Kinco CD430 - Page 3

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Example 7-8: Analog – torque mode (setting the dead zone voltage and offset voltage) ........ 67
7.4 Internal Multi-position Control Modes (―1‖ Mode) ............................................................................ 68
Example7-9: Internal multi-position control mode ................................................................... 69
7.5 Internal Multi-speed Control Modes (―-3‖ or ―3‖ Mode) .................................................................... 71
Example 7-10: Internal multi-speed control ............................................................................. 72
7.6 Internal Torque Control Mode (―4‖ Mode) ........................................................................................ 73
7.7 Homing Mode (―6‖ Mode) ................................................................................................................ 73
Example 7-11：Using method 7 for homing. .......................................................................... 80
Chapter 8 Control Performance ........................................................................................................................... 86
8.1 Driver Performance Tuning ............................................................................................................. 86
8.1.1 Manual Adjustment ........................................................................................................ 86
8.1.2 Auto Adjustment (Only for Velocity Loops) ..................................................................... 90
8.2 Oscillation Inhibition ........................................................................................................................ 92
Chapter 9 Communication ................................................................................................................................... 94
Fig. 9-1 Communication cables between a PC and a servo driver ...................................................................... 94
9.1 Transport Protocol ........................................................................................................................... 94
9.2 Data Protocol .................................................................................................................................. 95
9.2.1 Download(from Host to Slave) ....................................................................................... 95
9.2.2 Upload(From Slave to Host) .......................................................................................... 96
Chapter 10 Troubleshooting ................................................................................................................................ 97
10.1 Alarm Messages ............................................................................................................................ 97
10.2 Alarm Causes & Troubleshooting .................................................................................................. 98
Chapter 11 Specification ...................................................................................................................................... 99
11.1 Servo Drivers and Motors Selection Table ..................................................................................... 99
11.2 Servo Driver ................................................................................................................................ 100
11.2.1 Technical Specification Table for Servo Driver............................................................ 100
11.2.2 Mechanical Dimension Diagram for Servo Driver ....................................................... 101
11.3 Dimensions/Torque Curve/Technical Specifications of Servo Motors .......................................... 102
11.3.1 SMH60 Servo Motor ................................................................................................... 102
11.3.2 SMH80 Servo Motor ................................................................................................... 103
11.3.3 SMH110 Servo Motor ................................................................................................. 104
11.4 Wiring Diagram for Servo Motor Cable ........................................................................................ 106
11.4.1 Wiring Diagram for the Power Cable .......................................................................... 106
11.4.2 Wiring Diagram for the Encoder Cable ....................................................................... 107
Chapter Appendix .............................................................................................................................................. 108
Appendix One:Selection Table for Brake Resistor ............................................................................... 108
Appendix Two:Selection Table for Fuse .............................................................................................. 108