m 1M baud rate Max cable length 1Km 50k baud rate RS 485 2 4 wire 9 6K baud rate max 15 nodes Max cable length 10m RS 485 2 4 wire CANopen conformin
141. ond to homing modes 1 14 without the need of the index pulse signal Instead of the index pulse signal only the H L edge and L H edge of the limit switch or the homing switch is evaluated Megobw Leva 511 0 Fig 5 8 Homing Modes 17 and 18 Starting position 95 KINCO ED Series Servo Drives User Manual Chapter 8 Limit Switch and Homing Figure 8 9 Homing Modes 17 and 18 TER eih starting position Figure 8 10 Homing Modes 19 and 20 Modes with Index Pulse Modes without Index Pulse Modes 1 and 2 Modes 17 and 18 Modes 3 and 4 Modes 19 and 20 Modes 5 and 6 Modes 21 and 22 Modes 7 and 10 Modes 23 and 26 Modes 11 and 14 Modes 27 and 30 Advantage The reference point refers to the mechanical position and therefore independent on the motor Disadvantage The mechanic switch is easily to deform and results in rising or falling edge position change The mechanic switches must be reliable in this mode 8 3 9 Homing Modes 32 and 33 Homing on Index Pulse From the actual position the motor continues to move to the adjacent index pulse signal along the negative or positive direction and defines the index pulse signal as the reference point mime Pulse Abb 5 9 Homing Modes 32 and 33 Starting position Figure 8 11 Homing Modes 32 and 33 96 KINCO ED Series Servo Drives User Manual Chapter 8 Limit Switch and Homing 8 3 10 Homing Mode 34 Homing on Actual Position This homing mode defines th
142. ood performance value with low following error high position stiffness unsigned PC AMAX value for the optimal performance and least vibration Value MO load motor inertia ratio 16 2 PI encoder resolution integer PC__VFFF feedforward velocity gain for high dynamic performance 0 3000 smooth starting 12000 16384 quick starting low following error important for master slave following applications integer PC AFFF feedforward current for strong dynamic performance value 2A 2423 acceleration Save object 0x1010 ff 122 KINCO ED Series Servo Drives User Manual Chapter 13 List of Common Objects Note that the user can enter 65766173 in the above register to store parameters The system will then automatically reset the register value to 1 1010 LOGIC Store communication parameter value 65766173 1010 LOGIC Store application parameter value 65766173 CAN PDO object 0X1400 0X1A00 0X1400 7 RX Parameter read 0X1600 7 RX mapping 0X1800 7 TX parameter write 0X1A00 7 TX mapping Program object 0X2000 FF 0X2120 0X21221 Note that up to 8 parameters can be saved to a program XX from 20XX0220 gt 20XX0320 to 20XX16 gt 20XX1120 free ene ll ee e fe Type 2000 01 RW LOGIC Activation 20XX indicates sequence OXXX 0 sequence not active 1 sequence active 2000 02 20 RW unsigned Parameter 0X20000220 ee e toner pararon secure 0 2000 Value of the first parameter in sequence 0 2000 10 20
143. or Setup ALOLT 1 x4 0UT 2 Xa DINI Encoder Output for external position control loop AG ENCODER OUT analog INE csi command ASAIN 10W 222 3 GND Ready Xd READY Error reset 0 x4 RESET Enable Powerstage xa ENABLE Pm AT i Xd A M4 GND a xs ENCODER IN a BRAKE MOTOR DC BUS able ENC xV xx Tt ae eee 7 a Cable e A sien EA e MOT x51 xx MOT xV1 xx 0 Encoder Brake Motor 10AT OV 24 170V 2 Configuring digital inputs The rising edge of DIN1 triggers Seq01 turns on the drive and makes the drive enter the analog input control mode The falling edge of DIN1 triggers Seq02 turns off the drive and loosens the motor shaft 149 KINCO ED Series Servo Drives User Manual Appendixes Events at DIN1 8 offline ewp CINI DINZ rm goood 2 ai in ajaaa ajaja 3 Designing the program Seq01 Sequence entries offline ewp Sequence No 01 hex in p x Sequence valid M Copy Paste Execute LIB chen Entr Object Value D 60400010 Control word for Device state OOF hex 1 so 0o008 Chosen Mode of operation ll 00000000 TER 00000000 4 ooo0n000 sao 00000000 En 00000000 Pa 00000000 SeqU2 Sequence entries offline ewp Sequence No 02 hex in o x Sequence valid M Copy Paste Execute LEB chen Entr Object Value 0 soso0010 Control word for Device s
144. orms to EC Directive 73 23 EEC EN60204 1 VDE113 EN50178 VDE160 138 KINCO ED Series Servo Drives User Manual Appendixes Appendix B Example of Sequencer Programming 1 Application Motor resolution 1 revolution 8000 inc Control of ED drive by PLC using I O Predefined functions Drive On Off Enable Disable motor current Homing 11 positioning curves Jog mode forward reverse Monitoring actual velocity and actual current of the motor by analog inputs Output interfaces output a signal indicating the target position is reached 2 Definition of I O DIN1 4 Coding and control of sequences DINS Triggering and calling sequences DING Jog switch forward DIN7 Jog switch reverse DIN8 Homing switch RESET Fault reset ENABLE External Enable OUT 1 Digital output PLC standard maximum current 0 5A High level if drive ON amp no error amp reference valid amp target position positioning mode reached amp target velocity jog mode reached OUT2 Digital output PLC standard maximum current 0 5A High level if ENABLE 1 amp no error 3 Operation Sequence After power on the Driver on sequence must be activated Homing should be performed before positioning Subsequently to perform positioning it is necessary to execute the OC sequence in the positioning mode 4 Digital Definition Coins DIN2 DIN Dina Seq Function Target Position ine ap a tor Deron o p a p e
145. orward Reverse Rotation with Position Control Open the window Control Axis1 Autoreverse F Control Axis 1 EC0200 7101 PCANUSB cwp Operation Frotite position mode 1 moda Profile position mode 1 Device status Movement Autoreyerse Homing Error status Tum atberat i i Max turning point Lower turning paint Select the value to be set by autore verse Device online Figure 7 1 Autoreverse 1 Enter a value in the Max turning point box for example 2000 ms 2 Click the lock symbol The value in the Lower turning point box is adjusted to the same value in the 86 KINCO ED Series Servo Drives User Manual Chapter 7 Parameter Settings in Reversing Mode Max turning point box The time values shown may vary slightly from the entered values because of internal conversion for example 1999 872 instead of 2000 ms Select Position in the Change frame 1 Enter a value for the Positive movement that does not lead to a mechanical collision 2 Enter a value for the Negative movement that does not lead to a mechanical collision 3 Click the lock symbol on the right If it is locked the values for Positive movement and Negative movement are set symmetrically to the zero position 4 Change to the Movement tab and set Velocity on positioning to a small value at first 5 Click lt Start gt in the Autoreverse window to start the motor 6 Click the lt Pause gt
146. otor current 5 600 A 5 60 A Sabin Max voltage ED W bo W Winding resistance 0 26 fa O28 n Winding inductance 0 30 mH 0 300 mH Documentation Resolution e000 incr 8000 incrrew Number of pole pairs ep 50 p steps per revolution ricer S000 inesrev Accept Restore Detaults Cancel Figure 4 16 Motor Settings 36 KINCO ED Series Servo Drives User Manual Chapter 4 Use of ECO2WIN Software 4 2 4 4 Mechanic for Motor Icon Right click on the Mechanic icon and the following window appears The window is the same as the one for setting the Mechanic when creating a new project After entering corresponding data the screw pilot and gear ratio are determined The three parameters on the lowest part of the window determine the position velocity and the physical units of acceleration deceleration 100aa ewp E xl Mechanics Mechanic type Rotative mechanic gear etc Linear mechanic belt screw etc Physical units to use on this axis Positions Velocity Acceleration estore Defaults Cancel Figure 4 17 Setting Mechanic Structure 4 2 5 Importing Exporting System Files The file created with the New command or open with the Open command is only a project file which contains the parameters of communication drive motor and mechanics when creating the project file as well as the most part of content data such as internal PID parameter and Sequence If
147. pe sequencer programming P Device configuration Communication Direct abject entry Administration Export data Import data axis 1 Properties Figure 4 14 ECO Device with ID Menu ECO Device with ID menu functions When the Online option is selected the communication to the ED drive is activated Information window A built in oscilloscope software which can collect 4 channels of data with 1000 values for each channel and a minimal resolution of 1 ms for details refer to Section 5 8 Programming of the drive that can be called internally or externally for details refer to Section 5 5 1 Definition of I O functionality definition of master slave functions and analog inputs for details refer to Section 5 6 Direct reading and writing of internal data objects of the drive this address table can be directly accessed by index and subindex Administration window for such functions as saving initializing or booting of the drive for details refer to Section 5 9 Save internal data of the ED drive to a ewv file Downloading data from a ewv file to the ED drive Control of the servo axis Control the motion of the motor for details refer to Section 5 3 set PID parameters of the drive for details refer to Section 5 4 Servo drive information window in the current project changing the configured drive model is possible but not recommended refer to Figure 4 15 Description of the ECO Device with
148. peatedly Therefore a program sequence may be executed once or repeatedly Another sequence of program may be called in one program sequence The sequencer programming window is shown as follows Sequence entries ECOA00 ID PLANUSb evp Sequence No 00 El hew Sequence valid e Entry l object ES 00000000 00000000 Mi 4 o0000000 00000000 Device online Figure 9 1 Input Program 99 KINCO ED Series Servo Drives User Manual Chapter 9 Sequencer Programming select an object E x Goto Search Filter Sort Index Sublndes deftupe integers deftype_integerl 6 deftype_intege32 de deftype_ unsigned de deftype_ unsigned b de deftype_ unsigned de deftype_wlestr de deftype_octetr de Lancel Figure 9 2 Selecting an Object Eight objects may be assigned to each sequence a Le Start with row Entry0 Click to open the Select an object window Select an object and enter it to the sequence Click lt OK gt The selected object and the object comment are entered in the sequence and then 1 2 Assign a value to the object Click the box on the right of Sequence valid and a W mark appears indicating the program sequence is valid Enter conditions on which the sequence will be executed For example edge triggered program sequence described in Section 5 5 2 1 Set an input to call the program sequence Example Figure 9 3 shows two s
149. ple target AAA Gi 2508 02 10 RW unsigned Factor calculated according to the formula ee eR RY mont mun E 2508 04 10 RO imt VALUEOOMINGFROMADO For example 10V input for velocity loop with maximum velocity of 1500 RPM 0X25080120 gt 0x60FF0020 target velocity 0X25080210 gt 0x03 shift is 3 0X24010310 gt 0x0C35 factor is 3125 Master slave object 0x2509 This object corresponds to the X7 input interface In case of master slave or pulse direction control mode the following parameters are often used Command Description Type 2509 Numerator of electronic gear ratio 2509 Denominator of electronic gear ratio 128 KINCO ED Series Servo Drives User Manual Chapter 13 List of Common Objects 0 1 is quadruple decoding o ee 2509 20 RW unsigned Master position value writable and readable pe ee nro For example Electronic gear ratio OX250902200 gt 0x60FF0O020 target velocity 0X25090310 gt 0x0 7D0 numerator is 2000 0X25090410 gt 0x03E8 denominator is 1000 The slave runs twice as fast as the master without having worse performance It is possible to change gear ratio by changing the comparator or external analog input Error code 0x2600 index Sub index Bits Command Type Unt Description 00000004 inverse voltage encoder fault 00000008 encoder counting error 00000010 drive temperature gt 80 C 00000020 logic voltage lt 18V 00000040 main circuit voltage gt 180V 0000008
150. ple programs refer to the user CD of the Kinco servo 3 Communication between Panasonic FPO with RS 232 Interface PLC and ED 1 Setting communication parameters In the PLC system register settings in the Panasonic PLC programming software set No 412 universal communication NO413 data bits 8 stop bit 1 no parity check receiving buffer DT2000 and capacity 1000 2 Wiring PLC RS 232 Interface ED Drive RS 232 Interface R OOO 2TXD S O OOOO 3RXD GND 5GND 3 Program Store the commands to be used in the data area in advance 157 KINCO ED Series Servo Drives User Manual Appendixes R3013 Fil COPY EO y Ira msm e FO MY y H2501 OT 401 FO MY y Heo DT402 FO MY Heg Irae FO My 2 CHO OT 404 FO Mv H 2E00 DT 405 FO Mv H 250i DT 411 FO Mv Ho 6040 DT 412 FO MY H3FOO OT 413 FO MY E HOD OT 414 FO MY y HFS OT 415 FO MY H2 01 OT 421 FO MY Heo DI FO MY y HSFOO DT423 O FO MY Ho IT44 FO MY y Ho DT425 DT401 DT405 command 01 2B 40 60 00 06 00 00 00 2E motor off DT411 DT415 command 01 2B 40 60 00 3F 00 00 00 F5 control command 3F relative positioning for motor DT422 DT425 command 01 2B 40 60 00 5F 00 00 00 D5 control command 5F relative positioning for motor Note The stop command 01 2B 40 60 00 06 00 00 00 2E contains 10 bytes 01 ID of the ED drive 2B Write in 6040 Contr
151. quence 0X20 is called qe object 0X2130 Sub index Bits Command Type Unit Description nde 01 10 RW 80XX The number of sequence starts after a waiting time OX8012 starts sequence 0X12 2130 20 ms waiting period 0Xx21300110 gt 0X8012 0X21300220 gt 0X03E8 starts sequence 0X12 after 1s Event object 0X2140 Command Description PS 2140 10 RW 80XX 80XX Sequence XX starts after target reached 2140 A Sequence XX starts after reference found 2140 10 RW 80XX Servo off state sequence xx starts when ready output is low 2140 80XX Servo on state sequence xx starts when ready output is high 2140 oB 10 RW 80XX Sequence xx starts in Servo on state 2140 80XX Sequence xx triggered when operation mode enabled 2140 80XX Sequence xx triggered after input of Enable Output object 0X2160 OUT1 0X2161 OUT2 Command Description CN 21 2160 RW unsigned Object address of output 4 1 address of output 1 2160 02 unsigned Offset value which will be added to the value of output pafe e 2160 03 20 RW unsigned AND value AND operation is performed between this AA N ep KINCO ED Series Servo Drives User Manual Chapter 13 List of Common Objects 2160 04 20 RW unsigned Compare_value to be compared with the previous OSI O ee set ee 2160 05 20 RW unsigned Polarity control forward reverse rotation the pee ee ee ee 2160 unsigned Comparison output 0X21600120 gt 0X6041001
152. r Detects the content of actual position if 21C002 goes from O to 1 Comparator object 0X2180 0X2181 0X2182 0X2183 Once the comparison result is true the whole comparator has to be activated again Command Description o 2180 20 Rw _ unsigned Object used to compare with the comparator object _ Object used to compare with the comparator object to compare with the a object oe ET 2180 03 20 RW unsigned AND value for Boolean operation with the A AAA 2180 04 20 RW unsigned Comparison value to be compared with the AA entre a 2180 10 unsigned Choice of operation 0x0001 equal 0x0002 less than 0x0003 equal to or less than 0x0004 greater than Ox0005 greater than or equal to Ox0006 not equal to 2180 OX80XX Sequence OxXX starts if the comparison status is True 0x21800120 gt 0x606C0020 velocity 0x21800420 gt 0x00823555 1000RPM 0x21800510 gt 0x0005 0x21800610 gt 0x8012 called once RW M unsigned Temporary orage address PONN values in S T too 2180 20 unsigned Value is gt if comparison is True e Arithmetic object 0X21A0 Command Description 21A0 20 Source object that should be modified 21A0 02 wo unsigned Destination object that gets the result of the operation 21A0 unsigned unsigned Number that is operated with the source object 21A0 04 10 unsigned Arithmetic operation 0x0000 0x0001 0x0002 0x0003 0x0004 COC LA Resutefepraion 126 KINCO ED
153. r internal computation Actual position slave Actual velocity slave Slave velocity Actual velocity master Master velocity gt O O N 0 eJ O N External Master position O UJ External Master velocity Table 5 17 Electronic Gear Objectives Note 1 If the electronic gear ratio is no longer used clear the data in 25090120 and 25090220 otherwise the target velocity cannot be written in the velocity mode 2 To validate electronic gear parameters select lt Administration gt Save parameters to device now gt to save the parameters after configuration and then click lt Restart device now gt to reboot the drive 5 6 4 Analog Monitor The ED drive has two independent analog outputs to monitor the change of internal objects They are usually used to monitor actual velocity and actual current The Analog Monitor window in the ECO2WIN software is shown in the following figure 72 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN 10l x Monitor 2 Mapping Mapping 00000000 Analog monitor 0 Analog monitor 0 MON1 Byte 0 H mon2 Byte i relocation relocation Analog monitor 0 Analog monitor 0 MONL Scaling factor 256 MON2 Scaling factor 256 Monitor 1 Analog monitor 0 E Analog monitor 0 E MONL Output value Cad MONEY Output value rE D Device online Figure 5 31 Analog Monitor Two analog outputs correspond to the objects 0x2400 and 0x
154. rence Found Bit number Value of bit Corresponding Status Word o Ready to Switch on Ready to switch on 60410010 0x0001 MT Switched On Powered on 60810010 0x0002 2 Operation Enable Operation enabled 60410010 0x0004 fret CA 6410010010008 5 ouiok Stop Quick top 60410010200020 E eee ee Z Waring specific 1 Manufacturer specific 1 60410010 0x0100 reserved Target Reached Target reached 60410010 0x0400 Internal Limit Active Internal limit activated 60410010 0x0800 Setp Ach v 0 Hom att 60410010 0x1000 Foll Err Res Hom Err Following error homing 60410010 0x2000 error Commutation Found Commutation found 60410010 0x4000 Reference Found Reference found 60410010 0x8000 Table 5 7 Functional Description of Each Bit of Status Word We can judge the current status of the servo system according to the status word The status word can be directly observed in the Device Control window of the ECO2WIN software or read out through the communication interface provided by the Sequence and ED In this way the user can monitor the ED either inside or outside of the software 5 3 3 Setting Movement Parameters In the Movement tab of the Device Control window as shown below the user can set movement parameters in position and velocity mode These parameters can be modified online 46 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN Control Axis 1 100LA ewp 5 xj Operation K
155. rent value ranges from O to 2047 which can be converted in the drive current value value 132 KINCO ED Series Servo Drives User Manual Appendixes maximum drive current A 2047 The ED100 can reach 8A the ED200 can reach 12A and the ED216 can reach 14A in rated phase current Digital friction current Digital friction current Idac can be measured indirectly by averaging the current object address 6078 00 at slow speed This value is multiplied by 1 2 and can be used as first approximation of the limit value of the integral parameter in the velocity loop vc_kilim Reference storage Save the set parameters to the drive In this way new parameters will take effect when the drive is powered off and then rebooted 133 KINCO ED Series Servo Drives User Manual Appendixes Appendixes Appendix A Technical Specifications of the ED Drive Appendix B Example of Sequencer Programming Appendix C Application Examples 1 Position and Velocity Control with Pulse Direction Signal 2 Master Slave Control 3 Control of the Velocity and Position of the ED Servo Motor by Analog Inputs Appendix D Communication Examples 1 Connection of Touch Screen with KINCO Servo System and Application 2 Communication between Siemens S7200 and the ED through RS 485 Interface 3 Communication between Panasonic FPO and ED 4 Communication between Mitsubishi FX2N and ED 5 ED Servo Communication by Profibus Appendix E Full Closed Loop Control Appendi
156. revent the impact of surrounding environment on the pulse signal we design a PDC servo connector to connect the servo drive with the external pulse signal source 1 Wiring diagram Connect the ED servo drive to the Siemens S7200 as follows ECOSTEP 2 PL3 H wT T FL5 i 1 DIR Q0 2 9 pin connector B DTK oY S7200 uses P D mode to control ECOSTEP Single end wiring PLS and DIR short circuited to the OV of the S7200 PLS connected to impulse output interface DIR connected to direction output interface Note that the direction signal shall be set up before the pulse signal Connect the ED servo drive to the Mitsubishi FX2N 16MT ECOSTEP COM 2 PLS 24Y T PLS a Y0 X 1 DIR COMO B DTFR yo come In the event of differential P D input signal level 24V 5V it can be connected with a PDC24 or PDC5 adapter For details of the PDC24 5 adapter refer to the document PDC adapter usage and performance description pdf 145 KINCO ED Series Servo Drives User Manual Appendixes 2 Parameter setting a In Sequencer programming gt Sequences select sequence 01 and sequence 02 and set them as follows Seq01 60400010 6 Motor off 21180008 2 Go to sequence 2 Seq02 6040001 0 f 6040001 0 f 60600008 4 Master slave mode 25090220 60ff0020 Velocity mapping 29090508 2 Receiving pulse direction signal control 25090310 10000 Factor of gear ratio modifiable 25090410 10000 Divider of gear
157. ries Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN 60400010 Control word for Device status Lock the motor shaft if the Target velocity is not zero the motor will run at the set velocity Table 5 4 Objects of Mode 3 For details refer to the sections Mode and Control and Target Object in Chapter 13 List of Common Objects Mode 4 Demand value over master encoder for example master slave control pulse direction control and CW CCW control are implemented by using this mode In this mode the movement of the motor is directly controlled by the external encoder pulse direction CW CCW pulse signal from the X7 interface of the drive If the system receives signal from the external encoder RS 422 format set the drive to master slave mode The drive will serve as the slave and the motor shaft will be the slave shaft to follow the encoder master shaft signal of the X7 interface to perform the following movement The velocity rate of the following movement can be set by the electronic gear ratio as shown in the table below If the system receives the pulse direction or CW CCW signal it will be controlled by the external pulse command like the traditional servo drives like Panasonic and Mitsubishi In mode 4 the following objects have to be defined Object Name Value Meaning 60600008 Chosen Mode of operation Set the operation mode to mode 4 29090220 l l 60FF0020 The data value
158. rive adopts a kind of special firmware to implement the full closed loop control function High precision positioning system a er a High precision linear Pa grating scale or Pa magnetic scale un Vvo vns Ino oa oo oyo oo EXE Figure E 1 Full Closed Loop Control Wiring The full range of Kinco servo drives support the full closed loop control Different from non full closed loop control the encoder cable of a servo motor is not directly connected to the X8 Encoder in interface but to the X7 Master encoder interface As shown in the above figure the feedback signal on the load end is directly connected to the X8 Encoder in interface Firmware difference 00010040 E10 The feedback from the linear encoder only works on the position loop and is applicable to the system conducted by screw rod and with high stiffness For 00020040 E10 the feedback from the linear encoder works on the velocity loop and position loop and is applicable to the flexible system like synchronous belt Firmware importing Use the Eco2flash software to import the full closed loop firmware directly Save the configuration and reboot the system after importing Polarity setting After electrical connection and firmware importing adjust the polarity of the linear encoder in the ECO2WIN software first otherwise the control loop cannot work Set the 607E00 object directly by Direct object entry Bit6 0x40 is used to adjust th
159. river file To enable the eView touch screen software EasyBuilder500 to recognize the ED drive copy the driver of the ED drive ecostep PDS to the directory of C EB500 Drivers 2 A touch screen controls a single ED drive a Wiring Touch screen PLC RS 232 interface ED X5 RS 232 RxD 3 roo 2 TX TXD2 3 RX GND 5 5 GND b Setting communication parameters For the settings of communication parameters of the touch screen refer to Figure D1 1 The PLC station No must be the same as the ID of the ED drive The default ID of the ED drive is 1 so the PLC station No should be set to 1 when the touch screen controls a single ED servo drive 152 KINCO ED Series Servo Drives User Manual Appendixes LERMA NE a PLO a BT Seen masa TE AiO STE La LE 5 1 A gi 2H 5 Ze Amme 38 z AMEE iso gt mno eno AM IPH P f fF RS8 rm fa fp 7M fF fF PF Rei IP Hit Ff PLO fob EAr pl Figure D1 1 If the ID of the ED drive is set to N 1 15 the PLC station No of the touch screen should be set to N also c Setting address parameters It is necessary to set the address of the ED object when designing eView program Firstly set the Index and then the Subindex As shown in the figure below set the data input component to the value of the ED object 607F0020 maximum limit 153 KINCO ED Series Servo Drives User Manu
160. rs 8 Byte DT Y controlword 6040 0 dese W TimerControl 2130 01 F F i i se J E ostatusword 6041 0 i F F F E E ara t target position E0TA C R position actual value Y profile velocity 6081 R detected faults 2600 3 ECOSTEF 200 HE 1 0 Es Gateway a E Module Order number yee kde Qo Ad re E PLC E Compatible PROFIBUS DP Slaves ist fE controlword 6040 0 264 265 7 Closed Loop Controller 6T B statusword 6041 0 264 265 Ca target position leoa 0 286269 87 R position actual value M5 289 E es Cia Maroto velocity 606i Proen Gia DP PA Link Cer detected faults 12600 2270 213 Boon Cia imiversala EA Baao Cia i Timercontrol 00 ere 27 E ET 2000 1st Universal module MO O 1 Figure 12 7 STEP7 GSD Configuration Window 12 2 5 3 Diagnosis and Auxiliary Information The first 6 byte BYTEO 5 diagnosis information of the ED drive is consistent to the PROFIBUS standard Where Byte6 describing external diagnosis length including this byte will describe whether there are four additional bytes to provide further diagnosis data for the ED Meanings of these four additional bytes are as follows ERROR BIT fault bit ERROR EVENT fault event 117 K KINCO ED Series Servo Drives User Manual Chapter 12 Fieldbus Interface of ED Drive Table 12 2 Fault Information The above fault information table is also described in the GSD file
161. rward and Following error 0 the following error can be ignored For safety purpose the value of the position controller is small when the drive is delivered out of the factory for example Kopp 15 625 1 s The user can re set the position controller parameter according to the mechanic structure in use In general Kpp is in the value range of 100 to 200 1 s with some exceptions 51 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN 5 4 2 Velocity Controller Parameter settings Axis 1 ym23531 ewp E 0 x Current controller Sn Others p gain Velocity control Idee i gain Velocity control dee El Limit i component foo fdes Time constant for error filter eee El Time constant Output filter eee 12 gain Velocity control O EA Max velocity 468750 000 ings online modus Figure 5 9 Velocity Controller In this window the user can set important parameters for the velocity controller including Kvp p gain velocity control Kvi I gain velocity control Limit component e filter Time constant for error filter o filter Velocity output filter time constant Max velocity Maximum velocity For details refer to related configuration tables in Chapter 10 Controller Performance Adjustment When motor vibration or noise becomes obvious adjust these parameters according to Table 10 2 in chapter 10 Controller Performance Adjustment 52 KINCO ED Seri
162. s Counter 3 Increment ojd Counter 3 Value ode M Ka Events at DIW1 8 ECOZ2Win_iocontrol ewp DIN4 E 0000 T 0000 E El Figure 5 22 Counter Configuration In the above example whenever DIN1 changes from L to H the SEQO7 will be called and 1 is added to the counter 0 0x21900120 In other words it counts the input pulses of DIN1 It is very useful in many applications Counter objects are defined as follows Index hex Subindex hex Meaming 01 Increment which is automatically added 2190 2193 when the object is called Table 5 12 Counter Objects 5 5 6 Calculator The ED provides a calculator for data copying arithmetic operation and bit logic operation and processing as shown in the figure below 64 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN ALU ECO2Win38 ewp O x Source object ooo00000 Target object ooo0o00000 Operant _ Operator aoad copy Result O dez Device online Figure 5 23 Calculator All operations are executed via object 0x21A0 There are five registers Sub01 to 05 Sub01 Source object stores the source objects Sub02 Target object stores the final results of operation register index with mapping property Sub03 Operant contains the numbers to be computed with source objects Sub04 Operator stores operators including eight operators namely COPY AND OR XOR Sub05 stores oper
163. s Axis 1 ym23s31 ewp E Ioj x Position controller Velocity controller Current controller a others Holding brake delay i 0 Reaction on Quickstop o Reaction an switch off 0 Reaction on disable operation Reaction on Stop 0 Reaction on fault 0 Position polarity normally Velocity polarity normally online modus Figure 5 13 Here the user needs to understand different system settings under different circumstances Reaction on loss of CAN communication CANBUS communication interrupted and CAN node protection function enabled Set value 0 No action Set value 1 Generate an error 56 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN Set value 2 Control word BIT1 is reset Set value 3 Control word BIT2 is reset Other value No action Reaction on quickstop The drive changes from motion to a quick stop and the control word Bit2 is reset 0 Disconnect the power supply of the motor immediately 1 Decelerate according to the system deceleration speed until standstill 2 4 Decelerate and stop according to the quick stop deceleration Reaction on switch off 1 1 Decelerate according to the system deceleration speed until standstill Other values Switch off immediately Reaction on disable operation 1 Decelerate according to system deceleration speed and forbid operation Other values operation disabled immediately Reaction on stop res
164. same time 1 is added to the address pointer and it points to the 2Dxx 1 register Recording table objects are defined as follows Index hex A a object the value of which will be 21B0 written in the table 02 We command 03 Position in the table value range 0x00 to OxFF Table 5 14 Recording Table Objects Note The drive allocates a 64KB memory to store real time sampling data which can store up to four groups of records with a minimum sampling interval of 1 ms 10 ms by default 5 5 8 Position Capture Via the very fast input N of the master encoder interface X7 PIN4 the actual position of the servo system is captured and put into objects 0x21C003 and 0x21C004 The latter is the backup for the previous captured data 66 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN Position capture ECO2Win38 8 Joj x 5 Position capture with index pulse of master encoder Sequence to start di Enable Counter for index pulsi o Result memory O Captured position O Device online Figure 5 25 Position Capture When the value in the Counter for index pulse box changes from 0 to 1 the value of actual position will be copied to the Result memory and Capture position Select the Enable check box and the sequence set in the Sequence to start box will be started To capture the actual position again clear the value in the Counter for index pulse and se
165. sequence Call Seg 0C and be prepared for next positioning Sequences 06 to 01 similar to sequence 07 to define different target positions absolute Seq 12 Jog stop 60FF0020 0 Target velocity Target velocity O inc s 141 KINCO ED Series Servo Drives User Manual Appendixes Seq 11 Jog reverse 60FF0020 8000 Target velocity Target velocity 8000 inc s 60830020 16000 Profile acceleration 1000 16 inc s 60840020 160000 Profile deceleration 10000 16 inc s Seq 11 Jog forward 60FF0020 8000 Target velocity Target velocity 8000 inc s 60830020 16000 Profile acceleration 1000 16 inc s 60840020 160000 Profile deceleration 10000 16 inc s Seq 00 Jog mode 21600420 C437 H Output0 cmp_mask Output0_cfg cmp_mask OUT1 if commutation found amp home found amp operation enabled Definition of Inputs Events at DINI 8 offline ewp E Oj x Input Active Sequence if L gt H Active Sequence if H gt L Status DINI E ooog E goog ald DINZ 000g ooog DINa 0000 000 pind OO00 INS 0700 OO00 alla ajaja a 666666060606 r DING W 0010 m 0012 DIN ral 0011 e 0012 DIME E 0000 FT 000o 142 KINCO ED Series Servo Drives User Manual Appendixes Definition of Homing Parameters Control Axis 1 offline ewp E lO x Operation i mode Homing 6 or e Device status Movement AUtoreverse Homing Error status 24
166. ser can set and monitor the servo parameters online and click lt Yes gt The following interface appears Synchronize data Ea The project contains alist of objectvelues forthe device ECO dewce with ID 1 containing settings processes and data Do you want to synchronize these data with the connected device now C Do not synchronize device and project cancel _ Figure 4 10 There are three options Read data from device and store in project Read all data from the currently connected ED drive and save them as the default settings for the new project e Update device with project data Update the internal data of the drive with the data of the new project this option is selected when the project is completed or an old project is called e Do not synchronize device and project Do not synchronize data and the system will call internal parameters of the drive and update display only when it is necessary Select this option in general After a new project is created the project main interface appears 32 KINCO ED Series Servo Drives User Manual Chapter 4 Use of ECO2WIN Software Note If the RS 232 communication cable is used for programming the above mentioned two items will take 2 to 5 minutes depending on PC configurations 4 2 3 Opening a Project File When the ECO2WIN software is running if the user does not select New to create a new project select Open to open a saved project Likewise the system w
167. signal and alarm signal output Digital input interface triggering internal program sequence by rising or falling X3 Din6 edge or BCD code setting high level or low level input to be valid by software Din7 When it is not used as a digital input interface it can serve as an external Din8 positive limit position signal input interface of the motor AIN AIN When it is not used as a digital input interface it can serve as an external negative limit position signal input interface of the motor When it is not used as a digital input interface it can serve as an external homing signal input interface Analog input interface used to control motor speed and torque with the input range of 10V MON1 MON2 Two analog output interfaces monitoring the status of internal objects of the READY drive Monitoring contents can be set in the software RESET Digital output interface when it outputs high level 24V it indicates the drive ENABLE is free of fault Digital input interface when the rising edge signal is inputted it can reset drive GND fault 24V Digital input interface to be used by the external enabling drive The drive X4 GND must connect with 24V when it operates If this input is disconnected when the drive is working it will lead to the External enable low fault Logic ground serving as the common terminal of input output interfaces Logic power 24V input interface to be provided externally Logic pow
168. signal output interfaces Analog output 2 MON2 Ready signal READY Reset signal RESET Enable signal ENABLE Control power DC 24V 24 Y e Ready signal output interface of the Control power DC OV GND servo system e Errorreset signal input interface Phoenix MCVW 1 5 7 ST 3 81 e Enable signal input interface for drive operation Motor Connection Terminal X9 Brake power BRAKE e Intelligent automatic brake control Brake power BRAKE ZN eov CI F power output interface Ground GND Motor phase line A MOTOR A Motor phase line A MOTOR A Motor phase line B MOTOR B 2 Phase Power Stage Motor phase line B MOTOR B lt e Provided with motor short circuit Phoenix MCVW 2 5 7 ST protection function monitoring over voltage under voltage and over temperature Main Power Connection Terminal Control power DC 0V GND Control power DC 24V 24 V Main power DC 0V GND Main power DC DC Ground GND Phoenix MVSTEBR 2 5 5 ST Figure 3 4 Internal Wiring of ED100 Drive 2 KINCO ED Series Servo Drives User Manual Chapter 3 Interface Signal and Wiring 3 3 2 Internal Wiring of ED200 Drive RS232 1 1 direct connection to a PC COM CAN Pin Signal at PC COM Pin Signal 1 DCD 1 ne 2 RxD 2 CAN_L 3 TxD E 3 CAN_GND a 4 DTR 4 ne 5 GND 5 ne 6 DSR 6 GND T RTS 7 CAN_H 8 CTS 8 ne n D Sub 9 pin male 9 CAN_V x2 RS485 Profibus DP Pin Signal Signal 1 ne ne 2 Rx ne 4 Tx RxD TxD P 4 frei CNTR
169. t Switchsand Homing SWIG sigri E 2ecdeedgecacb unde etebteceeed saleseeecs 90 oy a y CE PINCHE PARO een O Ae oe eee eee ee eee 90 RONO MOJO S Rees A amr oie tn Re ere ee ne Gt A ce eee Reet een ere 91 8 3 1 Homing Mode 1 Homing with Negative Limit Switch occoocccocccoccccocnccnnononococnnonnconcnnnnncnanos 91 8 3 2 Homing Mode 2 Homing with Positive Limit SwitCh oocccccccocccccnoconnconnnnonncncnnonnconcnnnnncnnnos 92 8 3 3 Homing Modes 3 and 4 Homing with Positive Homing Switch and Index oocooccooccoonconoco 93 8 3 4 Homing Modes 5 and 6 Homing with Negative Homing Switch and Index ooccooccoocoooo 93 8 3 5 Homing Modes 7 and 10 Homing with Homing Switch Index and Positive Initial Movement 94 8 3 6 Homing Modes 11 and 14 Homing with Homing Switch Index and Negative Initial Movement 95 8 3 7 Homing Modes 15 and 16 Reserved cccecccccceccseece seca cece ees eeeeeeeeeseeeeeeseeeseeseeeseeeeeeseeeaseeeesages 95 8 3 8 Homing Modes 17 31 Homing without Index PulsS ooccooccocncocccoccocccccnnncocononanonnncononancnnncons 95 8 3 9 Homing Modes 32 and 33 Homing on Index Pulse oocoooccocccoccccccocccncococonononancnnnnoronanonannnnonons 96 8 3 10 Homing Mode 34 Homing on Actual Position oocoooncocncoccconcocnoncncoconanonancnnnnnronanonanoncnnnns 97 8 3 11 Homing Modes 17 and 18 Homing on End StOP occcocccccccnccccncnc
170. t it to 1 again When N of the master encoder input X7 changes from L low level to H high level 1 will be added to the Counter for index pulse field Position capture objects are defined as follows Index hex Subindex hex Meaning 01 Sequence number which is called when the 21C0 counter of the 21C002 changes from 0 to 1 Count for N pulses of X7 03 Result memory contains the actual position IS eee 04 Captured position contains the actual A position captured in the previous time Table 5 15 Definition of Position Capture Objects 5 6 Device Configuration The ED resource configuration consists of five parts namely digital inputs digital outputs electronic gear analog input and analog monitor as described one by one below 67 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN gl gt FO Online ECO de Device status Mechanic hor A ee motor 1 at Oscilloscope device ID 1 Sequencer programming P Device configuration Digital inputs lt Direct object entry Digital outputs Administration Electronic gear Analog monitor Export data xp Import data Axis 1 Properties Figure 5 26 Device Configuration Menu 5 6 1 Digital Input The ED drive has 10 digital inputs Enable Reset 8 programmable DIN1 8 DC24V input and their statuses are expressed by the register Ox60FDOO20 sequence from higher bits to lower bits
171. tate Po pos hex y de o0000000 ee 00000000 cre 00000000 4 3 00000000 cet 00000000 Bie 00000000 fe 00000000 150 KINCO ED Series Servo Drives User Manual Appendixes 4 Setting analog ports For example suppose the input 10V corresponds to the maximum forward reverse rotation of 1500RPM According to the formula in Section 5 6 5 set shift 1 then factor 12500 The settings are shown in the figure below Analog input offline ewp l Target velocity BOFFOO 20 Mapping target velocity ow GA eer High resolution Poy High resolution mode E mode active Chan Value Offset ADE O O O 1 a o E o O T If the user changes the mapping object to object position 607A0020 and changes the control mode to 1 the user can control the position by analog inputs 5 Saving configurations Upon completion of above operations save the configurations Administration gt Save 151 KINCO ED Series Servo Drives User Manual Appendixes Appendix D Communication Examples 1 Connection of Touch Screen with ED Servo Drive and Application The eView touch screen can be directly connected with an ED drive through the RS 232 interface The user can set the parameters and operation status of the ED drive through the touch screen An eView touch screen can be connected to either a single ED drive or several ED drives through RS 232C or Rs 485 1 Install d
172. terface com Baudrate bits 39600 7 Transmission timeout al me Delay flush buffers o al ms Flush butters after send a Use echo Tr F Logfile state interface accessable l Test interhace Cancel Figure F 2 o ECO2LOAD Device ID fi Search Currently used interface device found write data into device A5za2 COM Read data out of device Load paramerter list Configuration ECOSTER 00 seq CFG Administration e Version 1 0 0 9 F Figure F 3 Appendixes After the communication is normally established the user can perform data import and export operations Firstly select the data range for import or export operation that is the segment of data for import or export This software supports reading and writing operation on five different parts of parameters namely comm seq dev joy and all They stand for communication parameters sequences device configuration joystick configuration and all parameters respectively Click lt Load parameter list gt and select different configuration files For example to perform seq operation select the ECOSTEP x00 seq CFG file Upon completion of these operations use the Read data out of device option to read drive data The Write data into device option is to write the previously exported data into the drive again In addition to data import and export function the software also
173. the Object Dictionary defined by the drive lts property is MW Change 60600008 to 1 and the drive will be set to Absolute relative positioning mode The user can modify the value either in the Device Control window or by using the Sequence programming function Alternatively the user can use the communication interface provided by the ED to read and write the 60600008 object by a host for example a PC PLC or single chip processor Some operation modes for example mode 4 and mode 7 cannot be selected in the Operation mode drop down list box in the Device Control window They can be modified only through direct and indirect communication mode 41 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN Control Axis 1 offline ewp e Ioj x Operation aaa RPM demand value with mit position control 2 Y absolute relative positioning RPM demand value with mit position control 31 RPM demand value without position control 3 E Demand value over master encoder 4 Homing 6 E STOP F8 Device statu Figure 5 3 Selecting Operation Mode A brief introduction to each operation mode is given below Mode 1 Absolute relative positioning Take this mode for example In the coordinate system shown below the red arrow indicates the actual position 450 If it is defined as absolute motion when the target position is set to 700 the motor will move to the position of coord
174. the interface is powered by the ED drive without the need of external power supply The ED drive supports the following baud rates 9 6Kbit s 19 2Kbit s 45 45Kbit s 93 75Kbit s 187 5Kbit s 0 5Mbit s 1 5Mbit s 3Mbit s 6Mbit s and 12Mbit s The interface is adaptive to baud rate without the need of configuration Node IDs of the ED drive are settable by DIP switches SO S3 01 15 Offset of the node ID is set by the internal parameter register 2F800008 Note that the node ID 00 is not allowed to use 112 KINCO ED Series Servo Drives User Manual Chapter 12 Fieldbus Interface of ED Drive 12 2 4 ED Drive State Machine As a standard PROFIBUS DP Slave the ED drive has a state machine in compliance with EN50170 as shown below Power on GET_CFG SLAVE_DIAG GET_CFG SLAVE_DIAG SET PRM ok CHK_CFG ok DATA_EXCHANGE Figure 12 4 State Machine Mechanism of the ED Drive After the logic voltage of the ED drive is turned on the ED drive enters the WAIT PRM to wait for parameter initialization At this time the slave waits to receive parameter packets from the master and will not conduct data exchange If the slave receives parameter packets it will enter the state WAIT CFG of waiting for configuration Then the master needs to send the configuration packets of the slave specifying the I O bytes of the slave The slave will compare the received packets with stored configuration If they are consistent it will
175. the max following error value optimize PID parameters of the controller reduce acceleration deceleration Overspeed The velocity value is higher than limit reduce velocity value Bus error Check power supply of the bus I t Motor overloading cool down The following errors indicate faults with the drive Intern H8SWD Internal fault of the drive send the drive to the manufacturer for checking Intern REGLERWD Internal fault of the drive send the drive to the manufacturer for checking The following errors indicate faults with the motor antivalence encoder Encoder cable fault check whether the cable is connected to the X8 interface correctly Encoder counting error Disturbance on encoder cable incorrect connection of shielded and ground cables or broken encoder disc due to the force of motor shaft Phase A Wrong connection short circuit or disconnection of phase A line of the motor Phase B Wrong connection short circuit or disconnection of phase B line of the motor Several errors may occur at the same time under some circumstances In this case do not mask errors Note 1 Do not mask errors 2 Fault detection ensures safe operation of the system Masking errors prevents the system from switching off and affects system safety 5 4 Parameter Setting The servo control system contains position controller velocity controller and current controller Operation parameters of the motor have different settings under diff
176. the maximum velocity can be set only through the Max Current in the Parameters setting gt Current controller menu Mode 6 Homing Mode 6 is the homing mode In this mode the drive works in the state of searching for reference The ECO2WIN software provides 27 homing modes For details refer to Chapter 8 Limit Switch and Homing In mode 6 the following objects have to be defined Object Name Value Meaming 60600008 Chosen Mode of operation 6 Set the operation mode to mode 6 60980008 Homing method User Homing method 6 by default 607C0020 Relocation zero point User Offset relative to the zero point O inc by rene Reeser eee Seine som OY 60990120 Velocity during search for User Velocity during search for reference 60990220 Velocity during search for User Velocity during search for motor index A AS 609A0020 Acceleration during homing User Acceleration during homing 160000 status Table 5 6 Definition of Homing Objects To define these objectives values can be entered either in the Direct object entry window or in the Device control window 5 3 2 Control Command and Status Display The servo motor has a different operation status from the servo system composed of the servo drive We learn the description of space coordinate from the mechanic engineering determining different coordinates of the system at different times s t v t t This is also the case in our servo systems The servo system w
177. tion Current motor Standard motors Type name 238 21 0650 803 7 44 238 31 0650 803 7 44 v ste f Rotative ECOSTEP Max torque 1 800 1 8 Am Motor inertia 0 0300 0 0340 kogm 10 Max motor curent 6 500 6 50 Max voltage su W E0 Winding resistance 0 23 od O29 Winding inductance 0 50 mH 0 800 Resolution emu FCT 8000 nc res Number of pole pairs 0 ep 50 p steps per revolution appi Ines B000 incre Accept Restore Defaults Cancel Figure 5 12 Motor Configuration Documentation 54 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN The computation formula for Commutation period corresponding to Ox60F60120 and Polepairs per commutation period corresponding to Ox60F60210 shown in Figure 5 11 is as follows For Kinco rotative servo motors commutation period Number of pulses per revolution pole pairs For example for the motor 23521 0560 803j7 AA if encoder resolution 8000 inc rev and pole pairs 50 Then commutation period 8000 50 160 polepairs per commutation period 0 Note We can also enter 8000 and 50 respectively For Kinco linear servo motors commutation period pole period resolution For example for linear motor SLM 040 192 200 if resolution with grating scale 1 um and magnet period 32 mm then commutation period 32 0 001 32000 polepairs per commutation period 0 A group of commutation ob
178. trictly defined object lists internally We called such an object list as object dictionary The object dictionary is designed on the basis of CANopen international standard and all objects have clear functional definitions The said objects are similar to the common memory addresses Some objects including speed and position can be modified by an external controller and some other objects like state and error information have to be modified by the drive itself What we have to do is to assign values for objects or to read the state of internal objects of the drive This control mode sounds a little difficult for beginners However once you have read through this manually and become familiar with the meanings of common objects you will find this control mode extremely useful Objects have the following properties 1 RW Read Write Object can be read out or written in 2 RO read only Object can only be read out 3 WO write only Object can only be written in 4 M mappable Object can be mapped like indirect addressing 5 S Storable Object can be stored to Flash ROM and will not be lost even on power failure Each object consists of four bytes Address format Index Sub Bits Property Meaning For example 6040 00 16 0x10 RW Device state control word 2509 OO 8 0x08 R Master slave electronic gear ratio parameter settings 2509 02 32 0x20 W Mapped slave axis speed 2509 03 16 0x10 MW Numerator of electronic gear ratio 2509 04 16
179. try 1 Switch the operation mode to positioning mode 1 Entry 2 Map the data source of the output 1 as the object 604100 Entry 3 Set the AND mask of output 1 to 8000 Entry 4 The comparison value of output 1 is 8000 Entry 5 The output interface 1 is of high level if the reference point is found In the above example initialize specific parameters in the homing mode The output interface 1 outputs a high level value 24V upon Reference found and the operation mode switches to the positioning mode 101 KINCO ED Series Servo Drives User Manual Chapter 10 Controller Performance Adjustment Chapter 10 Controller Performance Adjustment The following section gives a brief introduction to the control principle of the ED drive which helps users gain a in depth understanding of controller features so that the system can achieve the maximal performance 9 Figure 10 1 Controller Principle Like all other servo systems the ED control consists of position controller velocity controller and current controller The current controller is in the innermost layer the position controller is in the outermost layer and the velocity controller is in the middle layer The following section gives a brief introduction to some important parameters shown in the above figure Vff Velocity feedforward Kpp Position Proportional Gain Kx Velocity Feedback Coefficient E Filter Velocity error Error actual setting and feedback filter Kvp Ve
180. uccessive sequences The function of the OO sequence is as follows Entry 0 Set homing mode 1 Entry 1 Set the search velocity for the homing signal as 100 mm s Entry 2 Sets acceleration and deceleration of homing Entry 3 Change the operation mode to Homing Entry 4 Activates the motor and starts homing Entry 5 Switch to sequence 0x10 if reference point is found 100 KINCO ED Series Servo Drives User Manual Chapter 9 Sequencer Programming i Sequence entres ELU00 101 PLARUSE ewp EE o Ela E coo Peas Entry object SATA a coseno il H Homing Method m e la 60990120 d anime for 425 000 e Za sosao020 Acceleration during homing ou alme yl au erns TEE Chosen mode of operation E cad 4 baooo1o Control word tor Device state he l 5 ETE a ee avant Horne oan a es C momoa A nzo rpo ari Sequence entries ECO200 D1 PCANUSE ewp ca quence No 10 5 hex Object BI4000L0 Control word for Gequence valid zj Device state T ner El lt x Chosen Mode of operation a a e gg Outbut OUTLY Mapping mr E eN 3 21600320 Output 0 OUT1 AnD mask 8000 Shes dE zte00a70 E ape OUTL Comparision Pao She E sn oo Les ooo000m0 a 17 o0000000 a Device online Figure 9 3 Two Successive Sequences The function of sequence 0x10 is as follows e Entry 0 Loosen the motor shaft and the motor axis is freely moveable En
181. ucture is recommended for the installation of motor cables and encoder cables 2 5 Safety Instructions 2 5 1 General All transportation storage installation connection and service work must only be carried out by qualified service trained professionals taking into account the national and regional safety and accident prevention regulations The qualified skilled service trained professionals are persons who have a relevant vocational qualification and proper knowledge of the execution of the above mentioned work Read the documentation carefully before installation and commissioning Serious injury to persons and damage to device may result through improper use of the device or incorrect installation or operation All technical specifications and conditions in this manual and related technical manuals refer to technical specifications in the model selection manual must be adhered to in all cases The device contains electrostatic sensitive components which may be damaged by improper handling Discharge yourself before you touch the device Avoid contact to high isolating materials e g synthetic fibers plastic films etc The motor and the main power connectors may be energized even when the motor does not move All electrical connectors of the device must neither be plugged in nor disconnected under voltage since electric arcs may damage persons and connectors Do not touch components which are energized during operation immediately after dis
182. ve Interfaces ooccocccocncociconcoonconncocnonnonononononroconononnnnnnnrnonnnnnnnnnnnnnnonnnnnnnnnnnnnnnnns 13 Sonena MINO Or DIVE eau id a a o i 15 3 0 1 Internal Vining of ED 100 DIV e a ed Len eo ae de 15 3 3 2 Internal Wiring Of ED200 DriVe occccccccocccccccconicocononncconononocnoonnnonononnrnnnnnonnnnnnnnonnnonanonaronennnenanes 17 A 0 o o ao neengesaesaau teste are anaates usenet deena menaesuenaehet guessed wamedas eae cetsbe 19 3 4 1 Wiring of Power Module P200 AA BA cccccccsecceececeeeseeeeae cece eeceueesaceseeeseueesaeeseeeseeesseseeeeesoneees 19 3 4 2 Wiring of ED Drive and Power Module P200 AA BA ocoocccccccccccccccccccconcncocncnononononncnnnoncnnnnnnnncnnnos 20 2A EME AION me rn ne a Ree Pe ne oe 21 3 4 4 Wiring of ED Drive and PLC Interface cooccccnccccncocnccccccocnconnononononnonononononnnnnnrnonnnonanonaronannnnnanes 22 3 4 5 Hardware Wiring of Minimum Configuration of ED Drive oocccocccoccccccnccnncnocncocnnonnconcnnncnonnos 23 346 Wiring On ED Drive and Moto a a e ie ite ee red 24 Chapter 4 Use of ECO2WIN Software ooccocccoccconccocccocccoccooccocnoococonocononononcncnnonnnnnnnnnrnonnnnnnnnrnnnnncnnnnnanenenenons 26 1 A 26 A OCR nee ee ane oe RO ne ee en an en cr a ne re 28 4 2 1 ED Hardware Minimum ConfiguratiON coccccccccocnccnnococncocnnnnnnnncnnonnnonnnnnnnoncnonnnnnnnnnnnnnnnninnninnnnnnns 28 4 2 2 Creating a NEW Project File ip A eh a RE 28 4
183. verse Operation mode 3 is pure velocity control without regarding acceleration and deceleration No following error occurs because this operation mode has no position control 88 KINCO ED Series Servo Drives User Manual Chapter 7 Parameter Settings in Reversing Mode The maximum current of the motor has considerable impact on this mode The velocity curve can be influenced by the following parameters in the Velocity controller tab O p gain position control e gain Velocity control e Time constant for error filter e Time constant output filter Adjust these parameters in a way that provokes little overshoot and produces better velocity performance 7 2 3 Position Forward Reverse Rotation with Speed Control For forward reverse rotation on certain positions with speed control set the operation mode to 3 Operation mode 3 is pure velocity control without regarding acceleration and deceleration No following error occurs because this operation mode has no position control The maximum current of the motor has considerable impact on this mode The velocity curve can be influenced by the following parameters in the Velocity controller tab O p gain position control gain Velocity control e Time constant for error filter e Time constant output filter Adjust these parameters in a way that provokes little overshoot and produces better velocity performance 7 2 4 Speed Forward Reverse Rotation with Position Control For auto
184. when rotating the master encoder If the data does not change it indicates that the master encoder data is incorrect and does not comply with RS 422 standard 6 1 6 Connection with External Enable Signal ENABLE of the X4 interface is an external enabling interface The 24V terminal of the drive can be directly connected to the ENABLE terminal If the ENABLE terminal is not connected the drive will generate an external enable low fault when entering the enable command 6 1 7 Providing BUS Power X10 for Drive Connect the power supply of the drive For ED100 the power supply range is 24VDC 7OVDC For ED200 and ED216 the power supply range is 24VDC 170VDC For wiring methods refer to Section 3 2 1 ED100 82 KINCO ED Series Servo Drives User Manual Chapter 6 Trial Run of Motor series Drives and Section 3 2 2 ED200 ED216 ECOLIN200 ECOLIN216 Series Drives 6 1 8 Connection of Programming Cable You can purchase the programming cable from us or make it by yourself according to the definition below Programming cable PC COM1 COM2 ED X5 DO mp 2 TX DOS e 3 RX ONDD en 5 GND Up till now the electric wiring of the motor is completed 6 2 Trial Run of the Motor Before trial run make sure eo All power supplies connected with the drive must be isolated from the bus power supply e Actual maximum voltage cannot exceed the rating e Motor shafts must be suspended in the air before trial run that is no load on the
185. x 32 4 x 8 bit objects and so on The following figure shows an example of RxPDO Where 2 indicates two objects are defined 0 indicates no object is defined In the example RX PDO1 sets two object 21000120 and 21000220 11 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN Rz PDO Mapping offline ewp E O x ax poo 1 224 210001203 21000220 00020008 4 00020008 4 00020008 00020008 00020008 00020008 Rx PDO 2 0 c00z0008 4 00020008 4 oo0z0008 24 oo020008 4 00020008 00020008 00020008 aal 00020008 Rx PDO 3 03 00020008 00020008 24 00020008 24 00020008 Y 00020008 a 00020008 l 00020008 00020008 Re PDO 4 o 4 00020008 00020008 44 oo020008 4 00020008 Y 00020008 00020008 00020008 00020008 4 rx ppo s 0 00020008 4 o0020008 24 00020008 4 00020008 Y 00020008 00020008 00020008 00020008 ax PDO 6 03 00020008 00020008 24 00020008 00020008 Y 00020008 a 00020008 00020008 00020008 Rx PDO 7 0 o0020008 4 00020008 4 ooo20008 24 oo0z0008 4 00020008 00020008 4 00020008 4 ooooooo 4 ex DO a 8 0002000 4 o0020008 24 00020008 24 00020008 Y 00020008 00020008 00020008 00020008 4 ze Ag KEL KELL Figure 5 36 RX PDO Configuration 5 8 Oscilloscope As shown in the figure below the software supports the oscilloscope function which enables the system to monitor such operat
186. x F Importing and Exporting Drive Parameters with ECO2LOAD 134 KINCO ED Series Servo Drives User Manual Appendixes Appendix A Technical Specifications of the ED Drive Operating Modes Positioning drive by fieldbus CANopen Profibus DP RS 485 or RS 232 Positioning drive by PLC interface Digital I O Positioning drive by pulse direction signal RS 422 24V or 5V signals Velocity controlled by analog command 10Bit resolution 10V analog input Master Slave positioning RS 422 24V or 5V encoder signals Controller Loop Sampling time for velocity controller 0 25ms 4KHz Sampling time for position controller 1 0ms 1KHz Sampling time for current controller 0 0625ms 16KHZz Power Consumption Specifications Max RMS phase current ED100 5 6Arms ED200 8 6Arms Max phase current ED100 8A DC ED200 12A DC ED216 14A DC Max output voltage UDC BUS Max output power ED100 0 5Kw ED200 1 8Kw ED216 3 6Kw Short circuit protection of motor output Motor phases to DC BUS and between motor cables Min inductance of motor winding gt 0 5mH UDC BUS lt 70V gt 1 0mH UDC BUS lt 170V Length of motor cable Max 10m otherwise consult supplier Peak frequency of output current 16 4KHz Electrical Specifications Control power supply 18 30VDC ripple lt 10 DC bus power supply ED100 24 70V DC ED200 24 170V DC ED216 24 170V DC Fuse of bus power supply recommended 10A ED200 20A ED216 Short circuit protecti
187. you are going to save drive parameters completely after finishing a servo project it is necessary to use the Import and Export function of the Eco2win software The Export function can save all data in the drive to a system file with the file extension of ewv The default file name is values ewv The Import function can be used to re import an exported system into the servo drive These two functions are extremely useful for saving servo drive data In addition we provide the dedicated ECO2LOAD software to perform such operations as importing exporting and saving system data or initializing and rebooting system hardware It is recommended to use this software for importing and exporting drive data For detailed operation refer to Appendix F 37 KINCO ED Series Servo Drives User Manual Chapter 4 Use of ECO2WIN Software Load values out of the device e xj Please give the file into which the values should be stored values ewy Ga Select a group of device data M Drive parameters IM Device settings I Communication settings IM Settings for joystick operation I Programmed sequences E al Selected only Figure 4 18 Export When importing exporting data the user can select all data or only part of projects 38 KINCO ED Series Servo Drives User Manual Chapter 5 Basic Functions of ECO2WIN Chapter 5 Basic Functions of ECO2WIN 5 1 Object Dictionary The ED drive features a special control mode and uses a kind of s
188. yte4 byteS byte6 byte 7 SUB CMD INDEX INDEX DATA CMD Specifies the direction of data transfer and the volume of data 23 0x16 Sends 4 byte data bytes 4 7 contain 32 bits 2b 0x16 Sends 2 byte data bytes 4 5 contain 16 bits 2f 0x16 Sends 1 byte data bytes 4 contains 8 bits INDEX index in the object dictionary where data should be sent SUB INDEX Subindex in object dictionary where data should be sent In all four bytes in data the lower order bits are arranged before the higher order bits To write 600 RPM into Target Velocity in the slave 600rpm 10r s 80000inc s 80000 64 5120000 inc 64s 4E2000 Where the internal unit of 60FF0020 is inc 64s 5120000 is in decimal system and 4E2000 is in hexadecimal system Since the length of the object to be written is 4 bytes and the calculation result 4E 20 00 has only 3 bytes 107 KINCO ED Series Servo Drives User Manual Chapter 11 Communication Protocols Zero shall be filled to the higher order bits Therefore the final result 00 4E 20 00 DATA byte4 00 byte5 20 byte6 4E byte7 00 The slave answers byte O byte1 byte2 byte3 byte4 byte5 byte6 byte 7 RES INDEX ste RESERVED INDEX RES Displays slave response 60 0x16 Data successfully sent 80 0x16 Error bytes 4 7 contain error cause INDEX 16 bit value same as that sent by the master SUBINDEX 8 bit value same as that sent by the master RES Reserved for future use 11 3 2 Upload From Slave to

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