Kinco JD Series - Page 3

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Kinco JD Series Servo User Manual
Chapter 8 Operation Mode ..................................................................................................................... 74
8.1 Position mode（Mode 1） ............................................................................................................ 74
8.2 Speed Mode（Mode -3 or 3） ...................................................................................................... 74
8.3 Master-slave mode（Mode -4） ................................................................................................... 75
8.4 Torque Mode（Mode 4） .............................................................................................................. 75
8.5 Homing mode（Mode 6） ............................................................................................................ 76
8.6 Driver Status Display ..................................................................................................................... 77
Chapter 9 Control Performance .............................................................................................................. 78
9.1 Auto Reverse ................................................................................................................................ 78
9.2 Driver Performance Tuning ........................................................................................................... 79
9.2.1 Manual Adjustment ................................................................................................................. 79
9.2.2 Auto Adjustment (Only for Velocity Loops) ........................................................................... 82
9.3 Oscillation Inhibition ...................................................................................................................... 84
9.4 Debugging Example ...................................................................................................................... 85
9.4.1 Oscilloscope ........................................................................................................................... 85
9.4.2 Procedure for Parameter Adjustment ..................................................................................... 87
Chapter 10 Communication .................................................................................................................... 93
10.1 RS232 Communication ............................................................................................................... 93
10.1.1 RS232 Communication Interface .......................................................................................... 93
10.1.2 RS232 Communication Parameters ..................................................................................... 93
10.1.3 Transport Protocol ................................................................................................................ 94
10.1.3.1 Data Protocol ..................................................................................................................... 95
10.1.4 RS232 Communication Address of Servo Parameters ......................................................... 96
10.2 RS485 Communication ............................................................................................................... 96
10.2.1 RS485 Communication Interface .......................................................................................... 97
10.2.2 RS485 Communication Parameters ..................................................................................... 97
10.2.3 MODBUS RTU ..................................................................................................................... 97
10.2.4 RS485 Communication Address of Servo Parameters ......................................................... 99
10.3 CANopen Communication .......................................................................................................... 99
10.3.1 Hardware Introduction ........................................................................................................ 100
10.3.2 Software Introduction ......................................................................................................... 101
10.3.1.1 EDS ................................................................................................................................. 101
10.3.1.2 SDO ................................................................................................................................ 101
10.3.1.3 PDO ................................................................................................................................ 101
10.3.3 CANopen Communication Parameters .............................................................................. 105
10.3.4 CANopen Communication Address of Servo Parameters .................................................. 105
Chapter 11 Alarm and Troubleshooting ................................................................................................ 106
11.1 Alarm Messages ........................................................................................................................ 106
Table 11-1 Fault codes ......................................................................................................................... 106
11.2 Alarm Causes & Troubleshooting .............................................................................................. 107
Chapter 12 Appendix ............................................................................................................................ 108