Kinco FD5 Series - Page 57

Kinco FD5 AC series servo driver user manual
Chatper 5 Kincoservo+ user guide
57
Reset errors
Set the Controlword to reset errors, active edge（bit7） = 1
Operationg mode
Operation_mode selection
1:Operation_mode = EL.Din_Mode1 (2020.0E)
，
Defult value=-4
0:Operation_mode = EL.Din_Mode 0 (2020.0D)
，
Defult value =-3
Kvi off
1: Velocity control loop integrating gain off
0: Velocity control loop integrating gain has been set.
Refer to chapter 7 for more information about Kvi
P limit+
Positive/Negative position limit switch input for “normally closed” limit switches
0: position limit is active, the related direction is blocked
P limit-
Home signal
Home switch signal for homing
Invert Direction
Inverts command direction in the velocity and torque mode
Din Speed index 0
Din_Speed Index in the DIN speed mode
Din Speed index1
Din Speed index2
Din position index0
Din position index in Din position mode
Din position index1
Din position index2
Quick stop
Set control word bit2=0 to enable emergency stop. If you want to re-enable after emergency stop,
you need to first set the control word to 0x06 and then to 0x0F (if the input port is configured with
drive enable, you only need to trigger the enable signal again).
Start homing
Starts homing. Only makes sense if the controller is enabled. The controller returns to the previous
operation mode after homing.
Activate Command
Actives the position command. Controls bit 4 of the Controlword, e.g. Controlword=0x2F>0x3F
Multi-function input 0
For selecting the electronic gear ratio, the electronic gear molecule and the electronic gear
denominator are determined by a BCD code composed of multifunctional inputs, as detailed in
Section 5.5.3
Multi-function input 1
Multi-function input 2
Moltor error
If an external error occurs (for example, the motor itself is too hot), the error signal can be
transmitted to the driver through the input port
Pre enable
For safety reasons, pre-enable can serve as a signal for indicating whether or not the entire system
is ready，
1：Drive can be enabled；0：Drive can not be enabled
Position table condition 0
The operating conditions of the Location table mode are described in Chapter 6, Section 6.4.1
Position table condition 1
Active position table
Start the Location table mode, as described in Chapter 6, Section 6.4.1
Position table index 0
In location table mode, the starting location index is determined by the BCD code composed of
location table index 0, location table index 1, and location table index 2
Position table index 1
Position table index 2
End position table
Terminate the position table operation mode, see Chapter 6, Section 6.4.1
Cleaning pulse
Clear the number of pulses the drive has received but not completed
Pause
1：Pause motor，code: bit8 = 1
0：Motor continues to execute unfinished instructions
Forward trim
Position fine-tuning data in positive direction in active pulse mode
Negative trimming
Position fine-tuning data in negative direction in active pulse mode