Kingservo KSDG00421LI User Manual (English)

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Kingservo

Manual

AC Servo MotorKSMA

Servo Driver KSDG Series

20081014(3

Version)

汪生：135 1038 2344

QQ： 9795 220 98

东莞市京伺自动化设备有限公司

网址：www.kingservo.com

地址：东莞市长安沙头振安中路272号

Product View1
Contents2
Identificaiotns of Products5
Check before Usage6
Indentification of AC Servo Driver7
Name-Plate of Driver7
Identifications of Driver Type7
AC Encoding Principles of Servo8
Name-Plate of Servo Motor8
Identification of Servo Motor Type8
Name of Parts9
Motor Diagram10
Usage Modes11
I/F Signal Connection Line11
Connectionor and Wiring13
Controller and Peripheral Configuration Map13
Power Wiring Diagram15
Function of Flyback Resistor16
Application of Built-In Flyback Resistor16
Application of External Flyback Resistor16
Defination of Connector Pin17
Cable of Encoder17
Wiring Diagram of Encoder Line18
Power Cable of Motor18
Communication Line of RS-23219
Wiring of Connector I/F20
Pins of Connector I/F (SCSI II)21
Pin Signal Modetable22
Wiring Diagram of Control Mode23
Speed Mode24
Torque Mode25
Panel Operation27
Panel Structure27
Mode Category and Contents28
Monitor Mode29
Instruction of State Display30
Position Deviation30
Rotary Speed of Motor30
Torque Output30
Display of Control Mode31
Display of State of Output Signal31
Display of Anomaly Record32
Error Code and Its Contents32
The Causes of Often Occurred Faults32
Display of Fyback Load Rate33
Display of Overload Rate33
Alarm Display33
Display of Software Version33
Display of Sum of Regeneration Pulses and Commnad Pulses34
Display of Analog Input Data34
Parameter Setting Mode35
Operation of Choosing Screen35
Operation of Execution Srceen35
Instruction of Parameter Setting36
EEPROM Writing-In Mode37
Write in Factorydefault Value in EEPROM38
Rigid Setting Mode39
Rigid Setting and Inertia Adjustment39
Auxiliary Function Mode40
Testing Run40
Clearance of Abnormality Alarm42
Automatic OFFSET Adjustment43
Clearance of Abnormality Record44
Parameters45
Setting of Parameters and Modes45
Connection Method45
Contents and List of Parameters46
Instruction of Parameter Function51
LED Initial Display51
Control Mode Setting52
Analog Torque Limit Input Invalidity53
Drive Inhibition Input Invalidity54
Internal/External Shift of Speed Setting55
Zero Speed Clamp Invalidity56
Speed Monitor (SPM) Option56
Torque Monitor(TM) Option57
Output Option During Torque Limit Control57
Zero Speed Detection(ZSP) Output Option57
Setting of RS232C Communication Baud58
First Position Loop Gain58
First Speed Loop Integral Time Constant58
Positive Regeneration Filter59
First Torque Filter Time Constant59
Positive Regeneration of Speed59
First Speed Detection Filter59
Second Position Loop Gain/Second Speed Loop Gain60
Second Speed Loop Integral Time Constant60
Second Speed Detection Filter60
Second Torque Filter Integral Time Constant/Notch Frequency60
NOTCH Width61
Inertia Ratio61
External Noise Observation61
External Noise Detection Filter61
Second Gain Action Setting62
CW Torque Control Offset62
CCW Torque Control Offset62
Position Control Shift Delay Time63
Position Control Shift Level63
Position Control Shift Level Width63
Position Control Shift Mode63
Position Gain Shift Time64
Speed Control Shift Mode64
Speed Control Shift Delay Time65
Speed Control Shift Level65
Speed Control Shift Level Width65
Torque Control Shift Mode65
Command Pulse Input Option66
Torque Control Shift Delay Time66
Torque Control Shift Level Width66
Torque Control Shift Level66
Control Pulse Reversion68
Table of Contents69
Pulse Input Mode Setting69
Input Command Pulse Inhibition Invalidity69
Output Pulse Pre-Division of Every Reversion69
Feedback Pulse Output Logic RP70
Setting Range：：：： 0~370
First Instruction Division Multiple Numerator71
Initial Value：：：：【 171
Setting Range：：：： 0~171
- Second Instruction Division Multiple Numerator72
- FIR Smooth Setting72
- Instruction Division Multiple Numerator Multiplication72
- Instruction Division Multiple Denominator72
Initial Value：：：：【 172
Setting Range：：：： 0~22572
Unit72
- Smooth Filter Setting73
- Counter Clearance Input Mode73
- Speed Control Input Gain74
- Speed Control Input Reversion75
- Speed Control OFFSET75
- First Speed of Speed Setting/Second Speed of Speed Setting76
- Third Speed of Speed Setting76
- Fourth Speed of Speed Setting76
- JOG Speed Setting76
- Acceleration Time Setting77
- Speed-Down Time Setting77
- S-Shaped Speedup/Speeddown Time Setting78
- Torque Command Option78
- Torque Control Input Gain79
- Torque Control Input Reversion79
- Torque Limit Setting80
- On-Position Range81
- Zero Speed82
- Speed Attainment82
- Position Deviation Excess Setting83
- Position Deviaton Excess Abnormality Invalidity83
- Position Output Setting83
- Activated Brake Do no Action in Drive Input Inhibition84
- Sequence Control While Alarm Sounds84
- Sequence Control While Server Is Closed85
- Set Mechanic Brake Action Time as Server Is off85
- Retrogradation Resistance Impressing Option86
- Set Mechanic Brake Action Time as Server Is on86
- Fifth Speed of Speed Setting87
- Sixth Speed of Speed Setting87
- Seventh Speed of Speed Setting87
- Eighth Speed of Speed Setting87
- Usage of Pins of Control Mode89
- Pin Table of Position, Speed and Torque Mode89
- Wiring Reference of Interface Lines90
- Wring Reference of Input Loop90
- Connection of Program Input Signal (Pulse Group Input Interface)91
- Analog Command Input91
- Wiring Refernce of Output Loop92
- Function of Pins of Connector I/F94
- Input Interface (Sharing)94
- Input Interface (Pulse Train)98
- Input Interface (Analog Command)100
- Output Interface (Sharing)102
- Documenets105
- Dimension Drawing105
- Sequence Diagram107
- Servo State Process While Abnormality Is Released108
- Operation of Servo ON/ off While Motor Rotating110
- Adjustment of Torque Mode111
- Adjustment of Speed Mode111
- Adjustment of Position Mode111
- Gain Adjustment111
- Feature of Motor112
- Feature of Overload Time Limit112
- Connector Group of Connector and Transmission Line113
- Air Connector113
- Specification of SCSI-II Connector113
- Specification of Main Loop Connector113
- Driver Specification114
- Basic Specification114
- Function115

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Kingservo KSDG00421LI Specifications

General

Continuous Current	4 A
Peak Current	12 A
Control Mode	Position, Speed, Torque
Communication Interface	RS485, CAN
Communication	CANopen
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overtemperature
Input Voltage	24V DC

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