Kinco FD3&CD3 User Manual
Figure 6-8 Full Closed-Loop Setup Window
2.Set pulse mode
Connect the signal of the main encoder to the pulse input port of the driver, and confirm the pulse mode
according to the signal type of the main encoder. Rotate the main encoder and you can see the continuous
change of the front pulse data of the gear. If there is no change or abnormal change in the data, please
check the external wiring and pulse mode Settings according to Figure 6-7.
Note
Control parameters need to be stored after pulse mode (2508.03) is changed -- effective after
restarting the drive.
3.Set the main encoder cycle
If the period of the main encoder is set to 0, the number of pulses between adjacent Z signals will not be
detected. This parameter can be set to 0 first when a full closed-loop count error alarm occurs during
debugging.
4.Sets the main encoder counting direction
When the counting direction of the main encoder and the motor encoder is inconsistent, the full closed-loop
fault alarm will appear when the full closed-loop control is turned on, which can be adjusted by the counting
direction of the main encoder (0x250A03).
Main encoder count the default value is 1, rotate the motor shaft and observe its absolute position and the
main direction of the change of the absolute position encoder, if change the position of the two objects in
the same direction you do not need to modify the master the direction of the encoder count number, if two
position changes direction is not consistent the direction should be the main encoder count is set to 0.Note:
All above operations are done with loose shafts.
5. Set up full closed loop spindle check and full closed loop slave shaft check
These two parameters are mainly used to prevent the main encoder from skidding during the full closed-loop
operation. When the running speed of the main encoder and the running speed of the motor are not within
the ratio range of the full closed-loop spindle inspection/the full closed-loop slave-shaft inspection,
the full closed-loop fault and internal error of the driver will be reported.These two values should be set
correctly, otherwise the motor speed may be too high.
Firstly, the full closed-loop control is set to 0 and the mechanical connection between the motor and the
main encoder is intact and non-skid.Clear the gear front pulse data and remember the actual position value
(such as 150231), manually rotate the motor to drive the main encoder to operate for a certain distance,
then observe the gear front pulse data and the actual position, and confirm the ratio according to the
difference between the two positions.As shown in the table below, according to the final results, the full
closed-loop spindle check =1586 and the full closed-loop slave shaft check =1000 are calculated.
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