Kinco FD5 Series - Page 7

7.2.4Adjustment after auto-tuning .............................................................................................................................................. 97
7.3 Manual tuning .............................................................................................................................................................................97
7.3.1Tuning of the velocity loop ...................................................................................................................................................98
7.3.2 Position loop tuning method .............................................................................................................................................102
7.4 Gain switch (Pro mode) ............................................................................................................................................................ 104
7.4.1 Gain switching method .................................................................................................................................................... 105
7.5 Other factors affecting performance ........................................................................................................................................ 106
Chapter 8 Alarm Investigation ......................................................................................................................................................107
Chatper 9 Servo panel parameter list ...........................................................................................................................................111
Chapter 10 Communication ....................................................................................................................................................... 119
10.1 RS232 communication ............................................................................................................................................................ 119
10.1.1 RS232 hardware interface ...............................................................................................................................................119
10.1.2 RS232 communication cable ........................................................................................................................................... 119
10.1.3 RS232 transport protocol ................................................................................................................................................ 119
10.1.4 RS232 Data protocol ....................................................................................................................................................... 120
10.2 RS485 Communication ............................................................................................................................................................123
10.2.1 RS485 hardware wiring ...................................................................................................................................................123
10.2.2 RS485 communication parameters .................................................................................................................................123
10.2.3 MODBUS RTU communication protocol ..........................................................................................................................123
10.2.4 Communication troubleshooting measures ....................................................................................................................125
10.3 CANopen Bus communication ................................................................................................................................................ 125
10.3.1 CANopen bus communication hardware description ..................................................................................................... 126
10.3.2 CANopen bus communication software description .......................................................................................................127
10.3.3 CANopen Bus communication settings ........................................................................................................................... 134
10.3.4 Interpolation mode based on CANopen ..........................................................................................................................136
Appendix 1: Braking Resistor Selection ........................................................................................................................................ 137
Appendix II: List of Common Object Parameters ..........................................................................................................................138
Mode and control（0x6040） ....................................................................................................................................................... 138
Measurement data ......................................................................................................................................................................... 139
Target
（
0x607A
）
.......................................................................................................................................................................... 139
Multi-segment position/multi-segment velocity（0x2020） ........................................................................................................140
Performance object（0x6065） .................................................................................................................................................... 141
Homing control
（
0x6098
）
........................................................................................................................................................... 142
Velocity loop parameters（0x60F9） ............................................................................................................................................ 142