Kinco FD5 AC series servo driver user manual
Chatper 6 Operation mode introduction
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Step 2：confirm pulse mode
Wiring according to the out signal of the external encoder and confirm the pulse mode according to the signal type of the external
encoder. Rotate the external encoder and you can see the continuous change of the front pulse data of the gear.
When the external encoder moves a fixed distance and feeds back the same gear pre-pulse data, you can enter the next step,
otherwise, please check the external encoder installation, hardware wiring and pulse mode again.
Note
After the change of pulse mode（2508.03）the control parameter need to be saved and it will
effect after reboot drive.
Step 3：Set the main encoder cycle
The main encoder cycle needs to fill in the number of AB-phase pulses between two adjacent Z-phase signals of the external
encoder. If the rotary encoder has 1 Z-phase signal per revolution, the main encoder period is equal to the resolution of the
external encoder. Setting the main encoder cycle to 0 means not to detect the number of pulses between adjacent Z signals.
Step 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.
Step 5: Set up full-closed-loop master check and full-closed-loop slave check
The calculation method of the master-slave axis ratio is as follows：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.
Figure 6-14 Fully closed-loop master-slave axis check settings
Table 6-21 Master and slave axis check calculation method
The actual position of motor
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