Kingservo KSDG00421LI - User Manual

Kingservo
Manual
AC Servo MotorKSMA
Servo Driver KSDG Series
20081014(3
rd
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

Summary

Chapter One: Identificaiotns of Products

1-1 Safety Sign

Safety instructions and warnings for product use.

1-2 Check before Usage

Verification steps after unpacking and before initial use.

1-3 Indentification of AC Servo Driver Type

Information on identifying the AC servo driver model and specifications.

1-4 AC Encoding Principles of Servo Motor Type

Explains the encoding principles for AC servo motor types.

Chapter Two: Connectionor and Wiring

2-1 Controller and peripheral configuration map

Diagram showing controller and peripheral device connections.

2-2 Power Wiring Diagram

Schematic diagram for the power wiring of the system.

Function of Flyback Resistor

Explanation of the flyback resistor's role and specifications.

2-3 Defination of Connector Pin

Details on connector pin definitions and assignments.

Wiring Diagram of Encoder Line

Wiring diagram for the encoder line connections.

2-4 Communication Line of RS-232

Information on setting up and using the RS-232 communication line.

2-5 Wiring of Connector I;F

Wiring diagram and guidelines for the I/F connector.

2-5-1 Pins of Connector I;F(SCSI II)

Detailed pin assignments and specifications for the SCSI II connector.

2-5-2 Pin Signal ModeTable

Table detailing signal pin functions across different modes.

2-5-3 Wiring Diagram of Control Mode

Wiring diagrams for position, speed, and torque control modes.

Speed Mode

Wiring diagram specifically for the speed mode.

Torque Mode

Wiring diagram specifically for the torque mode.

Charpter Threee: Panel Operation

3-1 Panel Structure

Overview of the servo driver's front panel layout and buttons.

3-2 Mode Category and Contents

Categorization and contents of the different operational modes.

3-3 Monitor Mode

Instructions and examples for using the monitor mode.

Display of Anomaly Record

How to view and interpret anomaly records and error codes.

3-4 Parameter Setting Mode

Steps for setting parameters via the front panel.

Instruction of Parameter Setting

Examples and remarks on the parameter setting process.

3-5 EEPROM Writing-in Mode

Steps for writing data into EEPROM.

3-5-2 Write in FactoryDefault Value in EEPROM

How to write factory default values into EEPROM.

3-6 Rigid Setting Mode

How to adjust mechanical rigidity and inertia.

3-7 Auxiliary Function Mode

Overview of auxiliary functions available on the driver.

3-7-1 Testing Run

Procedure for performing a test run of the motor.

Operation of Execution Srceen

Steps for operating the test run screen.

3-7-2 Clearance of Abnormality Alarm

Procedure to clear abnormality alarms.

3-7-3 Automatic OFFSET Adjustment

Steps for automatic offset adjustment.

3-7-4 Clearance of Abnormality Record

Procedure to clear the abnormality record.

Chapter Four Parameters

4-1 Setting of Parameters and Modes

Introduction to setting parameters and modes.

4-1-1 Introduction of Parameters

Overview of the driver's parameter functions.

4-1-2 Setting Method

Methods for setting parameters via the front panel or software.

4-1-4 Contents and List of parameters

Comprehensive list and abstract of available parameters.

Function Selection Parameters

Parameters related to function selection and communication settings.

Gain;Filter Time Constant Parameters

Parameters for gain adjustment and filter time constants.

Gain Shift and Control Mode Parameters

Parameters for gain shifting and mode selection.

Position Control Parameters

Speed;Torque Control Parameters

Program and Sequence Control Parameters

Pr02 | Control Mode Setting

Configuration of the driver's control mode.

Pr03 | Analog Torque Limit Input Invalidity

Pr04 | Drive Inhibition Input Invalidity

Pr05 | Internal;external shift of speed setting

Pr10 | First Position Loop Gain

Pr11 | First Speed Loop Gain

Pr12 | First Speed Loop Integral Time Constant

Pr13 | First Speed Detection Filter

Pr14 | First Torque Filter Time Constant

Pr15 | Positive Regeneration of Speed

Pr16 | Positive Regeneration Filter

Pr18 | Second Position Loop Gain

Pr19 | Second Speed Loop Gain

Pr1 A | Second Speed Loop Integral Time Constant

Pr1 B | Second Speed Detection Filter

Pr1 C | Second Torque Filter Integral Time Constant

Pr1 D | NOTCH Frequency

Pr1 E | NOTCH Width

Pr20 | Inertia Ratio

Pr27 | External Noise Observation

Pr28 | External Noise Detection Filter

Pr2 A | CCW Torque Control Offset

Pr2 B | CW Torque Control Offset

Pr30 | Second Gain Action Setting

Pr31 | Position Control Shift Mode

Pr32 | Position Control Shift Delay Time

Pr33 | Position Control Shift Level

Pr34 | Position Control Shift Level Width

Pr35 | Position Gain Shift Time

Pr36 | Speed Control Shit Mode

Pr37 | Speed Control Shift Delay Time

Pr38 | Speed Control Shift Level

Pr39 | Speed Control Shift Level Width

Pr3 A | Torque Control Shift Mode

Pr3 B | Torque Control Shift Delay Time

Pr3 C | Torque Control Shift Level

Pr3 D | Torque Control Shift Level Width

Pr41 | Control Pulse Reversion

Pr46 | First Instruction Division Multiple Numerator

Pr47 | Second Instruction Division Multiple Numerator

Pr4 C | Smooth Filter Setting

Pr50 | Speed Control Input Gain

Pr52 | Speed Control OFFSET

Pr53 | First Speed of Speed Setting

Pr54 | Second Speed of Speed Setting

Pr55 | Third Speed of Speed Setting

Pr56 | Fourth Speed of Speed Setting

Pr58 | Acceleration Time Setting

Pr59 | Speed-down Time Setting

Pr5 A | S-Shaped Speedup;Speeddown Time Setting

Pr5 C | Torquq Control Input Gain

Pr5 E | Torque Limit Setting

Setting for the motor's maximum torque generation limit.

Pr60 | On-Position Range

Pr61 | Zero Speed

Pr62 | Speed Attainment

Pr63 | Position Deviation Excess Setting

Pr65 | On-Position Output Setting

Pr66 | Activated Brake Do No Action in Drive Input Inhibition

Pr68 | Sequence Control While Alarm Sounds

Pr69 | Sequence Control While Server is Closed.

Pr6 A | Set Mechanic Brake Action Time as Server is OFF

Pr6 B | Set Mechanic Brake Action Time as Server is ON

Pr74 | Fifth Speed of Speed Setting

Pr75 | Sixth Speed of Speed Setting

Pr76 | Seventh Speed of Speed Setting

Pr77 | Eighth Speed of Speed Setting

Chapter Five:Usage of Pins of Control Mode

5-1 Pin Table of Position, Speed and Torque Mode

Table detailing pin functions for position, speed, and torque modes.

5-2 Wiring Reference of Interface Lines

Wiring references for various interface lines.

5-2-1 Wring Reference of Input Loop

Wiring references for input loop connections.

Connection of program input signal(pulse group input interface)

Analog command input

5-2-2 Wiring Refernce of Output Loop

Wiring references for output loop connections.

5-3 Function of Pins of Connector I;F

Detailed functions of pins on the I/F connector.

5-3-1 Input Interface(Sharing)：

Functions of input interface pins, including sharing.

5-3-2 Input Interface(Pulse Train)

Functions of input interface pins for pulse trains.

5-3-3 Input Interface(Analog Command)

Functions of input interface pins for analog commands.

5-3-4 Output Interface(sharing)：

Functions of output interface pins, including sharing.

Chapter Six: Documenets

6-1 Dimension Drawing

Motor KSMA 400 W

6-2 Sequence Diagram

Sequence diagram for servo ON signal process upon power-up.

Servo state process while abnormality occurs:

Servo state process while abnormality is released:

Operation of Servo ON; OFF while motor ceases(Servo Lock):

Operation of Servo ON; OFF while motor rotating:

6-3 Gain Adjustment

Guidelines for adjusting gain parameters.

Adjustment of Position Mode

Adjustment of Speed Mode

Adjustment of Torque Mode

6-6 Connector Group of Connector and Transmission Line

6-7 Driver Specification

Basic electrical and environmental specifications for the driver.

6-7-1 Basic Specificaiton

Basic electrical and environmental specifications for the driver.

6-7-2 Function

Summary of driver functions across different control modes.

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