Kinco FD2S Series Servo User Manual

Content
Chapter 1 Product Acceptance & Model Description ........................................................................................ 5

1.1 Product Acceptance ................................................................................................................................. 5

1.1.1 Items for Acceptance (Wires Included) ............................................................................................. 5
1.1.2 Nameplate of Servo Driver ................................................................................................................ 6
1.1.3 Nameplate of Servo Motor ................................................................................................................ 6
1.2 Component Names .................................................................................................................................. 7
1.2.1 Component Names of FD2S Series Servo Driver ............................................................................ 7
1.2.2 Component Names of Servo Motor .................................................................................................. 8
1.3 Model Description of Servo Motors and Drivers ...................................................................................... 8
1.3.1 Servo Drivers .................................................................................................................................... 8
1.3.2 Servo Motors ..................................................................................................................................... 8
1.3.3 Power, Brake and Encoder cable of Motors ..................................................................................... 9

Chapter 2 Precautions and Installation Requirements .................................................................................... 10

2.1 Precautions ............................................................................................................................................ 10

2.2 Environmental Conditions ...................................................................................................................... 10
2.3 Mounting Direction & Spacing ................................................................................................................ 10

Chapter 3 Interfaces and Wirings of FD2S Driver ........................................................................................... 12

3.1 Interface and wiring of FD122 ................................................................................................................ 12

3.1.1 Panel and Interfaces Description of FD122 .................................................................................... 12
3.1.2 External Wiring of FD122 ................................................................................................................ 13
3.1.3 Interface Wiring Defination of FD122 .............................................................................................. 14
3.2 Interface and wiring of FD412S/FD422S/FD432S/FD622S .................................................................. 18
3.2.1 Interface Description ........................................................................................................................... 18
3.2.2 External Wirings .................................................................................................................................. 20
3.2.3 I/O Interface ........................................................................................................................................ 21
3.2.4 Power Interface of FD2S Driver (FD412S/FD422S/X3, FD432S/FD622S/X3 and X7) ...................... 22
3.2.5 X4~X6 Interface .................................................................................................................................. 22
3.2.5.1 X4 Interface(RS485/CAN) ............................................................................................................ 23
3.2.5.2 X5 Interface(RS232) .................................................................................................................... 24
3.2.5.3 X6 Interface (Encoder in) ............................................................................................................. 24

Chapter 4 Digital Operation Panel ................................................................................................................... 25

4.1 Introduction ............................................................................................................................................ 25

4.2 Operation on Digital Operation Panel .................................................................................................... 27

Chapter 5 KincoServo Software Introductions................................................................................................. 29

5.1 Software Installation ............................................................................................................................... 29

5.2 Quick Start ............................................................................................................................................. 29
5.2.1 Hardware Configuration for Running KincoServo Software............................................................ 29
5.2.2 KincoServo Software Online ........................................................................................................... 29
5.3 Menu Introductions ................................................................................................................................ 32
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5.4 Driver Control ......................................................................................................................................... 33

5.4.1 Basic Operate ................................................................................................................................. 33
5.4.2 Control Loop.................................................................................................................................... 34
5.4.3 I/O Port ............................................................................................................................................ 35
5.4.4 Operation Mode .............................................................................................................................. 37
5.4.5 Data Object ..................................................................................................................................... 37
5.4.6 Driver Config ................................................................................................................................... 39
5.4.7 ECAN Setting（CANopen PDO Setting） ...................................................................................... 39
5.4.8 Oscilloscope .................................................................................................................................... 40
5.4.9 Error Control.................................................................................................................................... 44
5.4.10 Error History .................................................................................................................................. 45
5.4.11 Control Panel ................................................................................................................................. 45
5.4.12 Initialize/Save ................................................................................................................................ 45
5.4.13 Driver Property .............................................................................................................................. 45

Chapter 6 Motor Selection,Trial Operation and Parameter List ...................................................................... 46

6.1 Driver and motor configuration .............................................................................................................. 46

6.1.1 Configuration Table for FD2S Servo Driver and Motor ................................................................... 46
6.1.2 Procedure for Motor configuration .................................................................................................. 47
6.2 Trial Operation ....................................................................................................................................... 48
6.2.1 Objective ......................................................................................................................................... 48
6.2.2 Precautions ..................................................................................................................................... 48
6.2.3 Operating Procedure ....................................................................................................................... 48
6.2.4 Diagram of Trial Operation .............................................................................................................. 49
6.3 Descriptions of Parameters ................................................................................................................... 49
Parameter List: Group F000 (To Set Driver Instructions)......................................................................... 49
Parameter List: Group F001 (To Set Real-Time Display Data) ................................................................ 50
Parameter List: Group F002 (To Set Control Loop Parameters) ............................................................. 52
Parameter List: Group F003 (To Set Input/Output & Pattern Operation Parameters) ............................. 54
Parameter List: Group F004 (To Set Motor Parameters) ......................................................................... 57
Parameter List: Group F005 (To Set Driver Parameters) ........................................................................ 58

Chapter 7 Operation on Input/Output Ports ..................................................................................................... 60

7.1 Digital Input ............................................................................................................................................ 60

7.1.1 Polarity Control on Digital Input Signals.......................................................................................... 60
7.1.2 Simulation of Digital Input Signals .................................................................................................. 62
7.1.3 Status Display of Digital Input Signals ............................................................................................ 62
7.1.4 Addresses & Functions of Digital Input Signals .............................................................................. 62
7.1.5 Wirings of Digital Input Port ............................................................................................................ 66
7.2 Digital Output ......................................................................................................................................... 67
7.2.1 Polarity Control on Digital Output Signals ....................................................................................... 67
7.2.2 Simulation of Digital Output Signals（More details please refer to 7.1.2） ................................... 68
7.2.3 Status Display of Digital Output Signals .......................................................................................... 68
7.2.4 Addresses and Functions of Digital Output Signals ........................................................................ 68
7.2.5 Wiring of Digital Output Port ........................................................................................................... 69

Chapter 8 Operation Mode .............................................................................................................................. 71

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8.1 Pulse Control Mode (“-4” Mode) ............................................................................................................ 71

8.1.1 Wiring in Pulse Control Mode ......................................................................................................... 71
8.1.2 Parameters for Pulse Control Mode ................................................................................................ 72
8.1.3 Examples of Pulse Control Mode .................................................................................................... 75
8.2 Speed Mode (“-3” or “3” Mode) .............................................................................................................. 77

8.2.1 Wiring in Analog – Speed Mode ............................................................................................................. 78

8.2.2 Parameters for Analog – Speed Mode ............................................................................................ 78

8.2.3 Analog Signal Processing ............................................................................................................... 79
8.2.4 Calculation Procedure for Analog – speed Mode ........................................................................... 80
8.2.5 Examples of Analog – Speed Mode ................................................................................................ 81
8.3 Torque Mode (“4” Mode) ........................................................................................................................ 86
8.3.1 Wiring in Analog – Torque Mode ..................................................................................................... 86
8.3.2 Parameters for Analog – Torque Mode ........................................................................................... 86
8.3.3 Analog Signal Processing ............................................................................................................... 87
8.3.4 Calculation Procedure for Analog – Torque Mode .......................................................................... 88
8.3.5 Examples of Analog – Torque Mode ............................................................................................... 88
8.4 Internal Multi-position Control Modes (“1” Mode) .................................................................................. 91
8.5 Internal Multi-speed Control Modes (“-3” or “3” Mode) .......................................................................... 94
8.6 Internal Torque Control Mode (“4” Mode) .............................................................................................. 95
8.7 Homing Mode (“6” Mode) ....................................................................................................................... 95

Chapter 9 Control Performance ..................................................................................................................... 109

9.1 Auto Reverse ....................................................................................................................................... 109

9.2 Driver Performance Tuning ................................................................................................................... 110
9.2.1 Manual Adjustment......................................................................................................................... 110
9.2.2 Auto Adjustment (Only for Velocity Loops) .................................................................................. 113
9.3 Oscillation Inhibition .............................................................................................................................. 115
9.4 Debugging Example ............................................................................................................................. 116
9.4.1 Oscilloscope ................................................................................................................................... 116
9.4.2 Procedure for Parameter Adjustment............................................................................................. 118
9.4.3 Easy Use Function ........................................................................................................................ 125

Chapter 10 Communication ........................................................................................................................... 132

10.1 RS232 Communication ...................................................................................................................... 132

10.1.1 RS232 Communication Interface ................................................................................................ 132
10.1.2 RS232 Communication Parameters ........................................................................................... 133
10.1.3 Transport Protocol ....................................................................................................................... 133
10.1.3.1 Data Protocol ........................................................................................................................... 134
10.1.4 RS232 Communication Address of Servo Parameters ............................................................... 135
10.2 RS485 Communication ...................................................................................................................... 136
10.2.1 RS485 Communication Interface ................................................................................................ 136
10.2.2 RS485 Communication Parameters ........................................................................................... 136
10.2.3 MODBUS RTU ............................................................................................................................ 136
10.2.4 RS485 Communication Address of Servo Parameters ............................................................... 138
10.3 CANopen Communication ................................................................................................................. 138

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10.3.1 Hardware Introduction ................................................................................................................. 139

10.3.2 Software Introduction .................................................................................................................. 140
10.3.1.1 EDS .......................................................................................................................................... 140
10.3.1.2 SDO ......................................................................................................................................... 140
10.3.1.3 PDO ......................................................................................................................................... 140
10.3.3 CANopen Communication Parameters ....................................................................................... 143
10.3.4 CANopen Communication Address of Servo Parameters .......................................................... 144

Chapter 11 Alarm and Troubleshooting ......................................................................................................... 145

11.1 Alarm Messages ................................................................................................................................. 145

11.2 Alarm Causes & Troubleshooting ....................................................................................................... 146

Chapter 12 Appendix ..................................................................................................................................... 147

Appendix 1 Instructions of operation mode via Communication ............................................................... 147

1. Position mode(Mode 1) ...................................................................................................................... 147
2. Speed Mode(Mode -3 or 3) ................................................................................................................ 147
3. Master-slave mode(Mode -4) ............................................................................................................. 148
4.Torque Mode(Mode 4) ......................................................................................................................... 148
5. Homing mode(Mode 6) ...................................................................................................................... 149
6. Driver Status Display .......................................................................................................................... 150
Appendix 2:Example for CANopen Communication .................................................................................. 150
1.Canopen communication between Kinco F1 PLC and FD2S Servo .................................................. 150
2.CANopen Communication between FD2S Servo and Peak CAN. ..................................................... 157
Appendix 3:Example for RS485 Communication ...................................................................................... 159
1.Modbus Communication Between FD2S Servo and Kinco HMI ......................................................... 159
2. Modbus Communication Between FD2S Servo and Siemens S7-200 .............................................. 162
Appendix 4:Example for RS232 Communication ...................................................................................... 164
1.Communication between FD2S Servo and Kinco HMI. ...................................................................... 164
Appendix 5: Use KincoServo software to import and export driver parameters. ....................................... 167
Appendix 6: Conversion between engineering unit and internal unit of common objects. ........................ 170
Appendix 7: Common Objects List ............................................................................................................ 171
Appendix 8: Selection for Brake Resistor .................................................................................................. 186
Appendix 9: Selection for Fuse .................................................................................................................. 186

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Chapter 1 Product Acceptance & Model Description

1.1 Product Acceptance

1.1.1 Items for Acceptance (Wires Included)

Table 1-1 Product acceptance

Item for Acceptance Remark
Whether the model of a delivered FD2S Check the nameplate of a servo motor and
series servo system is consistent with the that of a servo driver
specified model
Whether the accessories included in the Check the packing list
packing list are complete
Whether any breakage occurs Check the external appearance completely
for any losses that are caused by
transportation
Whether any screws are loose Check for loose screws with a screwdriver
Whether the motor wiring is correct Purchase motor accessory packages if no
wirings are purchased

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1.1.2 Nameplate of Servo Driver

Fig. 1-1 Nameplate of a servo driver

1.1.3 Nameplate of Servo Motor

Fig. 1-2 Nameplate of a servo motor

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1.2 Component Names

1.2.1 Component Names of FD2S Series Servo Driver

Fig. 1-3 Component Names of FD2S Series Servo Driver

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1.2.2 Component Names of Servo Motor

Fig. 1-4 Component names of a servo motor (brakes excluded)

1.3 Model Description of Servo Motors and Drivers

1.3.1 Servo Drivers

1.3.2 Servo Motors

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1.3.3 Power, Brake and Encoder cable of Motors

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Chapter 2 Precautions and Installation

Requirements

2.1 Precautions

⚫ Tightly fasten the screws that fix the motor;

⚫ Make sure to tightly fasten all fixed points when fixing the driver;
⚫ Do not tighten the cables between the driver and the motor/encoder;
⚫ Use a coupling shaft or expansion sleeve to ensure that both the motor shaft and equipment shaft
are properly centered;
⚫ Do not mix conductive materials (such as screws and metal filings) or combustible materials (such
as oil) into the servo driver;
⚫ Avoid the servo driver and servo motor from dropping or striking because they are precision
equipment;
⚫ For safety, do not use any damaged servo driver or any driver with damaged parts.

2.2 Environmental Conditions

Table 2-1 Environmental conditions

Environment Condition
Temperature Operating temperature: 0C - 40C (ice free)
Storage temperature: - 10C - 70C (ice free)
Humidity Operating humidity:5~ 90% RH (non-condensing)
Storage humidity: 5~90% RH (non-condensing)
Air Indoor (No direct sunlight), no corrosive gas or combustible gas
No oil vapor or dust
Height Below 2000 m above the sea level,it needs power derating after
1000m
Vibration 5.9 m/s2

2.3 Mounting Direction & Spacing

Please install the servo driver correctly according to following figure,or it will cause faults.
The servo driver should be vertically installed on wall.Take fully into account heat dissipation when using
any heating components (such as braking resistors) so that the servo driver is not affected.

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Fig. 2-1 Installing a servo driver

Fig. 2-2 Installing multiple servo drivers

Fig. 2-3 Mounting direction

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Chapter 3 Interfaces and Wirings of FD2S

Driver

3.1 Interface and wiring of FD122

3.1.1 Panel and Interfaces Description of FD122

Interface Driver Function Description

X1 CAN CAN bus interface
X2 RS232 RS232 interface
X3 I/O I/O port
X4 FD122 Encoder input Motor encoder input interface
24V~70VDC power supply, motor power,
Motor and power
X5 brake power supply, brake resistor
supply interface
interface

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3.1.2 External Wiring of FD122

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3.1.3 Interface Wiring Defination of FD122

3.1.3.1 CAN Bus Interface(X1)

Fig. 3-1 CAN Bus interface PINs defination

No. Name Function

1 CAN_H CAN bus high
2 CAN_L CAN bus low

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3 GND Signal ground

Others NC Undefined

3.1.3.2 Communication Interface(X2)

Fig. 3-2 RS232 communication interface PINs defination

No. Name Function

3 TXD Send data
4 GND Signal ground
6 RXD Receive data
Others NC Undefined

3.1.3.3 I/O Interface(X3)

Name Function Name Function

COMI Common port of digital input PUL+/PUL- Pulse input
DIN1~DIN4 Digtal input DIR+/DIR- Direction input
OUT1+/OUT1- Digital output ENCO-Z/ENCO-/Z Encoder signal

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OUT2+/OUT2- ENCO-B/ENCO-/B output

ENCO-A/ENCO-/A
GND Digital signal ground

3.1.3.4 Encoder Input Interface（X4）

Fig. 3-3 Encoder input interface PINs defination

No. Name Function

1 5V+ 5V output
2 A A phase of encoder input
3 B B phase of encoder input
4 Z Z phase of encoder input
5 U U phase of encoder input
6 V V phase of encoder input
7 W W phase of encoder input
8 PTC_IN Undefined
9 GND Ground of encoder signal
10 /A A phase of encoder input
11 /B B phase of encoder input
12 /Z Z phase of encoder input
13 /U U phase of encoder input
14 /V V phase of encoder input
15 /W W phase of encoder input

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3.1.3.5 Motor/Power Supply Interface (X5)

Fig. 3-4 Motor power supply interface

PIN name PIN function

DC+ Positive terminal of DC power supply and braking resistor
DC- Negtive terminal of DC power supply and 24VDC power supply
24VS Positive terminal of 24VDC power supply and braking
RB- Negtive terminal of braking resistor
BR- Negtive terminal of braking, A- phase of motor output
U U phase of motor output, A- phase of motor output
V V phase of motor output, B+ phase of motor output
W W phase of motor output, B- phase of motor output
PE Motor earthing

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3.2 Interface and wiring of FD412S/FD422S/FD432S/FD622S

3.2.1 Interface Description

Table 3-1 Interfaces of FD412S/FD422S/FD432S/FD622S

Interface Driver Symbol Function
COMI Common terminal of digital inputs

DIN1~DIN7 Digital inputs. Valid signal:12.5V~24V.Invalid signal:<5V

OUT1+ Digital output 1+

OUT1- Digital output 1-
OUT2+ Digital output 2+
OUT2- Digital output 2-
OUT3 Digital output 3
OUT4 Digital output 4
COMO Common terminal of digital outputs
GND Ground signal
ENCO-Z

FD412S ENCO-/Z
FD422S ENCO-B
X1 Motor encoder output interface
FD432S
ENCO-/B
FD622S
ENCO-A
ENCO-/A
AIN1 Analog signal input 1. Input impedance: 200 K
GNDA Ground signal of analog
AIN2 Analog signal input 2. Input impedance: 200 K
GNDA Ground signal of analog
PUL+ Pulse or positive pulse
interface (+)
PUL- Pulse or positive pulse
interface (-)
Input voltage range: 5V~24V
DIR+ Direction or negative
pulse interface (+)
DIR- Direction or negative
pulse interface (-)

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24VS/GNDS Logic power supply:24 V ± 15%, >0.5A

X2 24VB/GNDB Power supply for brake ,DC18~30V 2A

BR+/BR- Brake interface
U/V/W/PE Motor cable interface
FD412S
L/N Main power supply (Single-phase AC220V)
FD422S
X3 RB+/RB- Braking resistor interface
FD432S
U/V/W/PE Motor cable interface
FD622S
FD412S
FD422S
X4 BUS RS485 or CAN interface
FD432S
FD622S
X5 FD412S RS232 RS232 interface
FD422S
ENCODER
X6 FD432S Encoder cable interface
IN
FD622S
Main power supply (CD432S: Single phase or 3-phase
R/S/T
FD432S AC220V, CD622S: 3-phase AC380V)
X7
FD622S RB+/RB- Braking resistor interface
DC+/DC- DC bus power supply(Cannot use together with R/S/T)

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3.2.2 External Wirings

Fig. 3-1 External wirings diagram of FD2S drive

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3.2.3 I/O Interface

Fig. 3-2 I/O interface of FD2S driver

Fig. 3-3 Wirings of the I/O interface of FD2S driver

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3.2.4 Power Interface of FD2S Driver (FD412S/FD422S/X3,

FD432S/FD622S/X3 and X7)

3.2.5 X4~X6 Interface

X4~X6 interface of FD2S driver use D-SUB connector.The styles of different D-SUB connectors are
shown in following figure.

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Fig.3-6 D-SUB connector diagram of driver

3.2.5.1 X4 Interface(RS485/CAN)

RS485:
Name Pin Signal Descriptions Function
1 NC N/A
5 GND Signal ground
6 +5V Power
2 RX
RS485 Receive data RS485
7 /RX
（9-Pin female） interface
3 TX
Send data
8 /TX
4 NC
N/A
9 NC

CAN:
Name Pin Signal Descriptions Function
1 NC
5 NC
6 NC
2 CAN_L CAN_L
CAN CAN bus
7 CAN_H CAN_H
（9-Pin male） interface
3 GND Signal ground
8 NC
4 NC
9 NC

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3.2.5.2 X5 Interface(RS232)

Name Pin Signal Descriptions Function

1 NC N/A
2 TX Send data
3 RX Receive data
4 NC N/A
RS232 RS232
5 GND Signal ground
（9-Pin female） interface
6 NC
N/A
7 NC
8 NC
N/A
9 NC

3.2.5.3 X6 Interface (Encoder in)

Name Pin Signal Descriptions Function

1 +5V 5V output
9 GND 0V
8 PTC_IN PTC of motor input
2 A
A phase of encoder input
10 /A
3 B
B phase of encoder input
Encoder in 11 /B Motor
（ Double rows 4 Z encoder
Z phase of encoder input
15-Pin female） 12 /Z input
5 U
U phase of encoder input
13 /U
6 V
V phase of encoder input
14 /V
7 W
W phase of encoder input
15 /W

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Chapter 4 Digital Operation Panel

4.1 Introduction

A digital operation panel functions to set user parameters in a servo driver, execute instructions, or
display parameters. Table 4-1 describes all display contents and functions of the digital operation panel.
Table 4-1 Display contents and functions of a digital operation panel

Number/
Function
Point/Key
Indicates whether data is positive or negative. If it is on, it indicates negative; otherwise it
①
indicates positive.
Distinguishes the current object group and the address data in this object group during
parameter settings.
② Indicates the higher 16 bits of the current 32-bit data when internal 32-bit data is displayed
in real time.
Indicates the earliest error when history records of errors (F007) are displayed.
Indicates a data display format when parameters are displayed and adjusted in real time.
If it is on, it indicates the data is displayed in hexadecimal; otherwise it indicates the data
③
is displayed in decimal.
Indicates the latest error when the history records of errors (F007) are displayed.
If it is on, it indicates that internal data is currently displayed.
④
If it flickers, it indicates that the power part of the driver is in the working status.
Switches basic menus.
MODE During the adjustment of parameters, short presses the key to move the bit to be
adjusted, and long presses the key to return to the previous state.
▲ Presses ▲ to increase set values; long presses ▲ to increase numbers promptly.
▼ Presses ▼ to decrease set values; long presses ▼ to decrease numbers promptly.
Enters the selected menu by pressing this key.
Keeps current parameters in the enabled status.
SET Confirms input parameters after parameters are set.
Long presses this key to switch to higher/lower 16 bits when internal 32-bit data is
displayed in real time.
P..L Activates position positive limit signals.

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n..L Activates position negative limit signals.

Pn.L Activates position positive/negative limit signals.
Overall Indicates that an error occurs on the driver, and is in the alarm state.
Flicking
If the parameter adjusting display mode is featured by the decimal system:
When the units place is flickering, press ▲ to add 1 to the current value; press ▼ to deduct 1 from the
current value. When the tens place is flickering, press ▲ to add 10 to the current value; press ▼ to
deduct 10 from the current value. When the hundreds place is flickering, press ▲ to add 100 to the
current value; press ▼ to deduct 100 from the current value. When the thousands place is flickering,
press ▲ to add 1000 to the current value; press ▼ to deduct 1000 from the current value.
If the parameter adjusting display mode is featured by the hexadecimal system:
When the units place is flickering, press ▲ to add 1 to the current value; press ▼ to deduct 1 from the
current value. When the tens place is flickering, press ▲ to add 0X10 to the current value; press ▼ to
deduct 0X10 from the current value. When the hundreds place is flickering, press ▲ to add 0X100 to the
current value; press ▼ to deduct 0X100 from the current value. When the thousands place is flickering,
press ▲ to add 0X1000 to the current value; press ▼ to deduct 0X1000 from the current value.
When adjusting decimal parameters, the display mode is automatically switched to the hexadecimal
system if the data is greater than 9999 or less than -9999. In this case, the 3rd decimal point from left to
right is highlighted.

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4.2 Operation on Digital Operation Panel

Figure 4-1 Operation on a digital operation panel

Note: If a non real-time display interface is displayed for the control panel, and no key operation occurs,
the real-time display interface is automatically skipped after 20 seconds to avoid misoperation.

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Example 4-1: Set the denominator of electronic gear ratio to 10000 with

number system switching

Press MODE. The main menu is displayed. Choose F003.

Press SET. The interface for selecting addresses is displayed.
Press ▲ to adjust data as d3.35.
Press SET to display the current value d3.35. Press SET again to modify the value d3.35. In this case,
the 1st number at the right side is flickering. Short press MODE for three times to move to the first
position on the left. Then press ▲. The value is increased to 9000. In this case, the current data is
decimal.
Press ▲ again. The content of numeric display changes to “271.0”, and the 3rd decimal point (from left to
right) flickers. In this case, the data is hexadecimal. Press SET to confirm the current value. The 1st
decimal point on the right flickers. In this case, the denominator of the electronic gear ratio is modified to
10000.

Figure 4-2 Number system conversion

Example 4-2: Set the speed to 1000 RPM/-1000 RPM with separate

regulation of bits

Press MODE. The main menu is displayed. Choose F000.

Press SET. The interface for selecting addresses is displayed.
Press ▲ to adjust data as d0.02.
Press SET to display the current value d0.02. Press SET again to modify the value d0.02. In this case,
the 1st number at the right side is flickering.
Short press MODE for three times to move to the 1st position on the left. Press ▲ to modify the value to 1.
Press SET to confirm the current value. The 1st decimal point on the right flickers. In this case, the speed
is 1000 RPM.
Press ▼ to modify the value to -1. In this case, the 1st decimal point on the left flickers, indicating that the
current data is negative. Press SET to confirm the current value. The 1st decimal point on the right
flickers. In this case, the speed is -10000 RPM.

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Chapter 5 KincoServo Software Introductions

5.1 Software Installation

This software doesn’t need to install.Users can download KincoServo software from our website:
www.en.kinco.cn.

5.2 Quick Start

5.2.1 Hardware Configuration for Running KincoServo Software

KincoServo software can be used to configure all the parameters of FD2S Series servo driver via
RS232 or CANopen port.Please refer to Chapter 3 to connect servo driver and motor before using
it.
● System configuration for programming via RS232.
24VDC power supply for driver.
Serial programming cable,whose wiring diagram is as following figure.
PC FD2S Servo RS232 Interface(X5)

RxD 2 ---------------------------------- TXD 2

TxD 3 ---------------------------------- RXD 3

GND 5 ---------------------------------- GND 5

● System configuration for programming via CANopen.

24VDC power supply for driver.
PEAK series USB or LPT adapter from PEAK company.
CANopen communication cable,its wiring diagram is as following figure:
Pecan FD2S Servo CAN Interface(X4)

CAN_L 2 ---------------------------------- CAN_L 2

CAN_H 7 ---------------------------------- CAN_H 7

5.2.2 KincoServo Software Online

1.Open the folder of KincoServo and double click the icon ,then it will open the window as following
figure:
 KincoJD
Kinco FD2S Series Servo User Manual
伺服系列使用手册

2.New Project.

3.It will popup dialog box “Commutation Way”,if it uses serial port,then select “RS232C”and click “Next”.

If it uses CAN tools such as PEAK-CAN,then select “CAN” and click “Next”.

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4．Enter communication property interface.Set the parameters like COM,Baudrate,Driver ID corresponding to

the actual value in servo driver.Then click Comm Status button 。

If it uses CAN connection,set the parameters like Baudrate,Driver ID.Then click Comm Status

button .

5.Check the informations in the lower-right side.If the informations are like “Comm Status:Open COM1
38400” and the Comm Status turns green,it means KincoServo software is online successfully.

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When it uses CAN connection,if the informations in the lower-right side are like “Comm Status:Open 500K
Bit/S” and the Comm Status turns green,it means KincoServo software is online successfully.

5.3 Menu Introductions

Open KincoServo software as following figure:

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The descriptions of Menu bar are as following table.

Name Descriptions
File Used to New,Open,Save project.
Computer Used to set communication property.
Driver Used to control driver,more details please refer to 5.4
Motor Used to configure motor parameters,more detail please refer to 6.1.3
Extend Used to change language and read/write driver parameters.

5.4 Driver Control

5.4.1 Basic Operate

In this menu,it can do some basic control operation for driver.About more details of operation
mode,please refer to Chapter8.

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Example 5-1: Use KincoServo software to control servo running in speed
mode by manual.

Step 1: Cancel the default setting of DIN1 and DIN3 according to Example 5-2.
Step 2: Set the basic parameters according to “Speed Mode” in Chapter 8.As shown on the red
line in the figure,it means the driver is in speed mode.And the speed is 100RPM.Set the
SpeedDemand_RPM as negative value when need to run reversed.

5.4.2 Control Loop

In this menu,it is used to adjust parameters for driver’s control performance.More details please refer to
chapter 9.
Please be careful for parameters setting in Current Loop!If users use FD2S Servo driver together with the
servo motors provided by Kinco Company,then it needn’t set the parameters in Current Loop.

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5.4.3 I/O Port

In this menu,it is used to set the functions and polarity of I/O ports,monitor the status of I/O ports and simulate
the I/O ports.

Example 5-2：Use KincoServo software to set the functions of I/O port

Requirement: Cancel the functions of DIN1, DIN3 and DIN5.Set DIN2 as default reset,DIN4 as emergency
stop and OUT2 as Reference found.Others are set as default.

Step 1: Click the button beside DIN1.Cancel the function “Driver enable” in the popup window as
following figure, then click OK.

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Step 2:Set all the functions of other I/O ports with the similar operations as step 1.Then select
Driver -> Initialize/Save and click “Save control parameters”.The final settings of I/O ports
are as following figure:

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5.4.4 Operation Mode

In this menu,it is used to set and monitor the objects in each operation mode.More details please refer to
chapter 9.Following figure is the menu for pulse mode.

5.4.5 Data Object

In this menu,it can be used to query the address and descriptions of all the objects in FD2S driver.As
shown in above picture,there are Index,Subindex address and the name of the objects on the left
side.On the right side,there are the descriptions of the object.

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Example 5-3：Use KincoServo Software to Add an Object

Requirement:Add an address in any menu.Here we will add “CANopen baudrate” in “Basic Operate”.
Step 1:Open “Basic Operate”,then righ click in the window of “Basic Operate”.Select
“add”,then it will popup a window of “Data Object”.
Step 2:Enter “baudrate” in “Find what”,then click “Find next”.It will jump to the object
“CAN_Baudrate” whose index address is 2F81.There are the descriptions of this object in the
rightside. As shown in following figure.

Step 3:Double click the object to add this object into “Basic operate” menu.

Step 4:If you need to delete the object in the menu.Right click the object and select “del”to
delete the object.If you need to know more details of the object,then right click the object
and select “help” to show the details.

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5.4.6 Driver Config

In this menu,it is used to set the parameters such as User Password,Brake resistor,RS232 communication
and so on.

Example 5-4：Use KincoServo to set an User Password

Step 1:Set the number “1234”as password in the object “User_Secret” as shown in the red
box in the figure above.
Step 2:Click “Save all control parameters” in Driver->Initialize/Save to save parameters,then
Click “Reboot driver”.
Step 3:The password will be activated after rebooting driver.Then users can not set any parameters before
entering the correct password in the object “User_Secret”in “Driver Config”.
Step 4:Enter 0 in the object “User_Secret” to cancel the password after entering correct password.

5.4.7 ECAN Setting（CANopen PDO Setting）

This menu is used to set CANopen communication parameters.About details please refer to chapter 10.

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5.4.8 Oscilloscope

Oscilloscope can help you adjust servo’s parameters better by observing the curve of speed,position and so
on.
There are two ways to open oscilloscope as following figures.

Fig.1.Oscilloscope shotcut in toolbar

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Fig.2.Menu bar---Driver--Oscilloscope

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Follows are the parameters instructions in Oscilloscope.

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5.4.9 Error Control

This menu is used to monitor the current error information.As shown in following figure,The Hex data is the
same error code as shown in LED display on servo driver.The small box is used to choose whether to shield
error or not.There is error when the lamp is red.The text is the descriptions of error.About more details please
refer to chapter 11.
Note:Please be careful for shielding error,and not all the errors can be shielded.

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5.4.10 Error History

FD2S Servo driver provides 7 groups of historical error informations.Users can query the informations such
as error code,voltage,current,temperature,speed,operation mode,driver accumulated working time and so on.

5.4.11 Control Panel

This menu is used to set and query all the parameters which are corresponding to the parameters
from Group F000 to F007 in servo driver.

5.4.12 Initialize/Save

This menu is used to save and initialize parameters and reboot servo driver.

5.4.13 Driver Property

This menu is used to display the informations such as driver model,software version,serial number and so on.
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Chapter 6 Motor Selection,Trial Operation and Parameter

List

6.1 Driver and motor configuration

There is no default motor type set in driver,so users need to set the motor model before using the
driver.Please refer to the selection table in 6.1.1 when setting the motor model.

6.1.1 Configuration Table for FD2S Servo Driver and Motor

PC LED Suitable Servo

With Fan
Motor Model CD412S CD422S CD432S CD612S CD622S
LED CODE:EA01
FD412S FD422S CD422S-AF FD432S FD612S FD622S
FD422S-AF(CF、LF)
K@ 404.b Without motor configuration LED displays FFF.F
W0 305.7 SMC60S-0020-30E■K-3LKH √
W1 315.7 SMC60S-0040-30E■K-3LKH √
W2 325.7 SMC80S-0075-30E■K-3LKH √
WB 425.7 SMC130D-0100-20E■K-4LKP √
WC 435.7 SMC130D-0150-20E■K-4HKP √
WD 445.7 SMC130D-0200-20E■K-4HKP √
WO 4F5.7 SMC130D-0150-20E■K-4LKP √
WP 505.7 SMC130D-0200-20E■K-4LKP √
WQ 515.7 SMC130D-0300-30E■K-4HKP √
WR 525.7 SMC130D-0300-20E■K-4HKP √
Y0 305.9 SMS60S-0020-30J■K-3LKU √
Y1 315.9 SMS60S-0040-30J■K-3LKU √
Y2 325.9 SMS80S-0075-30J■K-3LKU √
Z0 305.A SMS60S-0020-30K■K-3LKU √
Z1 315.A SMS60S-0040-30K■K-3LKU √
Z2 325.A SMS80S-0075-30K■K-3LKU √
KZ 5A4.b SMH40S-0005-30A■K-4LKH √
KY 594.b SMH40S-0010-30A■K-4LKH √
K0 304.b SMH60S-0020-30A■K-3LK□ √
K1 314.b SMH60S-0040-30A■K-3LK□ √
K2 324.b SMH80S-0075-30A■K-3LK□ √
K3 334.b SMH80S-0100-30A■K-3LK□ √
K4 344.b SMH110D-0105-20A■K-4LK□ √
K5 354.b SMH110D-0125-30A■K-4LK□ √
K6 364.b SMH110D-0126-20A■K-4LK□ √
K7 374.b SMH110D-0126-30A■K-4HK□ √
K8 384.b SMH110D-0157-30A■K-4HK□ √
K9 394.b SMH110D-0188-30A■K-4HK□ √
KB 424.b SMH130D-0105-20A■K-4HK□ √ √
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KC 434.b SMH130D-0157-20A■K-4HK□ √ √
KD 444.b SMH130D-0210-20A■K-4HK□ √
KE 454.b SMH150D-0230-20A■K-4HK□ √
F4 344.6 85S-0025-05AAK-FLFN-02 √
F6 364.6 85S-0035-05AAK-FLFN-02 √
F8 384.6 85S-0045-05AAK-FLFN-02 √

6.1.2 Procedure for Motor configuration

If there is no motor type set in driver, then the driver will appear error FFF.F or 800.0.There are two ways to
set the motor type in driver as follows:
1.Panel operation.

Please configure the right motor’s model before restart. If customers want to reset the motor model,
they should set D4.19 to 303.0 (Press SET to confirm) and then d4.00 to 1(Save motor parameters), after
restart the servo they can reset motor model and servo parameters according to the above chart

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2.KincoServo software operation
Connect the servo to PC, open the KincoServo, then Menu—Driver—Control Panel—F004, in the F004, in
the F004, set the 19th operation: Motor Num (Please refer to the servo and motor configuration table), after
that press Enter to confirm, then restart servo.
Please configure the right Motor’s model before restart. If the customers want to reset the motor
model, they should set d4.19 (Motor Num in F004) to 00(Press SET to confirm), then enter the Initialize/Save
page, click the Save motor parameters. After restart the servo, they can reset the motor model and set
servo parameters.

6.2 Trial Operation

6.2.1 Objective

The trial operation allows you to test whether the driver works properly, and whether the motor runs stably.

6.2.2 Precautions

Ensure the motor type is set correctly.

Ensure that the motor is running without load. If the motor flange is fixed on the machine, ensure that the
motor shaft is disconnected from the machine.
Ensure that motor cables, motor encoder cables, and power circuits (power lines and control power lines) are
properly connected. For details, see Chapter 3.
During the trial operation, if you long press ▲ or ▼ when the motor is running, pulse signals, digital input
signals, and analog signals of the external controller are temporarily unavailable, so safety must be ensured.
During the trial operation, the system automatically adopts the instantaneous speed mode, that is, the “-3”
mode.
After the trial operation, Group F006 exits automatically. To enter Group F006 again, you must re-activate the
trial operation.
If motor/encoder cables are wrongly connected, the actual rotation speed of the motor may be the possible
maximum rotation speed, or the rotation speed is 0 and the actual current value is the maximum value. In this
case, make sure to release the button; then check cable connection and test it again.
If there is problem in the keys,then trial operation can not be used.

6.2.3 Operating Procedure

Please make sure the correct wiring of STO(refer to chanpter 3.4.3) before using trial operation,or the driver
will display error 200.0.
Operate by panel:
Press MODE to enter Group F004. Select the object address “d4.18”, and check the motor type.
Press MODE to enter Group F000. Select the object address “d0.02”, and set the target speed to
“SpeedDemand_RPM".
Press MODE to enter Group F006. Arrange a test for keys, with the default value of d6.40. Firstly, press ▼ to
adjust the data to d6.31. Then, press ▼, the data automatically changes to “d6.15”. Finally, press ▲ to adjust
the data to d6.25.
Press SET to activate trial operation. In this case, the numeric display is “adc.d”, and the motor shaft releases.
When long pressing ▲ or ▼, the motor automatically locks, and runs according to “+SpeedDemand_RPM” or
“-SpeedDemand_RPM” separately. During the trial operation, the numeric displays the motor speed in real
time.
The motor set counter clockwise as positive direction.If the direction is not fit for the requirement ,users can
change the direction through the parameter d2.16 in Group F002.
Operate by CD-PC software:

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1：Set motor mode in “Motor” in the software.
2：Refer to Fig.5-1 to operate by manual.

6.2.4 Diagram of Trial Operation

Fig.6-1 Trial operation

6.3 Descriptions of Parameters

Group F000 represents an instruction group, and the parameters in this group cannot be saved.
The address d4.00 is used to save the motor parameters set for Group F004. Note that this group of
parameters must be set when customers choose third-party motors, but these parameters need not to be set
for the motors delivered and configured by our company.
d2.00, d3.00 and d.5.00 represent the same address, and are used to save all setup parameters except those
of motors (Group F001/F002/F003/F004/F005). Three numeric objects (d2.00/d3.00/d5.00) are developed to
facilitate customers.

Parameter List: Group F000 (To Set Driver Instructions)

Numeric Internal Variable Name Meaning Default Range

Display Address Value
Operation_Mo 0.004 (-4): Pulse control mode,
de including pulse direction (P/D) and
double pulse (CW/CCW) modes. 0.003
d0.00 60600008 (-3): instantaneous speed mode -4 /
0001 (1): Internal position control
mode
0003 (3): Speed mode with

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acceleration/deceleration
0004 (4): Torque mode
Note: Only applied in the working
mode where no external signals
control the driver.
Control_Word_ 000.0: Releases the motor
Easy 000.1: Locks the motor
001.0: Clears errors
Note: Only applied in the situation
d0.01 2FF00508 where enabling a driver or wrong 0 /
resetting is not controlled by external
signals. After the wrong reset of the
driver, the motor must be enabled
again.
SpeedDemand Sets the motor’s target rotation speed
_RPM when the driver works in the “-3” or “3”
d0.02 2FF00910 0 /
mode and the address d3.28 is set to 0
(without external analog control).
Target_Torque Sets input torque instructions (current
% instructions) when the driver works in
-2047～
d0.03 60710010 the “4” mode and the address d3.30 is 0
set to 0 (without external analog 2047
control).
Vc_Loop_BW Sets the velocity loop bandwidth. The
unit is Hz.
This variable can only be set after auto
tuning is performed properly; otherwise
the actual bandwidth goes wrong,
which causes abnormal working of the
driver.
d0.04 2FF00A10 If the auto tuning result is abnormal, / 0～600
setting this parameter may also cause
abnormal working of the driver.
Note: This parameter cannot be
applied when auto tuning is
unavailable. After setting this
parameter, apply d2.00 to save the
settings as required.
Pc_Loop_BW Sets the position loop bandwidth. The
unit is Hz.
d0.05 2FF00B10 Note: After setting this parameter, / /
apply d2.00 to save the settings as
required.
Tuning_Start If the variable is set to 11, auto tuning
starts. All input signals are neglected
during auto tuning. The variable is
d0.06 2FF00C10 automatically changed to 0 after auto 0 /
tuning is completed.
Sets the variable to other values to end
auto tuning.

Parameter List: Group F001 (To Set Real-Time Display Data)

Numeric Internal Variable Name Displayed Content

Display Address
d1.00 2FF00F20 Soft_Version_LED Software version of numeric display

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Numeric Internal Variable Name Displayed Content
Display Address
d1.01 2FF70020 Time_Driver Accumulated working time of the driver (S)
d1.02 2FF01008 Motor_IIt_Rate Ratio of real iit to the maximum iit of a motor
Actual data of motor overheat protection
The formula of conversion between display value and
actual current(Average value):
Motor_IIt_Real*512 Ipeak
d1.03 60F61210 Motor_IIt_Real Irms = *
2047 2
I peak is the max. peak value of the output current
of driver.
Driver_IIt_Rate Ratio of real iit to the maximum iit of a driver
d1.04 2FF01108
d1.05 60F61010 Driver_IIt_Real Actual data of driver overheat protection
d1.06 2FF01208 Chop_Power_Rate Ratio of actual power to rated power of a braking resistor
d1.07 60F70D10 Chop_Power_Real Actual power of a braking resistor
d1.08 60F70B10 Temp_Device Temperature of a driver (°C)
d1.09 60790010 Real_DCBUS Actual DC bus voltage
d1.10 60F70C10 Ripple_DCBUS Fluctuating value of the bus voltage (Vpp)
Din_Status Status of an input port
d1.11 60FD0010
d1.12 20101410 Dout_Status Status of an output port
d1.13 25020F10 Analog1_out Filter output of external analog signal 1
d1.14 25021010 Analog2_out Filter output of external analog signal 2
Error_State Error state
d1.15 26010010
d1.16 26020010 Error_State2 Error state word 2
Driver status word
bit0：Ready to switch on
bit1：Switch on
bit2：Operation enable
bit3：Falt
bit4：Voltage Disable
bit5：Quick Stop
bit6：Switch on disable
bit7：Warning
d1.17 60410010 Status_Word
bit8：Reserved
bit9：Reserved
bit10：Target reach
bit11：Internal limit active
bit12：Step.Ach./V=0/Hom.att.
bit13：Foll.Err/Res.Hom.Err.
bit14：Commutation Found
bit15：Referene Found

d1.18 60610008 Operation_Mode_Buff Efficient working mode of a driver

d1.19 60630020 Pos_Actual Actual position of a motor
d1.20 60FB0820 Pos_Error Position following error
d1.21 25080420 Gear_Master Count of input pulses before electronic gear
d1.22 25080520 Gear_Slave Count of executed pulses after electronic gear
d1.23 25080C10 Master_Speed Pulse speed entered by the master axis (pulse/mS)
d1.24 25080D10 Slave_Speed Pulse speed of the slave axis (pulse/mS)
Real_Speed_RPM Real speed (rpm)
d1.25 606C0010
Internal sampling time: 200 mS
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Numeric Internal Variable Name Displayed Content
Display Address
Real_Speed_RPM2 Real speed (0.01 rpm)
d1.26 60F91910
Internal sampling time: 200 mS
Speed_1mS Speed data (inc/1 mS)
d1.27 60F91A10
Internal sampling time: 1 mS
d1.28 60F60C10 CMD_q_Buff Internal effective current instruction
Actual current
The formula of conversion between display value
andactual current:
I _ q Ipeak
d1.29 60F61710 I_q Irms = *
2047 2
I peak is the max. peak value of the output current
of driver.
d1.30 60F90E10 K_Load Load parameter
d1.31 30100420 Z_Capture_Pos Position data captured by encoder index signals

Parameter List: Group F002 (To Set Control Loop Parameters)

Numeric Internal Variable Meaning Default Range

Display Address Name Value
Store_Lo 1: Stores all setup parameters except those of
op_Data a motor
d2.00 2FF00108 0 /
10: Initializes all setup parameters except
those of a motor
Kvp Sets the response speed of velocity loop 0～
d2.01 60F90110
32767
Kvi Time used to adjust speed control to 0～
d2.02 60F90210
compensate minor errors 16384
Notch_N Notch/filtering frequency setting for a velocity
loop, used to set the frequency of the internal
notch filter, so as to eliminate the mechanical
resonance produced when the motor drives
d2.03 60F90308 the machine. The formula is 45 0～90
F=Notch_N*10+100.
For example, if the mechanical resonance
frequency is F = 500 Hz, the parameter should
be set to 40.
Notch_O Enable or disable the notch filter
d2.04 60F90408 n 0: Disable the trap filter 0 /
1: Enable the trap filter
Speed_F You can reduce the noise during motor
b_N operation by reducing the feedback bandwidth
of velocity loop. When the set bandwidth
d2.05 60F90508 becomes less, the motor responds slower. 0～45
The formula is F=Speed_Fb_N*20+100.
For example, to set the filter bandwidth to "F =
500 Hz”, you need to set the parameter to 20.
Speed_M 0: Speed response after traveling through a
ode low-pass filter
d2.06 60F90608 0 /
1: Direct speed response without filtering
2: Feedback on output feedback

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Numeric Internal Variable Meaning Default Range
Display Address Name Value
Kpp Proportional gains on position loop Kpp 0～
d2.07 60FB0110 1000
16384
K_Speed 0 indicates no feedforward, and 256 indicates 0～
d2.08 60FB0210 _FF 100% feedforward 256
256
K_Acc_F The data is inversely proportional to the 32767
d2.09 60FB0310 7FF.F
F feedforward ～10
Profile_A To set trapezoidal acceleration (rps/s) in the 0～
d2.10 2FF00610 610
cce_16 “3” and “1” modes 2000
Profile_D To set trapezoidal deceleration (rps/s) in the 0～
d2.11 2FF00710 610
ece_16 “3” and “1” modes 2000
Kcp To set the response speed of the current loop
d2.12 60F60110 / /
and this parameters does not require adjusting
Kci Time used to adjust current control to
d2.13 60F60210 / /
compensate minor errors
CMD_q_ Indicates the maximum value of current
d2.14 60730010 / /
Max instructions
Speed_Li The factor that limits the maximum speed in
mit_Fact the torque mode
or Actual torque Set torque Actual speed Maximum speed
0～
d2.15 60F60310 Actual torque Set torque Actual speed Maximum speed Actual speed Maximum speed 10
1000

V the maximum speed complies with d2.24

Max_Speed_RPM parameter settings
Invert_Dir Runs polarity reverse
0: Counterclockwise indicates the forward
d2.16 607E0008 0 /
direction
1: Clockwise indicates the forward direction
K_Load Indicates load parameters 20～
d2.17 60F90E10 /
15000
Kd_Virtu Indicates the kd of observers 0～
d2.18 60F90B10 al 1000
32767
Kp_Virtu Indicates the kp of observers 0～
d2.19 60F90C10 al 1000
32767
Ki_Virtual Indicates the ki of observers 0～
d2.20 60F90D10 0
16384
Sine_Am Proper increase in this data will reduce the
plitude tuning error, but machine vibration will become
severer. This data can be adjusted properly 0～
d2.21 60F91010 64
according to actual conditions of machines. If 1000
the data is too small, the auto tuning error
becomes greater, or even causes a mistake.
Tuning_S It is helpful to reduce the auto tuning time by
0～
d2.22 60F91110 cale reducing the data, but the result may be 128
unstable. 16384
Tuning_F Indicates filter parameters during auto-tuning 1～
d2.23 60F91210 ilter 64
1000
Max_Spe Limits the maximum rotation speed of motors 0～
d2.24 60800010 5000
ed_RPM 6000

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Parameter List: Group F003 (To Set Input/Output & Pattern Operation
Parameters)

Numeric Internal Variable Name Meaning Default Range

Display Address Value
Store_Loop_Dat 1: Stores all setup parameters
a except motors
d3.00 2FF00108 0 /
10: Initializes all setup parameters
except motors
Din1_Function 000.1: Driver enable
d3.01 20100310 000.2: Driver fault reset 000.1 /
000.4: Operation mode control
000.8: P control for velocity loop
Din2_Function 001.0: Position positive limit
d3.02 20100410 002.0: Position negative limit 000.2 /
004.0: Homing signal
008.0: Reverse speed demand
Din3_Function 010.0: Internal speed control 0
d3.03 20100510 020.0: Internal speed control 1 000.4 /
800.1: Internal speed control 2
040.0: Internal position control 0
Din4_Function 080.0: Internal position control 1
d3.04 20100610 800.2: Internal position control 2 000.8 /
800.4 Multi Din 0
800.8 Multi Din 1
Din5_Function
d3.05 20100710 801.0 Multi Din 2 001.0 /
802.0 Gain switch 0
Din6_Function 804.0 Gain switch 1
100.0: Quick stop
d3.06 20100810 002.0 /
200.0: Start homing
400.0: Activate command
Din7_Function
Note:DinX_Function(X is 1-7) is
d3.07 20100910 004.0 /
used to define the function of
digital inputs.
d3.08 2FF00D10 Dio_Polarity Sets IO polarity 0 /
Dio_Simulate Simulates input signals, and
d3.09 2FF00810 enforce output signals for 0 /
outputting
Switch_On_Auto Automatically locks motors when
drivers are powered on
d3.10 20000008 0: No control 0 /
1: Automatically locks motors
when drivers are powered on
Dout1_Function 000.1: Ready
d3.11 20100F10 000.2: Error 000.1 /
000.4: Position reached
000.8: Zero velocity
Dout2_Function 001.0: Motor brake
d3.12 20101010 002.0:Velocity reached 000.0 /
004.0: Index
008.0: The maximum speed
Dout3_Function
obtained in the torque mode
d3.13 20101110 010.0: PWM ON 00a.4 /
020.0: Position limiting
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Numeric Internal Variable Name Meaning Default Range
Display Address Value
Dout4_Function 040.0: Reference found
d3.14 20101210 080.0: Reserved 000.8 /
100.0: Multi Dout 0
200.0: Multi Dout 1
Dout5_Function 400.0: Multi Dout 2

d3.15 20101310 Note:DoutX_Function(X is 1-5) is 000.0 /

used to define functions of the
digital outputs.
Din_Mode0 If a digital input is defined as
Operation mode control,then this
d3.16 20200D08 -4 /
operation mode is selected when
the input signal is invalid
Din_Mode1 If a digital input is defined as
Operation mode control,then this
d3.17 20200E08 -3 /
operation mode is selected when
the input signal is valid
Din_Speed0_RP Multi-speed control: 0 [rpm]
d3.18 20200910 0 /
M
Din_Speed1_RP Multi-speed control: 1 [rpm]
d3.19 20200A10 M 0 /
Din_Speed2_RP Multi-speed control: 2 [rpm]
d3.20 20200B10 0 /
M
Din_Speed3_RP Multi-speed control: 3 [rpm]
d3.21 20200C10 0 /
M
Analog1_Filter Used to smooth the input analog
signals
F (Filter Frequency) = 4000/ (2π*
d3.22 25020110 5 1～127
Analog1_Filter)
Τ (Time Constant) =
Analog1_Filter/4000 (S)
Analog1_Dead Sets dead zone data for external 0～
d3.23 25020210 analog signal 1 0
8192
Analog1_Offset Sets offset data for external analog -8192
d3.24 25020310 0
signal 1 ～8192
Analog2_Filter Used to smooth the input analog
signals
Filter frequency: f=4000/(2π*
d3.25 25020410 5 1～127
Analog1_Filter)
Time Constant: T =
Analog1_Filter/4000 (S)
Analog2_Dead Sets dead zone data for external 0 ～
d3.26 25020510 analog signal 2 0
8192
Analog2_Offset Sets offset data for external analog -8192
d3.27 25020610 0
signal 2 ～8192
Analog_Speed_ Chooses analog-speed channels
Con 0: Invalid analog channel
d3.28 25020708 1: Valid analog channel 1 (AIN1) 0 /
2: Valid analog channel 2 (AIN2)
Valid mode -3 and 3
Analog_Speed_F Sets the proportion between
d3.29 25020A10 1000 /
actor analog signals and output speed
Analog_Torque_ Chooses analog-torque channels
d3.30 25020808 Con 0: Invalid analog channel 0 /
1: Valid analog channel 1 (AIN1)
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Numeric Internal Variable Name Meaning Default Range
Display Address Value
2: Valid analog channel 2 (AIN2)
Valid mode 4
Analog_Torque_ Sets the proportion between
d3.31 25020B10 Factor analog signals and output speed 1000 /
(current)
Analog_MaxT_C 0: No control
d3.32 25020908 on 1: Max. torque controlled by AIN 1 0 /
2: Max. torque controlled by AIN 2
Analog_MaxT_F Indicates the max torque factor on
d3.33 25020C10 8192 /
actor analog signal control
Gear_Factor Indicates the numerator to set -32767
d3.34 25080110 electronic gears when the 1000 ～
operation mode is -4 32767
Gear_Divider Indicates the denominator to set
1～
d3.35 25080210 electronic gears when the 1000
operation mode is -4 32767
Pulse mode control
0...CW/CCW
1...Pulse/Direction
2...Incremental encoder
d3.36 25080308 PD_CW 1 /
Note:After changing this
parameter,it needs to save by
d2.00/d3.00/d5.00 and then reboot
driver.
PD_Filter To flat the input pulse.
Filter frequency: f=1000/(2π*
PD_Filter)
Time constant: T = PD_Filter/1000 1～
d3.37 25080610 3
Unit: S 32767
Note: If you adjust this filter
parameter during the operation,
some pulses may be lost.
Frequency_Chec Indicates the limitation on pulse
d3.38 25080810 600 0～600
k input frequency (k Hz)
PD_ReachT Indicates the position reached time
0～
d3.39 25080910 window in the pulse mode 10
Unit: mS 32767
Select which internal position will
be set.(The range of L is 0-7)
Din_Pos0
Din_Pos1
Din_Position_Sel Din_Pos2
d3.40 2FF10108 0
ect_L Din_Pos3
Din_Pos4
Din_Pos5
Din_Pos6
Din_Pos7
d3.41 2FF10210 Din_Position_M Refer to d3.42 0
The position of internal position set
in Din_Position_Select_L
d3.42 2FF10310 Din_Position_N Din_Pos = 0
Din_Position_M*10000+Din_Positi
on_N
Absolute positioning/Relative
Din_Control_Wor
d3.43 20200F10 positionin gsetting 2F
d
2F:Absolute positioning
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Numeric Internal Variable Name Meaning Default Range
Display Address Value
4F:Relative positioning
Note:This parameter needs to
save and reboot driver after
change.
Din_Speed4_RP Multi-speed control: 4 [rpm]
d3.44 20201810 0
M
Din_Speed5_RP Multi-speed control: 5 [rpm]
d3.45 20201910 0
M
Din_Speed6_RP Multi-speed control: 6 [rpm]
d3.46 20201A10 0
M
Din_Speed7_RP Multi-speed control: 7 [rpm]
d3.47 20201B10 M 0

Parameter List: Group F004 (To Set Motor Parameters)

Numeric Internal Variable Name Meaning

display Address
d4.00 2FF00308 Store_Motor_Data 1: Stores the set motor parameters
Host computer (ASCII code) numerical
display (hexadecimal)
“00”..... ..... ...303.0
About the motor number please refer to chapter
6.1.1.
d4.01 64100110 Motor_Num Note: 1.Set the motor parameters refer to
chapter 6 before operating.
2.It must use capital letter when set this
parameter by PC.
3.It needs to save by d4.00 and reboot driver
after changing this parameter.
Feedback_Type Type of encoders
001.1: Differential ABZ and differential UVW
signals
d4.02 64100208
001.0: Differential ABZ and UVW signals of TTL
000.1: ABZ of TTL and differential UVW signals
000.0: ABZ of TTL and UVW signals of TTl
Motor_Poles Number of motor poles pairs
d4.03 64100508
[2p]
d4.04 64100608 Commu_Mode Searching excitation mode
Commu_Curr Searching excitation current
d4.05 64100710
[dec]
Commu_Delay Delay in searching excitation
d4.06 64100810
[mS]
Motor_IIt_I Indicates current settings on overheat
d4.07 64100910 protection of motors
Ir[Arms]*1.414*10
Motor_IIt_Filter Indicates time settings on overheat protection
d4.08 64100A10 of motors
Time: N*256/1000 Unit: S
Imax_Motor Indicates max peak current of motors
d4.09 64100B10
I[Apeak]*10
L_Motor Indicates phase inductance of motors
d4.10 64100C10
L[mH]*10
d4.11 64100D08 R_Motor Indicates phase resistance of motors
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Numeric Internal Variable Name Meaning
display Address
R[Ω]*10
Ke_Motor Indicates the reverse electromotive force of
d4.12 64100E10 motors
Ke[Vp/krpm]*10
Kt_Motor Indicates the torque coefficient of motors
d4.13 64100F10
Kt[Nm/Arms]*100
Jr_Motor Indicates the rotor inertia of motors
d4.14 64101010
Jr[kgm^2]*1 000 000
Brake_Duty_Cycle Indicates the duty cycle of contracting brakes
d4.15 64101110
0~2500[0…100%]
Brake_Delay Indicates the delay time of contracting brakes
d4.16 64101210
Default value: 150 ms
d4.17 64101308 Invert_Dir_Motor Indicates the rotation direction of motors
Current using motor type.
PC Software Numeric Display Model
"K0"....................304.B…....SMH60S-0020-30
"K1"...................314.B…….SMH60S-0040-30
"K2"...................324.B…….SMH80S-0075-30
"K3"...................334.B…….SMH80S-0100-30
"K4"...................344.B……SMH110D-0105-20
"K5"...................354.B……SMH110D-0125-30
"K6"..................364.B….....SMH110D-0126-20
"K7"……….......374.B…….SMH110D-0126-30
"K8"…………...384.B.........SMH110D-0157-30
"K9"..................394.B…....SMH110D-0188-30
d4.18 64101610 Motor_Using KB"……..……...424.B…....SMH130D-0105-20
“KC"…………...434.B…….SMH130D-0157-20
“KD"…………...444.B…….SMH130D-0210-20
“KE"…………...454.B…....SMH150D-0230-20
"S0"………...305.3…..130D-0105-20AAK-2LS
"S1"..............315.3…..130D-0157-20AAK-2LS
"S2"………...325.3….130D-0157-15AAK-2LS
"S3"..............335.3….130D-0200-20AAK-2HS
"S4"..............345.3….130D-0235-15AAK-2HS
"F8"………...384.6…..85S-0045-05AAK-FLFN
"E0"..............304.5………..SME60S-0020-30
"E1"..............314.5……........SME60S-0040-30
"E2".................324.5…………..SME80S-0075-30

Parameter List: Group F005 (To Set Driver Parameters)

Numeric Internal Variable Name Meaning Default

Display Address Value
Store_Loop_Data 1: Stores all control parameters
except motor parameters
d5.00 2FF00108 0
10: Initializes all control parameters
except motor parameters
ID_Com Station No. of Drivers
d5.01 100B0008 Note: To change this parameter, you 1
need to save it with the address
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“d5.00”, and restart it later.
RS232_Bandrate Set the baud rate of RS232 port
540 19200
270 38400
d5.02 2FE00010 90 115200 270
Note: To change this parameter, you
need to save it with the address
“d5.00”, and restarts it later.
U2BRG Sets the baud rate of RS232 port
540 19200
270 38400
d5.03 2FE10010 270
90 115200
You need not restart it,but it can’t be
saved.
Chop_Resistor Indicates the values of braking
d5.04 60F70110 0
resistors
Chop_Power_Rated Indicates the nominal power of a
d5.05 60F70210 0
braking resistor
Chop_Filter Indicates the time constant of a
d5.06 60F70310 braking resistor 60
Time: N*256/1000 Unit: S
ADC_Shift_U Indicates data configuration of U
d5.07 25010110 phase shift. /
Note:Factory parameters
ADC_Shift_V Indicates data configuration of V
d5.08 25010210 phase shift /
Note:Factory parameters
Voltage_200 ADC original data when DC bus
d5.09 30000110 voltage is 200 V /
Note:Factory parameters
Voltage_360 ADC original data when DC bus
d5.10 30000210 voltage is 360 V /
Note:Factory parameters
Comm_Shift_UVW Indicates the excitation pointer of a
d5.11 60F60610 motor /
Note:Factory parameters
Error_Mask Indicates error masks
d5.12 26000010 FFF.F
Note:Factory parameters
RELAY_Time Indicates the relay operating time of
capacitor short-circuits
d5.13 60F70510 150
Unit: mS
Note:Factory parameters
d5.14 2FF00408 Key_Address_F001 Sets numeric display data /
RS232_Loop_Enabl 0：1 to 1
d5.15 65100B08 0
e 1：1 to N
0～
d5.16 2FFD0010 User_Secret User password.16bits.
65535

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Chapter 7 Operation on Input/Output Ports

KINCO FD2S servo driver has 7 digital input ports (a digital input port can receive high-level or low-level
signals, depending on whether high-level or low-level signals are chosen at the COM terminal) and 5 digital
output ports,OUT1-OUT4 ports can drive 100 mA load, and BR port can drive 500 mA load, and can directly
drive the internal contracting brake device. You can freely configure all functions on digital input/output ports
according to application requirements.

7.1 Digital Input

7.1.1 Polarity Control on Digital Input Signals

Note:all the digital inputs are normally open by default.

Table 7-1 Simplified IO polarity setting variables
Numeric Display Variable Name Meaning
d3.08 Dio_Polarity Sets IO polarity

Table 7-2 Polarity setting methods for digital input signals

④ ② ③ ④
Input/output port Channel Reserved
selection selection 0：The inputs are normally close
0: Output port Input: 1-8 1：The inputs are normally open
1: Input port Output: 1-7 Others:Check the current status

Example 7-1: Polarity Setting for Digital Input Signal DIN1

Fig.7-1 Polarity setting for digital input signal DIN1

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7.1.1.1 Use panel to change the polarity
Table 7-3 Polarity setting for digital input signal DIN1

④ ② ③ ④
Input/output port Channel selection Reserv 0: DIN1 is enabled
selection Set to 1 (DIN 1 ed when S1 opens
Set to 1 (input port selected) 1: DIN1 is enabled
selected) when S1 closes
Namely, if d3.08 is set to “110.0”, it indicates that DIN1 is normally close.If d3.08 is set to “110.1”, it indicates
that DIN1 is normally open.
7.1.1.2：Use PC software to change polarity
Use the PC software to connect to FD2S Servo and then open I/O port.The LED under polarity are green,it
indicates that the inputs are normally open.As following figure,if you change the LED of DIN5 and DIN6 into
red,it indicates that DIN5 and DIN6 are normally close.

Fig.7-2 Digital I/O in PC software

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7.1.2 Simulation of Digital Input Signals

Table 7-4 IO simulation variable

Numeric Variable Name Meaning
Display
d3.09 Dio_Simulate Simulates input signals, and enforces
output signals for outputting
Dio_Simulate (IO simulation) is for the software to simulate inputting of a valid signal. “1” indicates that the
input signal is valid, and “0” indicates that the input signal is invalid.
Table 7-5 Settings on simulation of digital input signals

① ② ③ ④
Input/output port Channel Reserved 0: No input signal is simulated, and no
selection selection output signal is compulsorily outputted
0: output port Input: 1-8 1: Input signal is simulated, and output
1: input port Output: 1-7 signal is outputted compulsorily
Other: Check the current status

Example 7-2: Simulate digital input DIN1

Table 7-6: Simulate digital input DIN1

① ② ③ ④
Input/output port Channel selection Reserve 0: Invalid DIN1
selection Set to 1 (DIN 1 selected) d simulation
Set to 1 (input port 1: Valid DIN1
selected) simulation
Namely, if d3.09 is set to “110.0”, it indicates that no DIN1 input signals are simulated; if d3.09 is set to “110.1”,
it indicates that DIN1 input signals are simulated.

7.1.3 Status Display of Digital Input Signals

Table 7-7 Variables for status display of digital input signals

Numeric Display Variable Name Meaning
d1.11 Din_Status Status of input ports
Din_Status (hexadecimal) is used to display the status of the actually input external signals in real time.

7.1.4 Addresses & Functions of Digital Input Signals

Table 7-8 Addresses & default functions of digital input signals

Numeric Variable Name Meaning Default Value
Display

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000.1: Driver enable 000.1 (Driver enable)
000.2: Driver fault reset
d3.01 Din1_Function
000.4: Operation mode control
000.8: P control for velocity loop
001.0: Position positive limit 000.2 (Driver fault reset)
002.0: Position negative limit
d3.02 Din2_Function 004.0: Homing signal
008.0: Reverse speed demand
010.0: Internal speed control 0 000.4 (Operation mode
020.0: Internal speed control 1 control)
d3.03 Din3_Function 800.1: Internal speed control 2
040.0: Internal position control 0
080.0: Internal position control 1 000.8 (P control for velocity
800.2: Internal position control 2 loop)
d3.04 Din4_Function 800.4 Multi Din 0
800.8 Multi Din 1
801.0 Multi Din 2 001.0 (Position positive limit)
802.0 Gain switch 0
d3.05 Din5_Function 804.0 Gain switch 1
100.0: Quick stop
200.0: Start homing 002.0 (Position negative
400.0: Activate command limit)
d3.06 Din6_Function
Note:DinX_Function(X is 1-7) is
used to define the function of
004.0 (Homing signal)
digital inputs.
d3.07 Din7_Function

Table 7-9 Meaning of defined functions of digital input signals

Function Meaning
Disable Used to cancel the function of this digital input.
Driver enable By default, the driver enable signal is valid, and the motor shaft is locked.
Driver fault reset Signals on the rising edge are valid, and alarms are cleared.
Operation mode control To switch between two operation modes.
You can freely determine the operation modes corresponding to valid signals
and invalid signals by performing settings through d3.16 Din_Mode0 (choose
0 for operation mode) of Group F003 and Din_Mode1 (choose 1 for operation
mode) of Group F003.
P control for velocity loop Indicates the control on stopping integration in velocity loop. The control is
applied in the occasion where high-speed system stop occurs, but
overshooting is not expected.
Note: In the “-3” mode, if the signal is valid, fixed errors occur between the
actual speed and target speed.
Position positive limit Indicates the limit of forward running of motors (normally closed contact by
default).
By default, the driver regards position positive limits as valid, and polarity can
be modified to adjust to normally open switches.
Position negative limit Indicates the limit of inverted running of motors (normally closed contact by
default).
By default, the driver regards position negative limits as valid, and polarity can
be modified to adjust to normally open switches.
Homing signal To find origins of motors.
Reverse speed demand To reverse the target speed in the speed mode ("-3" or “3”).
Internal speed control 0 To control internal multiple speeds.
Internal speed control 1 Note: For details, see Section 7.5 Internal Multi-Speed Control.
Internal speed control 2
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Internal position control 0 To control internal multiple positions.
Internal position control 1 Note: For details, see Section 7.4 Internal Multi-Position Control.
Internal position control 2
Multi Din 0
Multi Din 1 To switch multiple electronic gear
Multi Din 2
Gain switch 0 To switch multiple gain parameters(P-gain of velocity loop,i-gain of velocity
Gain switch 1 loop,p-gain of position loop)
Quick stop When the signal is valid, the motor shaft releases.
After the signal is removed, the driver requires re-enabling.
Start homing When the rising edge of the signal is detected,it will start homing command.
Activate command When the rising edge of the signal is detected,it will activate the internal
position control

Example 7-3: Driver Enable Setting

Requirement: The “driver enable” function is controlled through an external digital output port. In this example,
the digital input port DIN1 is defined as the “driver enable” function. Table 7-10 shows the setup method.

Table 7-10 Digital Input Port DIN1 Defined as the “Driver Enable” Function
Numeric Display Variable Name Parameter
Settings
d3.01 Din1_Function Set to 000.1
d3.00 Store_Loop_Data Set to 1
Note: Any digital output of DIN1-7 can be defined as “driver enable”, and is set to 000.1, that is, bit 0 is valid.

Requirement: Enable the function of automatically powering on the driver by setting internal parameters in
drivers instead of external digital input ports. Table 7-11 describes the setup method.

Table 7-11 Enabling the function of automatically powering on the driver by setting internal parameters in
drivers
Numeric Variable Name Parameter Settings
Display
d3.01- d3.07 DinX_ Function None of the digital input port can be set to
(1~7) 000.1, that is, the Enable function is not
controlled by any digital input port.
d3.10 Switch_On_Auto Set to 1
d3.00 Store_Loop_Data Set to 1
Users can also use PC software to define I/O functions.Open the I/O port menu,click the button in
red box as shown in following figure,then select the required function.

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Fig.7-2 Set digital I/O function in PC software

Example 7-4: Disabling Position Positive/Negative Limit Settings

When the driver is delivered, the DIN5 of the motor is the position positive limit and DIN6 is the position
negative limit by default. If there are no external position positive/negative limit switches, this function must be
disabled so that the servo driver can work properly. Table 7-12 describes the setup method.
Table 7-12: Disabling position positive/negative limit settings
Numeric Variable Name Parameter Settings
Display
d3.05 Din5_Function Change the default value 001.0
(position positive limit) to 000.0
d3.06 Din6_Function Change the default value 002.0
(position negative limit) to 000.0
d3.00 Store_Loop_Data Set to 1

Example 7-5: Operation Mode Control on Drivers

Requirements: Defines the input port DIN3 as the operation mode control on drivers, and the operation mode
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is “-4” (pulse control mode) when DIN3 fails, and is “-3” (instantaneous speed mode) when DIN3 is valid.
Table 7-13 describes the setup method.
Table 7-13 Settings on operation mode control on drivers
Numeric Display Variable Name Parameter Settings
d3.03 Din3_Function Set to 000.4
d3.16 Din_Mode0 Set to 0.004 (-4)
d3.17 Din_Mode1 Set to 0.003 (-3)
d3.00 Store_Loop_Data Set to 1
Note: If the driver is required to operate in some mode with power on, one of the digital input must be set as
function “Operation Mode Control”. Then you can set the operation modes that require in the parameters
d3.16 or d3.37 in Group F003.

7.1.5 Wirings of Digital Input Port

1. NPN wiring diagram (to the controller that supports low level output)

Fig.7-4 NPN wiring diagram (to the controller that supports low level output)
2. PNP wiring diagram (to the controller that supports high level output)

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Fig.7-5 PNP wiring diagram (to the controller that supports high level output)

7.2 Digital Output

7.2.1 Polarity Control on Digital Output Signals

Note:All the digital output are normally open by default.

Table 7-14 Variables for setting simplified IO polarity

Numeric Variable Name Meaning
Display
d3.08 Dio_Polarity Sets IO polarity

Dio_Polarity (simplified IO polarity settings) is used to set the polarity of valid digital output signals. The
number “1” indicates normally open, and “0” indicates normally close.Default is 1.

Example 7-6: Polarity setting for digital output OUT1

7.2.1.1：Use panel to change polarity

Table 7-15 Polarity setting for digital output OUT1(Default is ready function)
① ② ③ ④
Input/output port Channel selection Reserv 0: OUT1 is normally
selection Set to 1 (OUT1 ed close
Set to 0 (Output port selected) 1: OUT1 is normally
selected) open.
Namely, if d3.08 is set to “010.0”, it indicates that OUT1 is normally close.If d3.08 is set to “010.1”, it indicates
that OUT1 is normally open.
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7.2.1.2：Use PC software to change polarity,please refer to 7.1.1.2.

7.2.2 Simulation of Digital Output Signals（More details please refer to 7.1.2）

Table 7-16 IO simulation variables

Numeric Variable Name Meaning
Display
d3.09 Dio_Simulate Simulates input signals, and force the
output signal
Dio_Simulate (IO simulation) is to simulate the output of a valid signal. The number “1” indicates that the
output signal is valid, and “0” indicates that the output signal is invalid.

7.2.3 Status Display of Digital Output Signals

Table 7-17 Variables for status display of digital output signals

Numeric Display Variable Name Meaning
d1.12 Dout_Status Status of an
output port
Din_Status (hexadecimal) displays the status of actual external output signals in real time.

7.2.4 Addresses and Functions of Digital Output Signals

Table 7-18 Addresses and default functions of digital output signals

Numeric Variable Name Meaning Default Value
Display
Dout1_Function 000.1: Ready 000.1 (Ready)
000.2: Error
d3.11 000.4: Position reached
000.8: Zero velocity
Dout2_Function 001.0: Motor brake 000.2 (Error)
002.0:Velocity reached
d3.12 004.0: Index
008.0: The maximum speed
obtained in the torque mode
Dout3_Function 010.0: PWM ON 00a.4 (Position
020.0: Position limiting reached/Velocity
d3.13 reached/Max. velocity
040.0: Reference found
080.0: Reserved limit)
Dout4_Function 100.0: Multi Dout 0 000.8 (Zero velocity)
200.0: Multi Dout 1
d3.14 400.0: Multi Dout 2

001.0 (Motor brake)

d3.15 Dout5_Function

Table 7-19 Meanings of the functions defined by digital output signals

Function Meaning
Disable Cancel the function of this digital output
Ready The driver is ready for operation.
Error Alarm signals are output, indicating that the driver is faulty.
Position reached In the “-4” mode of pulse control, the target position data keeps
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unchanged in the window (d3.39) of the time of reaching the
target position, and position errors are within the window of
reaching the target position.
Zero velocity After the motor is enabled, it is outputted when the motor speed
is 0.
Motor brake The driver enables the motor, and contracting brake output is
valid.
Velocity reached In the “-3” or "3” internal speed control mode, signals are output
after they reach the target speed.
Index Z phase signal output (the speed should not be too high).
Max. velocity limit In the “4” analog – torque mode, signals are output after the max
restricted speed is reached.
PWM ON The driver enables the motor.
Motor limiting Motor is in the status of position limiting.
Reference found Homing is finished.

Example 7-7: “Ready” settings

Requirement: The OUT1 is defined as the “Ready” function. For details on settings, see Table 7-19。
Table 7-20 “Ready” settings
Numeric Display Variable Name Parameter Settings
d3.11 Dout1_Function Set to 000.1

d3.00 Store_Loop_Data Set to 1

7.2.5 Wiring of Digital Output Port

1. Internal circuit diagram of digital output ports

Fig.7-6 Internal circuit diagram of digital output

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Note:
1.OUT3 and OUT4 use the same common terminal(COMO).
2.NPN Wiring Diagram（OUT1-OUT7 all support this）

Fig.7-7 NPN wiring diagram (to controllers that support valid low level input)

3. PNP wiring diagram (Only OUT1,OUT2 and OUT7 support this wiring)

Fig.7-8 PNP wiring diagram (to controllers that support valid low level input)）
4. To connect a relay to the digital output port, do remember to connect a diode in inverse parallel, as shown
in Fig.7-9.

Fig.7-9 Connect a relay to the digital output port

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Chapter 8 Operation Mode

8.1 Pulse Control Mode (“-4” Mode)

8.1.1 Wiring in Pulse Control Mode

1. Wiring diagram of FD2S driver in pulse control mode

Fig. 8-1 Wiring diagram of FD2S driver in pulse control mode

2.Common anode connection (to controllers that support valid low level output)

Fig. 8-2 Common anode connection (to controllers that support valid low level output)

3. Common cathode connection (to controllers that support valid high level output)

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Fig. 8-3 Common cathode connection (to controllers that support valid high level output)

8.1.2 Parameters for Pulse Control Mode

1. Parameters for electronic gear ratio

Table 8-1 Parameters for electronic gear ratio
Numeric Variable Name Meaning Default Value Range
Display
d3.34 Gear_Factor Numerator of electronic 1000 -32767~32767
gear 0 in mode -4
d3.35 Gear_Divider Denominator of electronic 1000 1~32767
gear 0 in mode -4
Parameters for electronic gear ratio are used to set the numerator and denominator of electronic gears when
the driver operates in mode -4.

Command pulse input Command pulse output

Gear _ Factor
F1 Gear _ Divider F2

Gear _ Factor
Namely: F2= * F1
Gear _ Divider
If the electronic gear ratio is 1:1, 10000 pulses are inputted externally (the resolution of encoders is 2500
PPR, quadruple), and the motor turns a circle. If the electronic gear ratio is 2:1, 10000 pulses are inputted
externally, and the motor turns two circles.
Multi electronic gears can be defined by DIN with function “Multi DinX” as shown in following table.
Parameter
Multi Din 2 Multi Din 1 Multi Din 0 Descriptions
Name Address
Gear_Factor 0 25080110
0 0 0 Electronic gear 0
Gear_Divider 0 25080210
Gear_Factor 1 25090110
0 0 1 Electronic gear 1
Gear_Divider 1 25090210
Gear_Factor 2 25090310
0 1 0 Electronic gear 2
Gear_Divider 2 25090410
Gear_Factor 3 25090510
0 1 1 Electronic gear 3
Gear_Divider 3 25090610
Gear_Factor 4 25090710
1 0 0 Electronic gear 4
Gear_Divider 4 25090810
Gear_Factor 5 25090910
1 0 1 Electronic gear 5
Gear_Divider 5 25090A10

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Gear_Factor 6 25090B10
1 1 0 Electronic gear 6
Gear_Divider 6 25090C10
Gear_Factor 7 25090D10
1 1 1 Electronic gear 7
Gear_Divider 7 25090E10
The default value of Gear_Factor and Gear_Divider are 1000.

2. Parameters for pulse mode selection

Table 8-2 Parameters for pulse mode selection
Numeric Variable Name Meaning Default Range
Display Value
d3.36 PD_CW 0: Double pulse (CW/CCW) mode 1 N/A
1. Pulse direction (P/D) mode
2. Incremental encoder mode
Note: To change this parameter, you
need to save it with d3.00, and restarts it
later.
Double pulse (CW/CCW) mode (d3.36 = 0)

Effective on the
rising edge

Forward rotation Reverse rotation

Pulse direction (P/D) mode (d3.36 = 1)

Effective on the
rising edge

Forward rotation Reverse rotation

Incremental encoder mode (d3.36=2)

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Parameters for pulse filtering coefficient

Table 8-3 Parameters for pulse filtering coefficient
Numeric Variable Meaning Default Range
Display Name Value
d3.37 PD_Filter Used to smooth the input pulses. 3 1~3276
Filter frequency: f = 1000/(2π* PD_Filter) 7
Time constant: T = PD_Filter/1000
Unit: S
Note: If you adjust this parameter during the operation,
some pulses may be lost.
When a driver operates in the pulse control mode, if the electronic gear ratio is set too high, it is required to
adjust this parameter to reduce motor oscillation; however, if the parameter adjustment is too great, motor
running instructions will become slower.

Parameters for pulse frequency control

Table 8-4 Parameters for pulse frequency control
Numeric Display Variable Name Meaning Default Range
Value
d3.38 Frequency_Check Indicates the limitation on pulse input 600 0~600
frequency (kHz)

5. Parameters for gain control on position loops and velocity loops

Current loops are related to motor parameters (optimal parameters of the selected motor are default for the
driver and no adjusting is required).
Parameters for velocity loops and position loops should be adjusted properly according to loading conditions.
During adjustment of the control loop, ensure that the bandwidth of the velocity loop is at least twice of that of
the position loop; otherwise oscillation may occur.
Table 7-5 Parameters for gain control on position loops
Numeric Variable Name Meaning Default Range
Display Value
d2.07 Kpp Indicates the proportional gain Kpp 0 of the 1000 0~16384
position loop
d2.08 K_Velocity_FF 0 indicates no feedforward, and 256 indicates 256 0~256
100% feedforward
d2.09 K_Acc_FF The value is inversely proportional to the 32767 32767~10
feedforward
d0.05 Pc_Loop_BW Sets the bandwidth of the position loop in Hz. 0 /
d2.26 Pos_Filter_N Average filter parameter 1 /
Proportional gains of the position loop Kpp: If the proportional gain of the position loops increases, the
bandwidth of the position loop is improved, thus reducing both the positioning time and following errors.
However, too great bandwidth may cause noise or even oscillation. Therefore, this parameter must be set
properly according to loading conditions. In the formula Kpp=103* Pc_Loop_BW,Pc_Loop_BW indicates the
bandwidth of the position loop. The bandwidth of a position loop is less than or equal to that of a velocity loop.
It is recommended that Pc_Loop_BW be less than Vc_Loop_BW /4 (Vc_Loop_BW indicates the bandwidth of
a velocity loop).
Velocity feedforward of the position loop K_Velocity_FF : the velocity feedforward of a position loop can be
increased to reduce position following errors. When position signals are not smooth, if the velocity
feedforward of a position loop is reduced, motor oscillation during running can be reduced. Acceleration
feedback of the position loop K_Acc_FF (adjustment is not recommended for this parameter): If great gains of
position loops are required, the acceleration feedback K_Acc_FF can be properly adjusted to improve
performance.
I p * Kt * Encoder _ R
K_Acc_FF = Note: K_Acc_FF is inversely proportional to the acceleration
250000* 2 * J t * 
feedforward.

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Table 8-6 Parameters for gain control on position loops
Numeric Variable Name Meaning Default Range
Display Value
d2.01 Kvp Sets the response speed of a velocity loop 100 0~3276
7
d2.02 Kvi Adjusts speed control so that the time of minor 2 0~1638
errors is compensated 4
d2.05 Speed_Fb_N You can reduce the noise during motor operation 45 0~45
by reducing the feedback bandwidth of velocity
loops (smoothing feedback signals of encoders).
When the set bandwidth becomes smaller, the
motor responds slower. The formula is
F=Speed_Fb_N*20+100.
For example, to set the filter bandwidth to "F = 500
Hz”, the parameter should be set to 20.
Proportional gain of velocity loop Kvp: If the proportional gain of the velocity loop increases, the responsive
bandwidth of the velocity loop also increases. The bandwidth of the velocity loop is directly proportional to the
speed of response. Motor noise also increases when the velocity loop gain increases. If the gain is too great,
system oscillation may occur.
Integral gain of velocity loop Kvi: If the integral gain of the velocity loop increases, the low-frequency intensity
is improved, and the time for steady state adjustment is reduced; however, if the integral gain is too great,
system oscillation may occur.
Multiple gains can be defined by DIN with the function “Gain Switch 0” and “Gain Switch 1” as shown in
following table.
Parameters
Gain Switch 1 Gain Switch 0 Descriptions
Name Address
Kvp of Gain 0 60F90110
0 0 Gain 0 Kvi of Gain 0 60F90210
Kpp of Gain 0 60FB0110
Kvp of Gain 1 23400410
0 1 Gain 1 Kvi of Gain 1 23400510
Kpp of Gain 1 23400610
Kvp of Gain 2 23400710
1 0 Gain 2 Kvi of Gain 2 23400810
Kpp of Gain 2 23400910
Kvp of Gain 3 23400A10
1 1 Gain 3 Kvi of Gain 3 23400B10
Kpp of Gain 3 23400C10

If DIN is defined as “Gain Switch” function,then the parameter “PI_Switch” will disable.
Parameter “PI_Point”(60F92808) is used to display the current gain.
Auto-tuning can only be used to set Gain 0.
Vc_Loop_BW and Pc_Loop_BW are only corresponding to Gain 0.Other Gain needs to set by manual.
“PI_Switch” is used to switch Gain 0 and Gain 1.In mode -4,1 and 3,it will use Gain 1 when “Position reached”
signal is valid,and use Gain 0 when “Position reached” signal is invalid.

8.1.3 Examples of Pulse Control Mode

In the pulse control mode, follow the steps below to configure a driver:
Step 1: Confirm whether the functions of the driver require enabling through external digital input ports. To
enable the driver through external digital input ports, see Table 6-12 in Example 6-3 for settings. If it is not
necessary to enable the driver through external digital input ports, you can disable the enabling control
function of external digital input ports by referring to Table 6-13 of Example 6-3, and enable the driver by
setting its internal parameters.
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Step 2: Confirm whether limit switches are required. By default, the driver operates in the limit status after
being powered on. In this case, the numeric display has limit status display. If there is no limit switches,
please disable the function of limit switches by referring to Example 6-4.
Step 3: Confirm mode switching bits and operation modes by referring to the settings in Example 6-5. The
factory default settings of the driver are as follows: When no signal is inputted on DIN3, the driver operates in
the “-4” mode (pulse control mode).
Step 4: After function configuration on digital input ports, it is required to set parameters such as pulse modes
and electronic gear ratio.
Step 5: Save parameters.

Example 8-1: Pulse control mode “-4” – enable the driver through external

digital input

Requirement: DIN1 is used for enabling the driver, DIN2 is used for error resetting, and DIN3 controls the
operation modes of the driver (the mode is “-4” when no signal is inputted, and the mode is “-3” when signal is
inputted). Limit switches are unavailable. The pulse form is pulse/direction, and the electronic rear ratio is 2:1.
Table 8-7 describes the setup method.
Table 8-7: Pulse control mode “-4” – enable the driver through external digital input
Numeric Variable Name Meaning Parameter Settings
Display
d3.01 Din1_Function Defines the functions of digital input 000.1 (Driver enable)
port 1
d3.02 Din2_Function Defines the functions of digital input 000.2 (Fault reset)
port 2
d3.03 Din3_Function Defines the functions of digital input 000.4 (Operation mode
port 3 control )
d3.05 Din5_Function Defines the functions of digital input The default value 001.0
port 5 changes to 000.0 (position
positive limits are disabled)
d3.06 Din6_Function Defines the functions of digital input The default value 002.0
port 6 changes to 000.0 (position
negative limits are disabled)
d3.16 Din_Mode0 Select this operation mode when Set to 0.004 (-4) mode
input signals are invalid (pulse control mode)
d3.17 Din_Mode1 Select this operation mode when Set to 0.003 (-3) mode
input signals are valid (instantaneous speed mode)
d3.34 Gear_Factor Indicates the numerator to set Set to 2000
electronic gears in the “-4” operation
mode (pulse control mode)
d3.35 Gear_Divider Indicates the denominator to set Set to 1000
electronic gears in the “-4” operation
mode (pulse control mode)
d3.36 PD_CW 0: Double pulse (CW/CCW) mode Default value is 1
1. Pulse direction (P/D) mode (pulse direction)
Note: To change this parameter, you
need to save it with the address
“d3.00”, and restarts it later.
d3.00 Store_Loop_Data 1: Storing all configured parameters Set to 1
for the control loop
10: Initializing all parameters for the
control loop

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Example 8-2 Pulse control mode “-4” – enable the driver automatically after

driver power on

Requirement: The auto power-on function of the driver is enabled, DIN2 is used for error resetting, and DIN3
controls the operation modes of a driver (the mode is “-4” when no signal is inputted, and the mode is “3”
when signal is inputted). Limit switches are unavailable. The pulse form is pulse/direction, and the electronic
rear ratio is 1:2. Table 8-8 describes the setup method.
Table 8-8 Pulse control mode “-4” – enable driver automatically after driver power on
Numeric Variable Name Meaning Parameter Settings
Display
d3.01- DinX_ Function Defines the functions of digital input None of the digital input port
d3.07 (1~7) ports 1-7 can be set to 000.1, that is, the
Enable function is not controlled
by any digital input port.
d3.02 Din2_Function Defines the functions of digital input 000.2 (Error resetting)
port 2
d3.03 Din3_Function Defines the functions of digital input 000.4 (Control on operation
port 3 modes for the driver)
d3.05 Din5_Function Defines the functions of digital input The default value 001.0
port 5 changes to 000.0 (position
positive limits are disabled)
d3.06 Din6_Function Defines the functions of digital input The default value 002.0
port 6 changes to 000.0 (position
negative limits are disabled)
d3.10 Switch_On_Auto 0: No control Set to 1
1:Automatically locks the motor when
the driver is powered on
d3.16 Din_Mode0 Select this operation mode when Set to 0.004 (-4) mode
input signals are invalid (pulse control mode)
d3.17 Din_Mode1 Select this operation mode when Set to 0.003 (-3) mode
input signals are valid (instantaneous speed mode)
d3.34 Gear_Factor Indicates the numerator to set Set to 1000
electronic gears in the “-4” operation
mode (pulse control mode)
d3.35 Gear_Divider Indicates the denominator to set Set to 2000
electronic gears in the “-4” operation
mode (pulse control mode)
d3.36 PD_CW 0: Double pulse (CW/CCW) mode Default value is 1
1. Pulse direction (P/D) mode (pulse direction)
Note: To change this parameter, you
need to save it with the address
“d3.00”, and restarts it later.
d3.00 Store_Loop_Data 1: Storing all configured parameters Set to 1
for the control loop
10: Initializing all parameters for the
control loop

8.2 Speed Mode (“-3” or “3” Mode)

In the instantaneous speed mode (“-3” mode), the actual speed reaches the target speed instantly. As a
contrast, in the speed mode with acceleration/deceleration (“3” mode), the actual speed gradually increases
until it reaches the target speed. Both the acceleration and deceleration (trapeziform shape) are configured
respectively by d2.10 and d2.11. In the “3" mode, you can set Kpp to enable/disable position loops. If a

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position loop is enabled, speed oscillation is less than that when the loop is disabled. If Kpp is 0, it indicates
that the position loop is closed.

Fig. 8-4 The speed mode “3” with acceleration/deceleration

8.2.1 Wiring in Analog – Speed Mode

Fig. 8-5 Wiring diagram of FD2S Servo in analog–speed mode

8.2.2 Parameters for Analog – Speed Mode

Table 8-9 Parameters for analog – speed mode

Numeric Variable Name Meaning Default Range
Display Value
d3.22 Analog1_Filter Used to smooth the input analog signals. 5 1~127
Filter frequency: f=4000/(2π*
Analog1_Filter)
Time Constant (T) = Analog1_Filter/4000
(S)
d3.23 Analog1_Dead Sets dead zone data for external analog 0 0~8192
signal 1
d3.24 Analog1_Offset Sets offset data for external analog signal 1 0 -8192~8
192
d3.25 Analog2_Filter Used to smooth the input analog signals. 5 1~127
Filter frequency: f=4000/(2π*
Analog1_Filter)
Time Constant (T) = Analog2_Filter/4000
(S)
d3.26 Analog2_Dead Sets dead zone data for external analog 0 0~8192
signal 2
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d3.27 Analog2_Offset Sets offset data for external analog signal 2 0 -8192~8
192
d3.28 Analog_Speed_Con Chooses analog-speed channels 0 N/A
0: Invalid analog channel
1: Valid analog channel 1 (AIN1)
2: Valid analog channel 2 (AIN2)
10～17：AIN1 for “Din_Speed (X-10)”
20～27：AIN2 for “Din_Speed (X-20)”
Valid in mode -3, 3 and 1.
d3.29 Analog_Speed_Factor Sets the proportion between analog signals 1000 N/A
and output speed
d3.32 Analog_MaxT_Con 0: No control 0 N/A
1: Max torque that Ain1 can control
2: Max torque that Ain2 can control
d3.33 Analog_MaxT_Factor Indicates the max torque factor for analog 8192 N/A
signal control

When d3.28 is 1 or 2,mode 1 is invalid,mode 3 and -3 are valid.

When d3.28 is 10~17 or 20~27,mode 1,3 and -3 are valid.
When d3.28 is 10~17(AIN1 for “Din_Speed (X-10)”),the corresponding speed is as following table.
10 11 12 13 14 15 16 17
Din_Speed Din_Speed Din_Speed Din_Speed Din_Speed Din_Speed Din_Speed Din_Speed
0 1 2 3 4 5 6 7
When d3.28 is 20~27(AIN1 for “Din_Speed (X-10)”),the corresponding speed is as following table.
20 21 22 23 24 25 26 27
Din_Speed Din_Speed Din_Speed Din_Speed Din_Speed Din_Speed Din_Speed Din_Speed
0 1 2 3 4 5 6 7

8.2.3 Analog Signal Processing

U int ernal
2047 U int ernal 2047
1
2

-10v -10v
U external U external
10v 0 10v

U shift U dead
-2048 -2048
Offset Dead zone

Fig. 8-6 Analog signal processing

Electrical control on internal variables is available only after ADC conversion and offset of external analog
signals, and judgment of dead zone signals.
For offset processing, see the left part in Fig. 8-6; for dead zone processing, see the right part in Fig. 8-6.
U int ernal = U external − U shift
Mathematical equation for offset processing:

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U int ernal = 0 − U dead  U external  U dead

 − U  U external
U = U external − U dead   dead
 int ernal
 U dead  U external
Mathematical equation for dead zone processing: 
Mathematical equation for integrated processing (offset and dead
 U int ernal = 0 − U dead  U external − U shift  U dead
 − U dead  U external − U shift
U = − −
 int ernal U U U  
 U dead  U external − U shift
external shift dead

zone) 
Table 8-10 Analog signal variables
Variable Meaning Range
U int ernal Internal data corresponding -10 V – 10 V corresponds to
to the external voltage -2048 – 2047 when no offset or
dead zone voltage exists
U ex t ernal External input voltage -10V – 10V
U shift Offset voltage 0 – 10 V corresponds to
Ana log_ Offset 0~8191
U dead Dead zone voltage 0 – 10 V corresponds to
Ana log_ Dead 0~8191
The obtained analog signal U int ernal obtains U filter after passing through a first-order low-pass filter, and is
applied by the internal programs again.
In the analog – speed mode, if the analog signal U filter that passes through the filter is multiplied by a factor,
this signal will be regarded as the internal target speed Vdemand .
Vdemand = Factor *U filter  − 2048  U filter  2047
Mathematical formula:

Vdemand
Formula for Vrpm conversion:
Note: The resolution unit of an encoder is inc/r.

8.2.4 Calculation Procedure for Analog – speed Mode

Table 8-11 Calculation procedure for analog – speed mode

Procedure Method Formula
Step 1 Calculate U filter according 2047 U filter
=
to the offset voltage and dead 10v 10v − U shift − U dead
zone voltage that require
settings
Step 2 Calculate Vdemand according
to the required speed Vrpm
Step 3 Calculate Factor according Vdemand = Factor *U filter
to U filter and Vdemand
Step 5 Calculate Ana log_ Dead 8191/10v = Ana log_ Dead / U dead
according to the required
dead zone voltage
Step 5 Calculate Ana log_ Offset 8191/10v = Ana log_ Offset / U shift
according to the required
offset voltage

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8.2.5 Examples of Analog – Speed Mode

In the analog – speed mode, follow the steps below to set a driver:
Step 1: Confirm whether it is necessary to enable the driver through external digital input ports. To enable the
driver through external digital input ports, see Table 6-12 in Example 6-3 for settings. If the driver does not
require enabling through external digital input ports, you can disable the enabling function of external digital
input ports by referring to Table 6-13 of Example 6-3, and enable the auto power-on function of the driver by
setting its internal parameters.
Step 2: Confirm whether limit switches are required. By default, the driver operates in the limit status after
being powered on. In this case, the numeric display has limit status display. If limit switches are unavailable,
please disable the function of limit switches by referring to Example 6-4.
Step 3: Confirm the mode switching positions and operation modes by referring to the settings in Example 6-5.
The factory default settings are as follows: When no signal is inputted to DIN3, the driver operates in the “-4”
mode (d3.16 = -4); when signal is inputted to DIN3, the driver operates in the “-3” mode (d3.17 = -3). If the
driver is required to operate in the speed mode after being powered on, set d3.16 to -3 or 3.
Step 4: After configuring functions on digital input ports, select the analog – speed channel, and set
parameters such as analog – speed factors, dead zone, offset and filtering.
Step 5: Save parameters.
Example 8-3: Analog – speed mode (without setting the dead zone voltage and
offset voltage)
Requirement: DIN1 is used for enabling the driver, DIN2 is used for error resetting, and DIN3 controls the
operation modes of the driver (the mode is “-3” when no signal is inputted, and is “3” when signal is inputted).
Limit switches are unavailable. The voltage 10V corresponds to the rated rotation speed of 3000 rpm, and
-10V corresponds to the rated rotation speed of -3000 rpm. Select analog channel 1 (AIN1) to control the
speed.

Fig. 8-7 Schematic diagram of Example 8-3

Calculate U filter according to the offset voltage and dead zone voltage that require settings:
2047 U filter
= (In this example, U dead = 0 , and U shift = 0 )
10v 10v − U shift − U dead
Result: U filter =2047
Calculate Vdemand according to the required speed Vrpm :

(Encoder_R is 10000 inc/r)

Result: Vdemand = 8192000
Calculate Factor according to U filter and Vdemand :

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Vdemand = Factor *U filter
Result: Factor = 4000

Table 8-12 Parameter settings in Example 8-3

Numeric Variable Name Meaning Parameter Settings
Display
d3.01 Din1_Function Define the functions of digital input 000.1 (Driver enable)
port 1
d3.02 Din2_Function Define the functions of digital input 000.2 (Error resetting)
port 2
d3.03 Din3_Function Define the functions of digital input 000.4 (Control over operation
port 3 modes of drivers)
d3.05 Din5_Function Define the functions of digital input The default value 001.0
port 5 changes to 000.0 (position
positive limits are disabled)
d3.06 Din6_Function Define the functions of digital input The default value 002.0
port 6 changes to 000.0 (position
negative limits are disabled)
d3.16 Din _Mode0 Select this operation mode when Set to 0.003 (-3) mode
input signals are invalid (instantaneous speed mode)
d3.17 Din _Mode1 Select this operation mode when Set to 0.003 (3) mode
input signals are valid (speed mode with
acceleration/deceleration)
d3.22 Analog1_Filter Used to smooth the input analog
signals.
Filter frequency: f=4000/(2π*
Analog1_Filter)
Time Constant (T) =
Analog1_Filter/4000 (S)
d3.23 Analog1_Dead Set dead zone data for external Set to 0
analog signal 1
d3.24 Analog1_Offset Set offset data for external analog Set to 0
signal 1
d3.28 Analog_Speed_Con Chooses analog-speed channels Set to 1
0: Invalid analog channel
1: Valid analog channel 1 (AIN1)
2: Valid analog channel 2 (AIN2)
10 ～ 17 ： AIN1 for “Din_Speed
(X-10)”
20 ～ 27 ： AIN2 for “Din_Speed
(X-20)”
Valid in mode -3, 3 and 1.
d3.29 Analog_Speed_Factor Set the proportion between analog Set to 4000
signals and output speed
d2.10 Profile_Acce_16 Set the acceleration in operation 610 by defaut
mode 3 and 1.(rps/s)
d2.11 Profile_Dece_16 Set the deceleration in operation 610 by defaut
mode 3 and 1.(rps/s)
d3.00 Store_Loop_Data 1: Storing all configured Set to 1
parameters for the control loop
10: Initializing all parameters for
the control loop
Example 8-4 Analog – speed mode (setting the dead zone voltage)
Requirement: The dead zone voltage ranges from - 0.5 V to 0.5 V, that is, the speed is 0 when the voltage
ranges from - 0.5 V to 0.5 V. The voltage 10 V corresponds to 3000 rpm, and -10 V corresponds to -3000 rpm.
Select analog channel 1 (AIN1) to control the speed.

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Fig. 8-8 Schematic diagram of Example 8-4

Calculate U filter according to the offset voltage and dead zone voltage that require settings:
2047 U filter
= (In this example, U dead = 0 .5, and U shift = 0 )
10v 10v − U shift − U dead
Result: U filter =1944
Calculate Vdemand according to the required speed : Vrpm

, (Encoder_R:10000 inc/r)
Result: Vdemand = 8192000
Calculate U filter according to Vdemand and Factor :
Vdemand = Factor *U filter
Result: Factor =4213
Calculate Ana log1_ Dead according to the required dead zone voltage:
8191/10v = Ana log1_ Dead / U dead
Result: Ana log1_ Dead =410
The following changes are required on the basis of Example 8-3.
Table 8-13 Parameter settings in Example 8-4
d3.23 Analog1_Dead Sets dead zone data for Set to 410
external analog signal 1
d3.29 Analog_Speed_Factor Sets the proportion Set to 4213
between analog signals
and output speed
d3.00 Store_Loop_Data 1: Storing all configured Set to 1
parameters for the
control loop
10: Initializing all
parameters for the
control loop
Example 8-5 Analog – speed mode (setting the offset voltage)
Requirement: The offset voltage is 1 V, that is, the speed is positive when the voltage is greater than 1 V, and
is negative when the voltage is less than 1 V. In this case, the voltage 10 V corresponds to 3000 rpm, and -9
V corresponds to -3000 rpm (in case of -10 V, the corresponding speed is less than -3000 rpm). Select analog
channel 1 (AIN1) to control the speed.

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Fig. 8-9 Schematic diagram of Example 8-5

Calculate U filter according to the offset voltage and dead zone voltage that require settings:
2047 U filter
= (In this example, U dead = 0 , and U shift = 1 )
10v 10v − U shift − U dead
Ufilter= 1842
Result:
Calculate Vdemand according to the required speed : Vrpm

, (Encoder_R:10000 inc/r)
Result: Vdemand = 8192000
Calculate U filter according to Vdemand and Factor :
Vdemand = Factor *U filter
Result: Factor =4447
Calculate Ana log1_ Offset according to the required offset voltage:
8191/10v = Ana log1_ Offset / U shift
Result: Ana log1_ Offset =819
The following changes are required on the basis of Example 8-3.
Table 8-14 Parameter settings in Example 8-5
d3.24 Analog1_Offset Sets offset data for Set to 819
external analog signal 1
d3.29 Analog_Speed_Factor Sets the proportion Set to 4447
between analog signals
and output speed
d3.00 Store_Loop_Data 1: Storing all configured Set to 1
parameters for the
control loop
10: Initializing all
parameters for the
control loop
Example 8-6: Analog – speed mode (setting the dead zone voltage and offset
voltage)
Requirement: Set the offset voltage to 1V, the dead zone voltage to 0.5V to 1.5V, and the max speed
corresponding to 10V to 3000 rpm. Select analog channel 1 (AIN1) to control the speed.

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Fig. 8-10 Schematic diagram of Example 8-6

Calculate U filter according to the offset voltage and dead zone voltage that require settings:
2047 U filter
= (In this example, U dead = 0 .5, and U shift = 1 )
10v 10v − U shift − U dead
Result: U filter =1740
Calculate Vdemand according to the required speed : Vrpm

, (Encoder_R:10000 inc/r)
Result: Vdemand = 8192000
Calculate Factor according to U filter and Vdemand :
Vdemand = Factor *U filter
Result: Factor =4708
Calculate Ana log1_ Dead according to the required dead zone voltage:
8191/10v = Ana log1_ Dead / U dead
Result: Ana log1_ Dead =409
Calculate Ana log1_ Offset according to the required offset voltage:
8191/10v = Ana log1_ Offset / U shift
Result: Ana log1_ Offset =819
The following changes are required on the basis of Example 8-3.
Table 8-15 Parameter settings in Example 8-6
d3.23 Analog1_Dead Sets dead zone data for Set to 409
external analog signal 1
d3.24 Analog1_Offset Sets offset data for Set to 819
external analog signal 1
d3.29 Analog_Speed_Factor Sets the proportion Set to 4708
between analog signals
and output speed
d3.00 Store_Loop_Data 1: Storing all configured Set to 1
parameters for the
control loop
10: Initializing all
parameters for the
control loop

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8.3 Torque Mode (“4” Mode)

8.3.1 Wiring in Analog – Torque Mode

Fig. 8-11 Wiring diagram of FD2S Servo in analog – torque mode

8.3.2 Parameters for Analog – Torque Mode

Table 8-16 Parameters for analog – torque mode

Numeric Variable Name Meaning Default Range
Display Value
d3.22 Analog1_Filter Used to smooth the input analog 5 1~127
signals.
Filter frequency: f=4000/(2π*
Analog1_Filter)
Time Constant: τ = Analog1_Filter/4000
(S)
d3.23 Analog1_Dead Sets dead zone data for external analog 0 0~8192
signal 1
d3.24 Analog1_Offset Sets offset data for external analog 0 -8192~8192
signal 1
d3.25 Analog2_Filter Used to smooth the input analog 5 1~127
signals.
Filter frequency: f=4000/(2π*
Analog1_Filter)
Time Constant (T) =
Analog2_Filter/4000 (S)
d3.26 Analog2_Dead Sets dead zone data for external analog 0 0~8192
signal 2
d3.27 Analog2_Offset Sets offset data for external analog 0 -8192~8192
signal 2

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d3.30 Analog_Torque Selects analog - torque channels 0 N/A
_Con 0: Invalid analog channel
1: Valid analog channel 1 (AIN1)
2: Valid analog channel 2 (AIN2)
Valid mode 4
d3.31 Analog_Torque Sets the proportion between analog 1000 N/A
_Factor signals and output torque (current)

d2.15 Speed_Limit_F The factor that limits the maximum 10 0~1000

actor speed in the torque mode

Vmax_speed complies with d2.24

Max_Speed_RPM parameter settings.
d2.24 Max_Speed_R Limits the max rotation speed of the 5000 0~6000
PM motor

8.3.3 Analog Signal Processing

In the analog – torque mode, external analog command signals are directly inputted to the current loops
in the driver, thus directly controlling target current through the internal current loop. Analog signal is
processed in the same way as that in the analog – speed mode.
In the analog – torque mode, I demand is calculated according to the specified Tdemand with the formula of
I demand
Tdemand = Kt * ( K t is a torque constant).
2
Factor is calculated according to I demand and U filter with the formula of
Factor *U filter
I demand = * Ipeak ( Ipeak indicates the peak current of a driver).
2048*2048
Table 8-17 K t and Ipeak parameters
Motor Model K t (Nm/A) Driver Model Ipeak (A)
SMH60S-0020-30AXK-3LKX 0.48
SMH60S-0040-30AXK-3LKX 0.48 FD422S 15
SMH80S-0075-30AXK-3LKX 0.662
SMH80S-0100-30AXK-3LKX 0.562
SMH110D-0105-20AXK-4LKX 0.992
SMH110D-0126-20AXK-4LKX 1.058 FD432S 27.5
SMH130D-0105-20AXK-4HKX 1.1578
SMH130D-0157-20AXK-4HKX 1.191
SMH110D-0126-30AXK-4HKX 1.058
SMH110D-0157-30AXK-4HKX 0.992
SMH110D-0188-30AXK-4HKX 1.058
SMH130D-0105-20AXK-4HKX 1.1578 FD622S 25
SMH130D-0157-20AXK-4HKX 1.191
SMH130D-0210-20AXK-4HKX 1.3232
SMH150D-0230-20AXK-4HKX 1.65

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8.3.4 Calculation Procedure for Analog – Torque Mode

Table 8-17 Calculation procedure for analog – torque mode

Procedure Method Formula
Step 1 Calculate U filter according to 2047 U filter
=
the offset voltage and dead 10v 10v − U shift − U dead
zone voltage that require
settings
Step 2 Calculate I demand according to I demand
Tdemand = Kt *
the required torque Tdemand 2
Step 3 Calculate Factor according to Factor *U filter
U filter and I demand I demand = * Ipeak
2048*2048
Step 4 Calculate Ana log_ Dead 8191/10v = Ana log_ Dead / U dead
according to the required dead
zone voltage
Step 5 Calculate Ana log_ Offset 8191/10v = Ana log_ Offset / U shift
according to the required offset
voltage

8.3.5 Examples of Analog – Torque Mode

In the analog – torque mode, follow the steps below to configure a driver:
Step 1: Confirm whether it is necessary to enable the driver through external digital input ports. To enable the
driver through external digital input ports, see Table 6-12 in Example 6-3 for settings. If the driver does not
require enabling through external digital input ports, you can disable the enabling function of external digital
input ports by referring to Table 6-13 of Example 7-3, and enable the auto power-on function of the driver by
setting its internal parameters.
Step 3: Confirm mode switching positions and operation modes by referring to the settings in Example 6-5.
The factory default settings for the driver are as follows: When no signal is inputted to DIN3, the driver
operates in the “-4” mode (d3.16 = -4); when signal is inputted to DIN3, the driver operates in the “-3” mode
(d3.17 = -3). If the driver is required to operate in the torque mode (“4” mode), please set d3.16 or d3.17 to 4.
In case d3.16 = 4, if DIN3 has no input signals when the driver is powered on, the driver operates in the “4”
mode. In case d3.17 = 4, if DIN3 has input signals, the driver operates in the “4” mode.
Step 3: After configuring functions on digital input ports, select the analog – torque channel, and set
parameters such as analog – torque factors, dead zone, offset, filtering, speed limit factors, and max speed
limits.
Step 4: Save parameters.
Example 8-7: Analog – torque mode (without setting the dead zone voltage and
offset voltage)
Requirement: DIN1 is used for enabling the driver, DIN2 is used for error resetting, and DIN3 controls the
operation modes of the driver (the mode is “4” when no signal is inputted, and is “3” when signal is inputted).
The motor Kt is 0.48 Nm/A, and the peak current of drivers is 15 A. The analog input voltage -10 V
corresponds to -0.64 Nm, and 10 V corresponds to 0.64 Nm. Select analog channel 2 (AIN1) to control the
torque.

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Fig. 8-13 Schematic diagram of Example 8-7

Calculate U filter according to the offset voltage and dead zone voltage that require settings:
2047 U filter
= (In this example, U dead = 0 , and U shift = 0 )
10v 10v − U shift − U dead
Result: U filter =2047
Calculate I demand according to the required torque Tdemand :
Tdemand
I demand = * 2
Kt
Result: I demand =1.89
Calculate Factor according to U filter and I demand :
I demand
Factor = *2048*4096
U filter * Ipeak
1.89
Result: Factor = *2048*4096 = 515
2047*15
Table 8-18 Parameter settings in Example 8-7
Numeric Variable Name Meaning Parameter Settings
Display
d3.01 Din1_Function Defines the functions of 000.1 (Driver enable)
digital input port 1
d3.02 Din2_Function Defines the functions of 000.2 (Error resetting)
digital input port 2
d3.03 Din3_Function Defines the functions of 000.4 (Control over
digital input port 3 operation modes of
drivers)
d3.16 Din _Mode0 Select this operation Set to 0004 (4) mode
mode when input (torque mode)
signals are invalid
d3.17 Din _Mode 1 Select this operation Set to 0.003 (3) mode
mode when input (speed mode with
signals are valid acceleration/deceleration)
d3.25 Analog2_Filter Used to smooth the
input analog signals.
Filter frequency:
f=4000/(2π*
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Analog1_Filter)
Time Constant: T =
Analog2_Filter/4000
(S)
d3.26 Analog2_Dead Sets dead zone data Set to 0
for external analog
signal 2
d3.27 Analog2_Offset Sets offset data for Set to 0
external analog signal
2
d3.31 Analog_Torque_Factor Sets the proportion Set to 515
between analog signals
and output torque
(current)
d3.30 Analog_Torque_Con Selects analog - torque Set to 2
channels
0: Invalid analog
channel
1: Valid analog channel
1 (AIN1)
2: Valid analog channel
2 (AIN2)
Valid mode 4
d3.00 Store_Loop_Data 1: Storing all configured Set to 1
parameters for the
control loop
10: Initializing all
parameters for the
control loop
Example 8-8: Analog – torque mode (setting the dead zone voltage and offset
voltage)
Requirement: The offset voltage is 1V, and the dead zone voltage is 0.5V. The motor Kt is 0.48 Nm/A, and the
peak current of the driver is 15A. The analog input voltage 10V corresponds to 0.64Nm. Select analog
channel 2 (AIN2) to control the torque.

Fig. 8-14 Schematic diagram of Example 8-8

Calculate U filter according to the offset voltage and dead zone voltage that require settings:
2047 U filter
= (In this example, U dead = 0 .5, and U shift = 1 )
10v 10v − U shift − U dead
Result: U filter =1740
Calculate I demand according to the required torque Tdemand :

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Tdemand
I demand = * 2
Kt
Result: I demand = 1.89
Calculate Factor according to U filter and I demand :
I demand
Factor = *2048*4096
U filter * Ipeak
1.89
Result: Factor = *2048*4096 = 606
1740*15
Calculate Ana log 2 _ Dead according to the required dead zone voltage:
8191
Analog 2 _ Dead = *U dead
10v
Result: Ana log 2 _ Dead = 410
Calculate Ana log 2 _ Offset according to the required offset voltage:
8191
Analog 2 _ Offset = *U shift
10v
Result: Ana log 2 _ Offset =819
The following changes are required on the basis of Example 8-7.
Table 8-19 Parameter settings in Example 8-8
d3.26 Analog2_Dead Sets dead zone data for Set to 410
external analog signal 2
d3.27 Analog2_Offset Sets offset data for external Set to 819
analog signal 2
d3.31 Analog_Torque_Factor Sets the proportion between Set to 2362
analog signals and output
torque (current)
d3.00 Store_Loop_Data 1: Storing all configured Set to 1
parameters for the control
loop
10: Initializing all parameters
for the control loop

8.4Internal Multi-position Control Modes (“1” Mode)

In Internal multi-position control mode, we can activate internal set target position though an external signal to
control motors. The activation has two preconditions:
1, multi-position control mode can only be activated in Mode 1, it can’t be activated in other modes.
2, At least one of the external input signal is defined as “Internal position control 0”, “Internal position control 1
“ or “Internal position control 2 “, which means at least one address of digital tubes-d3.01 ~ d3.07 is set to
“040.0”’, “080.0” or “800.2.
“Internal position control 0” , “Internal position control 1” and “Internal position control 2 “, these three
signals will be combined into binary codes used to select a target position between “Position 0~7”.

Speed
Internal Internal Internal
Corresponding Position section Corresponding section
position position position
position numberic display speed numberic
0 1 2
display

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0 0 0 Din_Pos0 Din_Speed0_RPM d3.18

0 0 1 Din_Pos1 Din_Speed1_RPM d3.19

0 1 0 Din_Pos2 Din_Speed2_RPM d3.20

d3.40select position
0 1 1 Din_Pos3 section sequence Din_Speed3_RPM d3.21
number
d3.41select position
1 0 0 Din_Pos4 section high bit Din_Speed4_RPM d3.44
d3.42select position
section low bit
1 0 1 Din_Pos5 Din_Speed5_RPM d3.45

1 1 0 Din_Pos6 Din_Speed6_RPM d3.46

1 1 1 Din_Pos7 Din_Speed7_RPM d3.47

Table 8-20 Internal Multi-position Control Mode Parameter Table

Note: In this control mode, “position section X” can be positive or negative, it can be flexibly set; while the
corresponding speed must be positive. Other parameters such as acceleration, deceleration, etc, can use the
default value; also can be changed through digital tube.

Example 8-9: Internal multi-position control mode

A motor needs to go eight position sections. In position section 0, it should reach the 5000 pulse location at
the speed of 100RPM.In position section 1, it should reach the 15000 pulse location at the speed of
150RPM.In position section 2, it should reach the 28500 pulse location at the speed of 175RPM.In position
section 3, it should reach the -105000 pulse location at the speed of 200RPM. In position section 4, it should
reach the -20680 pulse location at the speed of 300RPM. In position section 5, it should reach the -30550
pulse location at the speed of 325RPM. In position section 6, it should reach the 850 pulse location at the
speed of 275RPM. In position section 7, it should reach the 15000 pulse location at the speed of 460RPM.

Table 8-21 Internal Multi-position Control Mode Demand

DIN1 The driver is enabled, the motor shaft is locked
DIN3 Driver working mode（invalid 1，valid-3）
DIN4 Internal position 0
DIN5 Internal position 1
DIN6 Internal position 2
DIN6:DIN5:DIN4=0:0:0 Select position and speed in section 0
DIN6:DIN5:DIN4=0:0:1 Select position and speed in section 1
DIN6:DIN5:DIN4=0:1:0 Select position and speed in section 2
DIN6:DIN5:DIN4=0:1:1 Select position and speed in section 3
DIN6:DIN5:DIN4=1:0:0 Select position and speed in section 4
DIN6:DIN5:DIN4=1:0:1 Select position and speed in section 5
DIN6:DIN5:DIN4=1:1:0 Select position and speed in section 6
DIN6:DIN5:DIN4=1:1:1 Select position and speed in section 7

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Activate command （ execute the selected
DIN6
position section）

Define the meanings of the input points:

Table 8-22 Internal Multi-position Control Mode Configuration
Numberic
Variable name Configuration way
display
d3.01 Din1_Function 000.1（Driver enabled）
d3.03 Din3_Function 000.4（Set driver mode）
d3.04 Din4_Function 040.0（Internal position control 0）
d3.05 Din5_Function 080.0（Internal position control 1）
d3.06 Din6_Function 800.2 (Internal position control 2)

d3.07 Din7_Function 400.0（Activate command）

Set 0001（1）Mode
d3.16 Din_mode 0
Internal multi-position control mode
Set 0.004 (-4) Mode
d3.17 Din_mode 1
Pulse-control mode

d3.00 Storage parameters 1(Storage configuration parameters)

Set position and speed:

Table 8-23 Internal Multi-position and Speed Configuration
Numberic
Variable Name Parameters Settings
display
d3.43 Relative / Absolute position selection Set to 2F(absolute location)
Set to 0（select position section
d3.40 Set the position section number to 0
0）
Set the high bit of position section
d3.41 Set to 0
（N*10000）
Set to 5000（set the position of
d3.42 Set the low bit of position section
section 0 t0 5000）
Set to 100 （ set the speed of
d3.18 Set the speed of section 0
section 0 to 100）
Set to 1（select position section
d3.40 Set the position section number to 1
1）
Set the high bit of position section
d3.41 Set to 1
（N*10000）
Set to 15000（set the position of
d3.42 Set the low bit of position section
section 1 t0 15000））
Set to 150 （ set the speed of
d3.19 Set the speed of position section 1
section 1 to 150）
Set to 2（select position section
d3.40 Set the position section number to2
2）
Set the high bit of position section
d3.41 Set to 2
（N*10000）
Set to 28500（set the position of
d3.42 Set the low bit of position section
section 2 t0 28500）
d3.20 Set the speed of position section 1 Set to 175 （ set the speed of
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section 2 to 175）
Set to 3（select position section
d3.40 Set the position section number to 3
3）
Set the high bit of position section
d3.41 Set to 3
（N*10000）
Set to 10500（set the position of
d3.42 Set the low bit of position section
section 3 t0 10500）
Set to 200 （ set the speed of
d3.20 Set the speed of position section 3
section 3 to 200）
d2.10 Acceleration Default 610 rps/s
d2.11 Deceleration Default 610 rps/s
1 （ storage configuration
d3.00 Storage parameter
parameters）
Set all these parameters, then：
1. Enable the driver, which means to make the digital input DIN1 high-level.
2. Select the position section, which means to change the electrical level of DIN4,DIN5 and DIN6.
3. Activate instructions and execute the program, which means to make the digital input DIN7 high-level.

Notice:
In multi-position control mode, select location method by setting the different value of the digital tube d3.43.If
you choose absolute positioning mode, set it to “F”; if the instructions require immediate updating, set it
to “2F”; if you choose relative positioning method, set it to “4F”.To change these parameters successfully,
you have to save the value of d3.00,and then restart.

8.5 Internal Multi-speed Control Modes (“-3” or “3” Mode)

In this control mode, external input signals are used to activate the internally configured target speed to
control the motor. There are two prerequisites for activation:
1. Multi-speed control is available in the “-3” or “3” mode, and is unavailable in other modes.
2. Set d3.28 to 0. In this case, the analog – speed channel is invalid.
3. At least one external input signal DinX_Function defines Bit8 or Bit9.
For example, define Din2_Function corresponding to Din2 as 010.0, and Din3_Function corresponding
to Din3 as 020.0. In this way, the combination of the two above signals is used to choose any one of
Din_Speed0_RPM, Din_Speed1_RPM, Din_Speed2_RPM or Din_Speed3_RPM as the target speed.
Table 8-24 Parameters for internal multi-speed control modes
Internal Speed Internal Speed Meaning Numeric Valid Object
Control 0 Control 1 Display (numeric display
(Din_Sys.Bit8) (Din_Sys.Bit9) operation)
0 0 Multi-speed d3.18
control: 0 [rpm] Din_Speed0_RPM
1 0 Multi-speed control d3.19
1 [rpm] Din_Speed1_RPM
0 1 Multi-speed control d3.20
2 [rpm] Din_Speed2_RPM
1 1 Multi-speed control d3.21
3 [rpm] Din_Speed3_RPM
Note: If you need to set the target speed precisely, it is required to set Din_Speed0, Din_Speed1, Din_Speed2
and Din_Speed3 with a host computer. The four data units are internal units and are suitable for users who
are familiar with drivers. Din_SpeedX_RPM indicates the data after converting Din_SpeedX into the unit of
rpm to facilitate users. Conversion involves both the reading and writing processes, and does not require
calculation by users.
Example 8-10: Internal multi-speed control
Requirement: You need to define the digital input ports DIN6 and DIN7 as internal speed control, DIN1 as
driver enabling and DIN2 as operation mode control of the driver (the mode is “3” when the driver is valid, and
is “-3” when the driver is invalid). For detailed requirements, see Table 8-25. For the setting method, see
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Table 7-26.
Table 8-25 Requirements on internal multi-speed control
DIN6:DIN7=0:0 To execute the multi-step 1 speed (100 rpm)
DIN6:DIN7=1:0 To execute the multi-step 2 speed (200 rpm)
DIN6:DIN7=0:1 To execute the multi-step 3 speed (300 rpm)
DIN6:DIN7=1:1 To execute the multi-step 3 speed (400 rpm)
DIN1 To enable the driver, and lock the motor shaft
DIN2 To control operation modes of the driver (the mode is “3”
when the driver is valid, and is “-3” when the driver is
invalid)

Table 8-26 Setting methods for internal multi-speed control

Numeric Display Variable Name Setting Method
d3.01 Set to 000.1
Din1_Function (Driver enable)
d3.02 Set to 000.4
Din2_Function (control over operation modes of drivers)
d3.06 Set to 010.0
Din6_Function (internal speed control 0)
d3.07 Set to 020.0
Din7_Function (internal speed control 1)
d3.16 Set to 0.003 (3) mode
Din_Mode0 (speed mode with acceleration/deceleration)
d3.17 Set to 0.003 (-3) mode
Din_Mode1 (instantaneous speed mode)
d3.18 Din_Speed0_RPM Set to 100 [rpm]
d3.19 Din_Speed1_RPM Set to 200 [rpm]
d3.20 Din_Speed2_RPM Set to 300 [rpm]
d3.21 Din_Speed3_RPM Set to 400 [rpm]
d3.00 Store_Loop_Data Set to 1

8.6 Internal Torque Control Mode (“4” Mode)

In the internal torque mode, only the current loop of the driver operates. Set d0.03 (CMD_q target current)
parameter directly to obtain the desired target torque. The prerequisite is that d3.30 must be set to 0. In this
case, the analog–torque channel is invalid.

8.7 Homing Mode (“6” Mode)

1, Summary
To make a system execute positioning in accordance with its absolute positioning, the first step is to define
the origin. For instance, as shown in the following XY plane, to navigate to (X, Y) = (100mm, 200mm), you
must define the origin of the machine firstly. It’s necessary to define the origin.

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2, Procedure of homing
Use the following steps to homing:
1. Set the external I / O parameters, and then save.
2. Set the data for homing, and then save.
3. Execute homing.
3, Configuration of the data for homing
Here are simple descriptions of the data for executing homing.
0x607C0020 Home_Offset Home offset In Homing mode, set the offset relative to
the zero point.
0x60980008 Homing_Method Homing method Select the homing method
0x60990120 Homing_Speed_Switch Speed for searching Set the speed for searching the limit
the limit switch switch which defined as homing signal.
0x60990220 Homing_Speed_Zero Speed for searching Only valid when find Index signal.
the Zero point.
0x60990308 Homing_Power_On Homing when power Every time after power on,it will start
on homing once.
0x609A0020 Homing_Accelaration Homing acceleration Control the acceleration of homing

CD has 27 methods for homing, referring the CANopen’s definition of DSP402.

1st-14th methods use Z signal as homing signal.
17th-30th methods use external signal as homing signal.

Method 1: Homing on the negative limit switch and index pulse

Using this method, the initial direction of movement is leftward if the negative limit
switch is inactive (here shown as low). The home position is at the first index pulse to the
right of the position where the negative limit switch becomes inactive.

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Method 2: Homing on the positive limit switch and index pulse
Using this method, the initial direction of movement is rightward if the positive limit
switch is inactive (here shown as low). The position of home is at the first index pulse to
the left of the position where the positive limit switch becomes inactive.

Methods 3 and 4: Homing on the positive home switch and index pulse
Using methods 3 or 4, the initial direction of movement is dependent on the state of the
home switch. The home position is at the index pulse to either the left or right of the pint
where the home switch changes state. If the initial position is sited so that the direction of
movement must reverse during homing, the point at which the reversal takes place is
anywhere after a change of state of the home switch.

Methods 5 and 6: Homing on the negative home switch and index pulse
Using methods 5 or 6, the initial direction of movement is dependent on the state of the
home switch. The home position is at the index pulse to either the left or the right of the
point where the home switch changes state. If the initial position is sited so that the
direction of movement must reverse during homing, the point at which the reversal takes
place is anywhere after a change of state of the home switch.

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Methods 7 to 14: Homing on the home switch and index pulse

These methods use a home switch that is active over only a portion of the travel; in effect
the switch has a “momentary” action as the axle position sweeps past the switch.
Using methods 7 to 10, the initial direction of movement is to the right, and using
methods 11 to 14, the initial direction of movement is to the left, except if the home
switch is active at the start of motion. In this case, the initial direction of motion is
dependent on the edge being sought. The home position is at the index pulse on either
side of the rising or falling edges of the home switch, as shown in the following two
diagrams. If the initial direction of movement leads away from the home switch, the
drive must reverse on encountering the relevant limit switch.

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Methods 15 and 16: Reserved

These methods are reserved for future expansion of the homing mode.

Methods 17 to 30: Homing without an index pulse

These methods are similar to methods 1 to 14, except that the home position is not
dependent on the index pulse; it is dependent only on the relevant home or limit switch
transitions. For example, methods 19 and 20 are similar to methods 3 and 4, as shown in
the following diagram:

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Methods 31 and 32: Reserved

These methods are reserved for future expansion of the homing mode.

Methods 33 and 34: Homing on the index

Method 35: Homing on the current position

In this method, the current position is taken to be the home position.

Methods -17 and -18: Use the mechanical terminal as reference point

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Example 8-11：Using method 7 for homing.

Set parameters.

Numberic display Parameter Name meaning Setting Value

000.1
d3.01 Din1_Function （Driver enabled）

000.2
d3.02 Din2_Function （Driver error reset）
000.1: Driver enabled
000.2: Driver error reset 000.4
d3.03 Din3_Function
000.4: Operation mode （Driver model control）
001.0:Positive limit 200.0
d3.04 Din4_Function （Start homing）
002.0:Negative limit
004.0:Origin signal 001.0
d3.05 Din5_Function 200.0:Start homing （Positive limit）
002.0
d3.06 Din6_Function （Negative limit）

d3.07 Din7_Function 004.0

（Home signal）
004.0
d3.14 Dout4_Function 004.0:Index signal appears (Index signal appears)

d3.15 Dout4_Function 040.0:Origin found 040.4

(origin found)
Select this mode when the
d3.16 Din_Mode0 input signal is invalid 0.004 (-4)

Select this mode when the

d3.17 Din_Mode1 input signal is valid 0.003 (-3)

1： Storage all the setting

parameters except those of
motor
d3.00 Store_Loop_Data 0001 (1)
10：Initialize all the setting
parameters except those of
motor
At this time, computer software shows:

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Notice: The positive and negative limits are default to normally closed point. Otherwise, the Panel will alarm
and display P.L (positive limit) and N.L (No limit). Only when the alarm is eliminated, the origin control mode
can be normally used.
Computer monitoring status is：

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Set parameters for homing.

In common circumstance, only need to set up the model of origin and the rest of the parameters are default.
In some case, “Electrify and then find the origin” is set to 1, at the same time the definition-- “Start finding the
origin” is eliminated.
Start homing.
(1). Enable motor, which means the digital input point 1 is set to high-level. The computer motoring picture is
shown below:

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(2). Send “Start finding the origin” signal to motor, which means the digital input point 4 is set to high-level.
The computer motoring picture is shown below:

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Note: “Start finding the origin” signal is a pulse signal, requires only a rise, not need to always be on. If you
want to start next time, a rise pulse is enough.
(4). After the external find the origin, computer monitoring picture is as follows:

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(5). Driver searches the Z phase signal in mode 7, and ultimately find the origin. Computer monitoring picture
is shown as follows:

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At this point, you have completed the origin search function, then the drive position is automatically set to
zero, and the current position is default to origin. Computer monitoring picture is as shown:

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Chapter 9 Control Performance

9.1 Auto Reverse

In this mode,motor will run forward and reverse continuously according to the setting mode.User
can set parameters in velocity loop and position loop in this mode.Please make sure auto forward/reverse is
allowed in the machine before using this mode and make sure the power of driver can be cut off anytime to
advoid accident.
Operation procedure for auto reverse:
1：Use KincoServo software to online according to chapter 5.
2：Set speed mode control according to 5.4.1.
3：Click the menu “Driver-Operation mode-Auto Reverse” and set the parameter for auto reverse.

Set “Auto_Reverse” as 0 for no control.

Set “Auto_Reverse” as 1 for position control.The motor will run between the position “Auto_Rev_Pos”
and”Auto_Rev_Neg”.The unit is inc.The speed depends on target velocity.

Set “Auto_Reverse” as 3 for time control.The motor will run between time “Auto_Rev_Pos”
and”Auto_Rev_Neg”.The unit is ms.The speed depends on target velocity.

Following figure shows the parameters need to set.In this figure,the servo will run between -10000 inc and
10000 at speed 100RPM.

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9.2 Driver Performance Tuning

Fig. 9-1 Schematic diagram for control loop adjustment

As shown in Fig. 9-1, a typical servo system contains three control loops, namely, position loop, velocity loop,
and current loop.
Current loop are related to motor parameters (optimal parameters of the selected motor are default for the
driver and no adjusting is required).
Parameters for velocity loop and position loop should be adjusted properly according to load conditions.
During adjustment of the control loop, ensure that the bandwidth of the velocity loop is at least twice of that of
the position loop; otherwise oscillation may occur.

9.2.1 Manual Adjustment

1. Parameters for velocity loop

Table 9-1 Parameters for velocity loop

Numeric Variable Name Meaning Default Range
Display Value
d2.01 Kvp Sets the response speed of a velocity loop 100 0~32767
d2.02 Kvi Adjusts speed control so that the time of minor 2 0~16384
errors is compensated
d2.05 Speed_Fb_N Reduces the noise during motor operation by 45 0~45
reducing the feedback bandwidth of velocity
loops (smoothing feedback signals of
encoders). When the set bandwidth becomes
smaller, the motor responds slower.
The formula is F=Speed_Fb_N*20+100.
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For example, to set the filter bandwidth to "F =
500 Hz”, you need to set the parameter to 20.

Proportional gain of velocity loop Kvp: If the proportional gain of the velocity loop increases, the responsive
bandwidth of the velocity loop also increases. The bandwidth of the velocity loop is directly proportional to the
speed of response. Motor noise also increases when the velocity loop gain increases. If the gain is too great,
system oscillation may occur.
Integral gain of velocity loop Kvi: If the integral gain of the velocity loop increases, the low-frequency intensity
is improved, and the time for steady state adjustment is reduced; however, if the integral gain is too great,
system oscillation may occur.

Adjustment steps:
Step 1: Adjust the gain of velocity loop to calculate the bandwidth of velocity loop
Convert the load inertia of the motor into the inertia Jl of the motor shaft, and then add the inertia Jr of the
motor itself to obtain Jt = Jr + Jl. Put the result into the formula:
I p * Kt * Encoder _ R
Vc_Loop_BW = Kvp * To calculate the bandwidth of the velocity loop
J t * 204800000* 2 * 2
Vc_Loop_BW according to the adjusted the gain of velocity loop Kvp, only adjust Kvi according to actual
requirements.
Adjust the impact of Kvp and Kvi, as shown in Fig.9-2.
For the effect of Kvp adjustment, see the first to the fourth from left of Fig. 9-2. Kvp gradually increases from
the first to the fourth from left. The value of Kvi is 0.
For the effect of Kvi adjustment, see the first to the fourth from right of Fig. 9-2. Kvi gradually increases from
the first to the fourth from right. The value of Kvp remains unchanged.

Left 1 Right 1

Left 2 Right 2

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Left 3 Right 3

Left 4 Right 4

Fig.9-2 Schematic diagram of gain adjustment of velocity loop

Step 2: Adjust parameters for feedback filter of velocity loop
During gain adjustment of a velocity loop, if the motor noise is too great, you can properly reduce the
parameter Speed_Fb_N for feedback filter of the velocity loop; however, the bandwidth F of the feedback filter
of velocity loop must be at least three times of the bandwidth of velocity loop; otherwise oscillation may occur.
The formula for calculating the bandwidth of feedback filter of velocity loop is F = Speed_Fb_N*20+100 (Hz).

2. Parameters for position loop

Table 9-2 Parameters for position loop
Numeric Variable Name Meaning Default Range
Display Value
d2.07 Kpp Indicates the proportional gain of the 1000 0~16384
position loop Kpp
d2.08 K_Velocity_FF 0 indicates no feedforward, and 256 256 0~256
indicates 100% feedforward
d2.09 K_Acc_FF The value is inversely proportional to 7FF.F 32767~10
the feedforward

d0.05 Pc_Loop_BW Sets the bandwidth of the position 0 N/A

loops in Hz

/ Pos_Filter_N Set the average filter 1 1~255

Proportional gain of the position loop Kpp: If the proportional gain of the position loop increases, the
bandwidth of the position loop is improved, thus reducing both the positioning time and following errors.
However, too great bandwidth may cause noise or even oscillation. Therefore, this parameter must be set
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properly according to loading conditions. In the formula Kpp=103* Pc_Loop_BW, Pc_Loop_BW indicates
the bandwidth of the position loop. The bandwidth of a position loop is less than or equal to that of a velocity
loop. It is recommended that Pc_Loop_BW be less than Vc_Loop_BW /4 (Vc_Loop_BW indicates the
bandwidth of a velocity loop).

Velocity feedforward of the position loop K_Velocity_FF: the velocity feedforward of a position loop can be
increased to reduce position following errors. When position signals are not smooth, if the velocity
feedforward of a position loop is reduced, motor oscillation during running can be reduced.
Acceleration feedback of the position loop K_Acc_FF (adjustment is not recommended for this parameter): If
great gains of position rings are required, the acceleration feedback K_Acc_FF can be properly adjusted to
I p * Kt * Encoder _ R
improve performance. K_Acc_FF = Note: K_Acc_FF is inversely proportional to the
250000* 2 * J t * 
acceleration feedforward.
Pos_Filter_N is used for average filter of the speed produced by target position.Setting this parameter as N
means to average N data.

Adjustment procedure:
Step 1: Adjust the proportional gain of a position loop.
After adjusting the bandwidth of the velocity loop, it is recommended to adjust Kpp according to actual
requirements (or directly fill in the required bandwidth in Pc_Loop_BW, and the driver will automatically
calculate the corresponding Kpp). In the formula Kpp = 103*Pc_Loop_BW, the bandwidth of the position loop
is less than or equal to that of the velocity loop. For a common system, Pc_Loop_BW is less than
Vc_Loop_BW /2; for the CNC system, it is recommended that Pc_Loop_BW is less than Vc_Loop_BW /4.
Step 2: Adjust velocity feedforward parameters of the position loop.
Velocity feedforward parameters (such as K_Velocity_FF) of the position loop are adjusted according to
position errors and coupling intensities accepted by the machine. The number 0 represents 0% feedforward,
and 256 represents 100% feedforward.

3. Parameters for pulse filtering coefficient

Table 9-3 Parameters for pulse filtering coefficient
Numeric Variable Meaning Default Range
Display Name Value
d3.37 PD_Filter Used to smooth the input pulses. 3 1~32767
Filter frequency: f = 1000/(2π* PD_Filter)
Time constant: T = PD_Filter/1000
Unit: S
Note: If you adjust this filter parameter during the
operation, some pulses may be lost.
When a driver operates in the pulse control mode, if the electronic gear ratio is set too high, this parameter
must be adjusted to reduce motor oscillation; however, if the parameter adjustment is too great, motor
running instructions will become slower.

9.2.2 Auto Adjustment (Only for Velocity Loops)

Auto adjustment is only available for velocity loops (see Section 8.11 for manual adjustment of position loops)
when both forward rotation and reverse rotation of a motor are allowable, and the loadings do not change
much during the operation. You can determine the total inertia of motor loadings through gain auto tuning,
and then manually enter the desired bandwidth. The driver will automatically calculate appropriate Kvp and
Kvi values. The motion curve is in the shape of a sine curve, as shown in Fig. 9-3.

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Fig.9-3 Speed curve

K_Load represents the internal data that displays the actual inertia of the system.
I p * Kt * Encoder _ R
K _ Load =
62500* 2 * J t
In the above formula:
Ip represents the maximum peak output current in units of “A”;
Kt represents the torque constant of the motor in units of “Nm/Arms”;
Encoder_R represents the resolution of a motor encoder in units of “inc/r”;
Jt represents the total inertia of the motor and loadings in units of “kg*m^2”.

Table 9-4 Parameters for controlling gain auto tuning

Numeric Variable Name Meaning Default Range
Display Value
d0.06 Tuning_Start Auto tuning starts after the variable is set to 0 /
11. All input signals are ignored during
auto tuning. The variable is automatically
changed to 0 after auto tuning is completed.
Sets the variable to other values to end auto
tuning.
d0.04 Vc_Loop_BW Sets the bandwidth of the velocity loop in 0 0~600
Hz. The variable can only be set after auto
tuning is performed properly; otherwise the
actual bandwidth goes wrong, which causes
abnormal working of the driver. If the auto
tuning result is abnormal, setting this
parameter may also cause abnormal
working of the driver.
Note: This parameter cannot be applied
when auto tuning is unavailable.

d2.17 K_Load Indicates loading parameters / 20~1500

0
d2.21 Sine_Amplitude Proper increase in this data will reduce the 64 0~1000
tuning error, but machine vibration will
become severer. This data can be adjusted
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properly according to actual conditions of
machines. If the data is too small, the auto
tuning error becomes greater, or even
causes a mistake
d2.22 Tuning_Scale It is helpful to reduce the auto tuning time by 128 0~16384
reducing the data, but the result may be
unstable.
d2.23 Tuning_Filter Indicates filter parameters during 64 1~1000
auto-tuning

Auto tuning is a process where the suitable and stable K_Load value is automatically calculated. In the auto
tuning mode, the data of numeric display is automatically switched to the real-time display mode of K_Load
data. When K_Load data gradually becomes stable, the driver automatically adjusts Kvp and Kvi data of a
velocity loop, so that the actual bandwidth of the velocity loop is 50Hz. When K_Load data becomes stable,
the driver automatically stops auto tuning operation; then you need to customize Vc_Loop_BW, representing
the desired bandwidth of the velocity ring. Finally, run the test system in the actual environment, and save the
parameters.
Precautions:
Auto tuning applies when both forward rotation and reverse rotation of a motor are allowable, and the
loadings do not change much during the operation. When forward rotation or reverse rotation of the motor is
not allowable on a device, it is recommended to adjust the parameters manually.
During auto tuning operation, pulse signals, digital input signals, and analog signals of the external controller
are temporarily unavailable, so safety must be ensured.
Before auto tuning operation, it is recommended to properly adjust the Kvp, Kvi and Speed_Fb_N (a
feedback filter parameter) values of the velocity loop to prevent visible oscillations when the system works in
the speed mode. If necessary, adjust the data of d2.03 notch filter to inhibit resonance.
The time for different load tuning varies, and generally a few seconds is required. The auto tuning time can be
reduced by presetting the K_Load value to a predicted value that is close to the actual value.
Vc_Loop_BW can be written only after successful auto tuning, otherwise the driver may work improperly.
After you write the desired bandwidth of the velocity loop in Vc_Loop_BW, the driver automatically calculates
the corresponding values of Kvp, Kvi and Speed_Fb_N. If you are dissatisfied with low-speed smoothness,
you can manually adjust Kvi. Note that auto tuning does not automatically adjust the data of a notch filter.
In the following circumstances, auto tuning parameters should be adjusted:
When the friction in a rotation circle of the motor is uneven, it is required to increase the amplitude of d2.21
sine wave to reduce the impacts caused by uneven friction. Note that d2.21 increases when the oscillation
amplitude of the loadings increase.
If auto tuning lasts for a long time, initial evaluation of the total inertia is available. It is recommended to set
K_Load to an evaluation value before auto tuning.
If auto tuning is unstable, the stability of auto tuning increases when d2.22 increases properly, but the time for
auto tuning slightly increases.
In the following conditions, auto adjustment goes wrong. In this case, you can only set parameters manually:
The load inertia is featured by great fluctuation.
Mechanical connection rigidity is low.
Clearances exist in the connection between mechanical elements.
The load inertia is too great, while Kvp values are set too low.
If the load inertia is too great, K_Load data will be less than 20; if the load inertia is too little, K_Load data will
be greater than 15000.

9.3 Oscillation Inhibition

If resonance occurs during machine operation, you can adjust a notch filter to inhibit resonance. If resonance
frequency is known, you can directly set Notch_N to (BW-100)/10. Note that you need to set Notch_On to 1 to
enable the notch filter. If you do not know exactly the resonance frequency, you can firstly set the max value
of d2.14 current instruction to a low one, so that the oscillation amplitude is within the acceptable range; then
try to adjust Notch_N to check whether resonance disappears.
If machine resonance occurs, you can calculate the resonance frequency by observing the waveform of the
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target current with the oscilloscope function of the driver.
Table 9-5 Parameters for oscillation inhibition
Numeric Variable Name Meaning Default Rang
Display Value e
d2.03 Notch_N Notch/filtering frequency setting for a velocity 45 0~90
loop, used to set the frequency of the internal
notch filter, so as to eliminate the mechanical
resonance produced when the motor drives
the machine. The formula is F = Notch_N*10 +
100.
For example, if the mechanical resonance
frequency is F = 500 Hz, the parameter should
be set to 40.
d2.04 Notch_On Enable or disable the notch filter 0 /
0: Disable the notch filter
1: Enable the notch filter

9.4 Debugging Example

9.4.1 Oscilloscope

1.Enter oscilloscope

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2.Parameters for Oscilloscope

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89.4.2 Procedure for Parameter Adjustment

1、Velocity Loop Adjustment

(1) Adjust Kvp according to the load.
① Set motor running at Auto Reverse mode by position(Operation mode -3),then open oscilloscope and set
the parameters to observe the curve.As shown in following figures.
② Adjust Kvp and observe the speed curve.Following figures show the different curve in different
Kvp.According to the curve,it shows that the bigger value of Kvp,the faster response of speed.
(2) Adjust Kvi according to load.
(3) Adjust Speed_Fb_N to reduce system noise.
Speed_Fb_N:This parameter is used to reduce system noise.But the bigger value of this parameter,the
slower response of system.
In Auto Reverse mode,Kvp=40

The oscilloscope is shown as follows:actual speed response is 33.88ms

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In Auto Reverse mode,Kvp=110

The oscilloscope is shown as follows:actual speed response is 10.00ms

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2.Position Loop Adjustment

(1) Adjust Kpp.
(2)Adjust Vff（K_Velocity_FF）
Adjust Vff parameter according to the allowable position error and coupling performance of machine.
Normally Vff is 100%.If system doesn’t need high response for position,then this parameter can
be decreased to reduce overshoot.
(3)Use oscilloscope to observe curve.
Set motor running at Auto Reverse mode by time (Operation mode 3),set parameters of oscilloscope
as following figure.
In Fig.(1) and Fig.(2),Vff is 100%,When Kpp is 30,the response of position loop is faster than the
one when Kpp is 10.Meanwhile the following error is also less,but overshoot is bigger.
Fig.(3),Kpp is 30,Vff is 50%.Compare with Fig.(2),the following error is bigger,but response becomes
slower and there is almost no overshoot.

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Internal position mode,target position is 50000 inc.
Fig.(1) Kpp=10,Vff=100%

The oscilloscope is as following: max. following error is 69 inc.

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Fig.(2) Kpp=30,Vff=100%

The oscilloscope is as following:max. following error is 53 inc.

Fig.(3) Kpp=30,Vff=50%

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The oscilloscope is as following:max. following error is 230 inc.

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9.4.3 Easy Use Function

Easy Use aim to help users set parameters of control loop quickly, and the adjusted performance can satisfy
the need of most of applications. There is also a new area for users to set the important and frequently-used
parameters.
Steps of Easy Use
1. There are some frequently-used parameters in the menu of EASY, please set and confirm one by one.
1.1 If motor type (EA01) hasn’t been changed, please change EA00 to 1 to save all parameters;
1.2 If motor type (EA01) has been changed, please change EA00 to 2 to save all parameters and reboot
servo.
1.3 After completing process of EASY, please run the servo. If the performance is satisfying, it is
unnecessary to execute the process of TunE. Otherwise, please execute the process of TunE.
2. Parameters will become effective immediately after inputted in TunE but parameters can only be saved by
Tn00.
2.1 Please write 1 into Tn03 to start inertia measuring and then servo will adjust parameters of control loop
automatically according to measured result.
2.2 Please run the servo. If the performance is still unsatisfying, please change the stiffness by Tn01.
Notice
1. Inertia measurement might cause shaking of machine, please shut off the power or driver immediately.
2. It is strongly recommended that execute the flow of TunE after the flow of EASY and adjust the stiffness.
3. EASY and TunE menu are designed to solve the setting of servo by button originally. If users initialize parameters
by PC software, EASY and TunE will only show EA00, EA01 and Tn00 for safety. Users have to confirm motor
type by EA01.After that, the parameters become default and the LED will display in a complete way.
Reason for the failure of tuning
1. Wrong wire connection；
2. Wrong motor type configuration；
3. Much too low of Stiffness；
4. Mechanical gap existing；
5. Accelerated or decelerated torque is smaller than fiction torque.

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Talbe-1 Motor and Servo configuration

PC LED Suitable Servo

With Fan
Motor Model CD412S CD422S CD432S CD612S CD622S
LED CODE:EA01
FD412S FD422S CD422S-AF FD432S FD612S FD622S
FD422S-AF(CF、LF)

K@ 404.b Without motor configuration LED displays FFF.F

W0 305.7 SMC60S-0020-30E■K-3LKH √
W1 315.7 SMC60S-0040-30E■K-3LKH √
W2 325.7 SMC80S-0075-30E■K-3LKH √
WB 425.7 SMC130D-0100-20E■K-4LKP √
WC 435.7 SMC130D-0150-20E■K-4HKP √
WD 445.7 SMC130D-0200-20E■K-4HKP √
WO 4F5.7 SMC130D-0150-20E■K-4LKP √
WP 505.7 SMC130D-0200-20E■K-4LKP √
WQ 515.7 SMC130D-0300-30E■K-4HKP √
WR 525.7 SMC130D-0300-20E■K-4HKP √
Y0 305.9 SMS60S-0020-30J■K-3LKU √
Y1 315.9 SMS60S-0040-30J■K-3LKU √
Y2 325.9 SMS80S-0075-30J■K-3LKU √
Z0 305.A SMS60S-0020-30K■K-3LKU √
Z1 315.A SMS60S-0040-30K■K-3LKU √
Z2 325.A SMS80S-0075-30K■K-3LKU √
KZ 5A4.b SMH40S-0005-30A■K-4LKH √
KY 594.b SMH40S-0010-30A■K-4LKH √
K0 304.b SMH60S-0020-30A■K-3LK□ √
K1 314.b SMH60S-0040-30A■K-3LK□ √
K2 324.b SMH80S-0075-30A■K-3LK□ √
K3 334.b SMH80S-0100-30A■K-3LK□ √
K4 344.b SMH110D-0105-20A■K-4LK□ √
K5 354.b SMH110D-0125-30A■K-4LK□ √
K6 364.b SMH110D-0126-20A■K-4LK□ √
K7 374.b SMH110D-0126-30A■K-4HK□ √
K8 384.b SMH110D-0157-30A■K-4HK□ √
K9 394.b SMH110D-0188-30A■K-4HK□ √
KB 424.b SMH130D-0105-20A■K-4HK□ √ √
KC 434.b SMH130D-0157-20A■K-4HK□ √ √
KD 444.b SMH130D-0210-20A■K-4HK□ √
KE 454.b SMH150D-0230-20A■K-4HK□ √
F4 344.6 85S-0025-05AAK-FLFN-02 √
F6 364.6 85S-0035-05AAK-FLFN-02 √
F8 384.6 85S-0045-05AAK-FLFN-02 √

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Table-2 EASY Parameters instruction

LED
Parameters Description Default
Display

EA01 Motor Model Refer as Talbe-1, users should save and reboot servo after changing 404b

Modify the first LED on the right to change the command type; meanwhile the
operation mode and definition of IO will be changed.
0：CW/CCW
1：P/D
2：A/B phase control
3：CW/CCW by RS422
4：P/D by RS422
EA02 Command Type 5：A/B phase control by RS422 1
6：Analog Speed by AN1
7：Analog Speed by AN2
8：Communication
Notice: It is invalid when users set 3,4,or 5 into EA01 in FD2S and CD2S
When command type is 0-5, the control mode is -4.
When command type is 6-7, the control mode is -3.
When command type is 8, it means the servo is FD2S and DIN1, DIN2, DIN3 will
be shielded
Gear Factor Valid when EA02 is set to 0-5.
EA03 Default display is in decimal. 1000
numerator
If the number is bigger than 10000, the display is in hexadecimal.
Gear Factor Notice: please see the different way of LED display between decimal and
EA04 1000
denominator hexadecimal in Table-4.

Valid when EA02 is set to 6 or 7.

Analog Speed The relationship between Analog input voltage and speed of motor is rpm/V
EA05 300
Factor Perhaps to be invalid if the factor is too big when the motor is equipped with a
high resolution encoder.

The meaning of each LED from left to right:

(1) Polar of Alarm Output. 0 represent normally closed contacts, 1 represent
1. Polar of Alarm normally open contacts.
Output (2) Limited Switch. 0 represent keeping the default,1 represent shielding all
EA06 2.Application limited switch. 1001
3.Limited Switch (3) Application. It influences the control loop. 0 represent P2P,1 represent
4. Load Type CNC,2 represent Master/Slave mode
(4) Load Type. It influences the control loop. 0 represent nothing, 1 represent
belt, 2 represent ball screw.
Write “1” to save all the parameters.
Write “2” to save all the parameters and reboot the servo, users MUST reboot
the driver if changed the motor type)
Saving
EA00 Write “3” to reboot the servo -
Parameters
Write “10” to initialize the parameters
Notice: After saving the parameters, the servo will set the control loop according
to the load type and application

Level 0-31, determine the BW of velocity loop and the position loop. The bigger
the level is, the bigger the stiffness is. If this parameter is too big suddenly, the
belt:10
Tn01 Stiffness Level gain will change remarkably and the machine will be unstable.
screw:13
Notice: For safety, when setting Tn01, the data will be valid immediately, so the
parameters should be set level by level.

Ratio of load inertia and motor inertia (* 0.1). Servo will calculate K_Load
automatically according to inertia ratio and influence the proportion gain of
velocity loop. Formula: Kvp=VC_LOOP_BW×K_Load/4096. VC_LOOP_BW belt:3
Tn02 Inertia Ratio
represent the BW of position loop. screw:5
Notice: For safety, when setting Tn02, the data will be valid immediately, so the
parameters should be set level by level.

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LED
Parameters Description Default
Display
1) Set 1 to enable motor and start inertia measuring.
It contains the following operation:
1. shield all the control from external I/O
2. switch operation Mode to 10
3. enable the driver
4. set 0x2FF00C to 11
5. start shaking the shaft of motor and get the result
Tn03 Inertia measuring -
6. restore all the control of external I/O
2) After confirming, the LED will stop flashing and show the Tuning result. While
1 means success; -1,-2,-3,-4 means failure due to some reasons.
If it is successful, the control loop parameters will be set automatically and the
stiffness will be set to 4-13 according to inertia ratio and Tn03 will show 1.
If it is failed, the stiffness will be set to 10 and the inertia ratio will be set to
30(*0.1) and Tn03 will show error code.
Measuring
Tn04 Distance of inertia measuring(*0.01), maximum is 0.4 round 0.22
Distance
Write“1”to save all the parameters.
Write“2”to save all the parameters and reboot the servo ,
parameters
Tn00 Write “3” to reboot the servo
Saving
Write “10” to initialize the parameters
Notice: Users MUST reboot the driver if changed the motor type.
4. Notice: EASY and TunE menu are designed to solve the setting of servo by button originally. If users initialize
parameters by PC software, EASY and TunE will only show EA00, EA01 and Tn00 for safety. Users have to
confirm motor type by EA01.After that, the parameters become default and the LED will display in a complete
way.

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Table-3 Stiffness level

Stiffness Kpp/0.01Hz] Kvp/[0.1Hz] Speed feedback Stiffness Kpp/[0.01Hz] Kvp/0[0.1Hz] Speed feedback
level filter[Hz] level filter [Hz]

0 70 25 100 16 1945 700 480

1 98 35 100 17 2223 800 560

2 139 50 100 18 2500 900 620

3 195 70 100 19 2778 1000 700

4 264 95 100 20 3334 1200 800

5 334 120 100 21 3889 1400 900

6 389 140 120 22 4723 1700 1000

7 473 170 120 23 5556 2000 1000

8 556 200 140 24 6389 2300 1000

9 639 230 160 25 7500 2700 1000

10 750 270 180 26 8612 3100 1000

11 889 320 200 27 9445 3400 1000

12 1056 380 240 28 10278 3700 1000

13 1250 450 300 29 11112 4000 1000

14 1500 540 360 30 12500 4500 1000

15 1667 600 420 31 13889 5000 1000

Notice: When setting stiffness or inertia ratio, it is useless to raise stiffness any more if Kvp is more than 4000. And it
will decrease band width if going on increasing the inertia ratio.
If the resolution of encoder is less than 80000 PPR, the range of stiffness is from 0 to 22.

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Table-4 Operation of Panel

Description
Switch menus；
MODE When setting parameters, press can shift, long press can return to the previous
menus.
▲ Press▲ can increase the number, long press can increase quickly
▼ Press▼ can decrease the number, long press can decrease quickly
③ Shining represent displaying in hexadecimal, otherwise in decimal.
Enter the selected menu；
SET Enter the status of parameters setting；
affirm the parameters；
Without motor configuration, please operate according to the flow chart of “Easy” and
Display FFF.F
make it sure to save the parameters and reboot the servo.

Flow Chart of Adjusting Gain

START

Execute the flow chart of EASY

Good Jog the machine,

evaluate the performance

Not good
Measure the Inertia
Ratio by Tn01

Adjust the
Stiffness by Tn00

Can’t figure out by

Not Good adjusting the stiffness
Jog the Machine,
Adjust Gain by PC
evaluate the performance

Good

END

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Flow Chart of EASY

Notice: Must execute in order. Exit automatically if there is no operation in 60s and users have to start again. The data
input will be valid immediately, but need to be saved by EA00

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Flow Chart of TunE

MODE

显示如右图

MODE

SET
Long Press MODE
adjusted by “▼▲”level by level and
SET SET
will be valid immediately

Stiffness
▲ ▼
Long Press MODE
Write automatically after inertia measuring.
SET SET Or written by user. adjusted by “▼▲”level
by level and will be valid immediately
Inertia ratio, unit is 0.1
▲▼
Long Press MODE

Circle SET SET SET

Write “1”to start inertia LED is blinking, Confirm the parameter ,the first
▲▼ ratio measuring
Press MODE can shift. the dot on the right will lighten. the
parameters below display in parameters below display in the
the same way. same way.
SET

Measuring Distance,unit is 0.01 cycle

▲▼

SET

Write 1 to save all the parameters

Write 2 to save all the parameters and restart servo
Notice: The data will be valid immediately, but need to be saved by Tn00.
For safety, when setting Tn01 or Tn02, the data will be valid immediately and these two parameters should be set level
by level.

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Chapter 10 Communication

FD2S Servo supports powerful communication capabilities and adopts the control mode based on an object
dictionary. All controls come down to the configuration of internal objects. The configuration can be
implemented by multiple methods including RS232, RS485 and CANopen. It supports the connection of
multiple sites and simultaneous operation of multiple communication ports.
Notice:
1.DIN1 is set as driver enable function and DIN3 is set as operation mode control function by default.Before
using communication control,it must cancel the functions of these two DIN.
2.There are internal unit and engineering unit.All the parameters use internal unit when using communication
control,so it need to convert the unit.About more details about the relationship of the units please refer to
Appendix.
3.When using read/write function of SDO of CANopen,RS232 and RS485 communication,make sure there is
only one command in the network at the same time,and good communication error handling, etc., in order to
avoid communication into an infinite loop.

10.1 RS232 Communication

10.1.1 RS232 Communication Interface

The wiring diagram between PC and single FD2S Servo is as following:

PC FD2S Servo RS232(X3)

2 RxD ---------------------------------- TXD 2
3 TxD ---------------------------------- RXD 3
5 GND --------------------------------- GND 5
（D05.15 must be set as 1,and
The wiring diagram between PC and multiple FD2S Servo is as following：
restart
driver after setting）

FD2S SERVO
Note:1.It is the same way to connect FD2S Servo to HMI or other controllers.(The PIN definition of HMI or
other controllers may be different from PC’s).
2.When using the wiring of multiple FD2S Servo,all the FD2S Servo will receive the command at the same
time.

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10.1.2 RS232 Communication Parameters

LED Internal Name Meaning Default

Display Address value
1：Store all control parameters except
Store_Loop_Data motor parameters
d5.00 2FF00108 0
10 ： Initialzie all control parameters
except motor parameters
Station No. of Drivers
Note: To change this parameter, you
d5.01 100B0008 ID_Com 1
need to save it with the address “d5.00”,
and restart it later.
Set the baud rate of RS232 port
540 19200
270 38400
d5.02 2FE00010 RS232_Bandrate 90 115200 270
Note: To change this parameter, you
need to save it with the address “d5.00”,
and restarts it later.
0：1:1
RS232_Loop_Enabl 1：1:N
d5.15 65100B08 Note:It needs to restart driver after 0
e
changing
this parameter.
Data bit = 8
Consta
Other parameters Stop bit = 1
nt
Parity = None

10.1.3 Transport Protocol

The RS-232C communication of the FD2S Servo driver strictly follows a master/slave protocol. The host
computer can send any data to FD2S driver. The driver configured with ID No. will calculate such data and
return a reply.
This transport protocol of RS232 uses a data packet with fixed length of10 bytes.

byte 0 byte 9

ID 8 byte data CHKS

ID is the ID No. of the slave
CHKS = - SUM(byte0,…,byte8), CHKS is the lowest byte of the calculation result.
The host sends:
byte 0 byte 9

ID 8 byte host data CHKS

When D5.15 is 0,FD Servo sends:
byte 0 byte 9

ID 8 byte slave data CHKS

When D5.15 is 1,FD Servo sends:

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byte 0 byte 9 byte 0 byte 9

ID 8 byte host data CHKS ID 8 byte slave data CHKS

Note: Each 10-byte packet has its own CHKS.

If the host sends an ID not existed in the network to the FD2S Servo driver, no FD2S Servo driver will make a
reply. After the host sends the data correctly, the slave will find the data packets in compliance with its own ID
and check the CHKS value. If the checksum does not match, the slave will not make a response.

10.1.3.1 Data Protocol

A data protocol is different from a transport protocol. It contains 8 bytes of all 10 bytes of the above RS-232.
Definition of CD servo driver internal data complies with the CANopen international standard. All parameters,
values and functions are expressed by index and subindex.
A:Download. the host sends a command to write values into the objects in the slave, and the host generates
an error message when the value is downloaded to a non-existent object.
The host sends:

CMD Specifies the direction of data transfer and the volume of data.
23(0x16) Sends 4-byte data (bytes 4...7 contain 32 bits)
2b(0x16) Sends 2-byte data (bytes 4, 5 contain 16 bits)
2f(0x16) Sends 1-byte data (bytes 4 contains 8 bits)
INDEX Index in the object dictionary where data should be sent
SUB INDEX Subindex in object dictionary where data should be sent
In all four bytes in data, the lower-order bits are arranged before the higher-order bits. To write 7650 inc into
“Target Position” in the slave, the unit of 607A0029 is inc, 7650 is in decimal system, and 1DE2 is in
hexadecimal system.Since the length of the object to be written is 4 bytes and the calculation result 1D E2
has only 2 bytes,zero shall be filled to the higher-order bits. Therefore, the final result = 00 00 1D E2.
DATA： byte4=E2
byte5=1D
byte6=00
byte7=00
Slave responds：

RES: Displays slave response:

60(0x16) Data successfully sent
80(0x16) Error, bytes 4…7 contain error cause
INDEX 16-bit value, same as that sent by the master
SUBINDEX 8-bit value, same as that sent by the master
RES Reserved
For example:
Host sends:
01 23 7A 60 00 E2 1D 00 00 03 （This command is to write data into target position 607A0020）
Slave responds:
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01 60 7A 60 00 E2 1D 00 00 C6
Means:
01－Station No. of slave is 1
60－Data successfully sent.And data are saved in byte4…byte5.
byte4=E2，byte5=1D，byte6=00，byte7=00
Then,DATA= byte7 byte6 byte5 byte4 = 1DE2（hex）=7650 inc

B:Upload. Upload refers to that the master sends a command to read object address in the slave and the
master will generate an error if a non-existent target address is uploaded.
The host sends:

CMD Specifies the direction of data transfer

40(0x16)
INDEX 16-bit value
SUBINDEX 8-bit subindex
RESERVED Bytes 4…7 not used
The slave responds:

RES Displays slave response:

43(0x16) bytes 4...7 contain 32-bit data
4B(0x16) bytes 4, 5 contain 16-bit data
4F(0x16) byte 4 contains 8-bit data
80(0x16) error, bytes 4…7 contain error cause
INDEX 16-bit value, same as that sent by the master
SUBINDEX 8-bit value, same as that sent by the maste
If the data contains no error, byte 4…byte 7 save the object value read from the slave, with the lower-order
bits arranged before the higher-order bits. Correct value = byte7, byte6, byte5, byte4. If there is an error, data
contained in these four types is no longer object values read from the slave.
For example:
Host sends:
01 40 7A 60 00 00 00 00 00 E5 （This command is to read data of target position 607A0020）
Slave responds
01 43 7A 60 00 E2 1D 00 00 E3
Means:
01－Station No. of slave is 1
43－Receive 4 bytes of data and save into byte4…byte5.
byte4=E2，byte5=1D，byte6=00，byte7=00
Then DATA= byte7 byte6 byte5 byte4 = 1DE2（hex）=7650 inc

10.1.4 RS232 Communication Address of Servo Parameters

About the objects of each operation mode please refer to chapter8.

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About common object address please refer to object list in Appendix.
About all the communication address please refer to parameters list.
About RS232 communication example please refer to Appendix.

10.2 RS485 Communication

10.2.1 RS485 Communication Interface

The X2 interface of FD2S Servo driver supports RS485 and RS422 communication.The wiring diagram is
shown in following figure.

10.2.2 RS485 Communication Parameters

LED Name Meaning Default Value

Display
Station No. of Drivers
Note: To change this parameter,
d5.01 ID_Com 1
you need to save it with the
address “d5.00”, and restart it later.
Set the baud rate of RS485 port
RS485_Bandrate 540
Note: This parameter must be
changed in KincoServo software.
Data bit = 8
Other parameters Stop bit = 1 Constant
Parity = None

10.2.3 MODBUS RTU

The RS485 interface of FD2S Servo driver supports Modbus RTU protocol.
Modbus RTU protocol format
Start(No less than 3.5 Station Function Data CRC
characters of No. code
messages interval) 1 Byte 1 Byte N Bytes 2 Bytes

Function code of Modbus

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0x03：Read data registers
Request format：
High byte of Low byte
High Byte Low Byte of
Function Address CRC
Station No. of Start of Start Address
Code Length check
Address Address Length
(Word)
(Word)
1 Byte 03 1 Byte 1 Byte 1 Byte 1 Byte 2 Bytes
Normal response format:
Station Function Return data High byte of Low byte of … CRC
No. Code length(Bytes) Register 1 Register 1 check
1 Byte 03 1 Byte 1 Byte 1 Byte … 2 Bytes
If there is error such as non-exist address,then it will return function code 0x81.

For example:Send message 01 03 32 00 00 02 CA B3

Meaning:
01： Station NO.
03： Function code:read data registers
32 00 ： Read address starting from 4x3200(Hex).This is the modbus address corresponding to
parameter“Status word”(60410010)
00 02：Read 2 words of data
CA B3：CRC check.

0x06：Write single data register

Request format:
Functi High byte of Low byte of
Station High Byte Low Byte of
on writing writing CRC check
No. of Register Register
Code value value
1 Byte 06 1 Byte 1 Byte 1 Byte 1 Byte 1 Bytes
Response format:If writing successful,then return the same message.
If there is error such as address over range,non-exist address and the address is read only,then it will return
function code 0x86.
For example:Send message 01 06 31 00 00 0F C7 32
Meaning:
01： Station No.
06： Function code,write single WORD
31 00 ： Modbus address for writing data.This is the address corresponding to parameter “control
word”(60400010)
00 0F： Write data 000F(Hex)
C7 32： CRC check.

0x10：Write multiple registers

Request format:
High Low
Low Data
High Byte byte of byte of High Low
Station Function Byte of length CRC
of Start Address Address byte of byte of …
No. Code Start (Bytes check
Address Length Length Data 1 Data 1
Address )
(Word) (Word)
1 Byte 10 1 Byte 1 Byte 1 Byte 1 Byte 1 Byte 1 Byte 1 Byte … 2
Bytes

Normal respons format:

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High byte Low byte
High Byte of Low Byte
Function of Address of Address CRC
Station No. Start of Start
Code Length Length check
Address Address
(Word) (Word)
1 Byte 10 1 Byte 1 Byte 1 Byte 1 Byte 2 Bytes
If there is error such as address over range,non-exist address and the address is read only,then it will return
function code 0x90

For example:Send message 01 10 6F 00 00 02 04 55 55 00 08 1A 47

Meaning:
01： Station No.
10： Function code,write multiple WORDs
6F 00： Modbus address for writing data. This is the address corresponding to parameter “Target
Velocity”(60FF0020)
00 02: Address length is 2 WORD.
04： Data length is 4 Bytes(2 words)
55 55 00 08：Write data 00085555(Hex) into address.
1A 47： CRC check

10.2.4 RS485 Communication Address of Servo Parameters

About the objects of each operation mode please refer to Appendix.

About common object address please refer to object list in Appendix.(Not all the objects support RS485)
About RS485 communication example please refer to Appendix.

10.3 CANopen Communication

CANopen is one of the most famous and successful open fieldbus standards.It has been widely recognized
and applied a lot in Europe and USA. In 1992,CiA (CANinAutomation) was set up in Germany,and began to
develop application layer protocol CANopen for CAN in automation. Since then, members of CiA developed a
series of CANopen products,and applied in a large number of applications in the field of machinery
manufacturing such as railway, vehicles, ships, pharmaceutical, food processing etc..Nowadays CANopen
protocol has been the most important industrial fieldbus standard EN-50325-4 in Europe
The FD2S series servo supports standard CAN (slave device), strictly follow CANopen2.0A / B protocol, any
host computer which support this protocol can communicate with it. FD2S Servo uses of a strictly defined
object list, we call it the object dictionary, this object dictionary design is based on the CANopen international
standards, all objects have a clear definition of the function. Objects said here similar to the memory address,
we often say that some objects, such as speed and position,can be modified by an external controller, some
object were modified only by the drive itself, such as status and error messages.
These objects are as following:
For example:
Index Sub Bits Attribute Meaning
6040 00 16(=0x10) RW Control word
6060 00 8(=0x08) RW Operation mode
607A 00 32(=0x20) W Target position
6041 00 16(=0x10) MW Status word

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The attributes of objects are as follows:

1. RW:The object can be both read and written.
2. RO:The object can be read only
3. WO:The object can be written only.
4. M:The object can be mapping,similar to indirect addressing.
5. S:The object can be stored in Flash-ROM without lost after power failure.

10.3.1 Hardware Introduction

CAN communication protocol describes a way of transmitting information between devices, The definition of
CAN layer is the same as the open systems interconnection model OSI, each layer communicates with the
same layer in another device, the actual communication takes place adjacent layers in each device,but the
devices only interconnect by the physical media of thephysical layer in the model.CAN standard defines data
link layer and physical layer in the mode. The physical layer of CAN bus is not strictly required, it can use a
variety of physical media such as twisted pair Fibre. The most commonly used is twisted pair signal, sent by
differential voltage transmission (commonly used bus transceiver). The two signal lines are called CAN_H
and CAN_L. The static voltage is approximately 2.5V, then the state is expressed as a logical 1, also called
hidden bit. It represents a logic 0 when CAN_H is higher than the CAN_L, we called it apparent bit,then the
voltage is that CAN_H = 3.5V and CAN_L= 1.5V,apparent bit is in high priority.
The standard CAN interface is as following figure:

CAN_V+

GND

Pin Name Description

1 NC Reserved
2 CAN_L CAN_L bus (low dominant )
3 CAN_GND CAN ground
4 NC Reserved
5 CAN_SHLD Optional shield for CAN
6 GND Optional ground
7 CAN_H CAN_H bus（high dominant )
8 NC Reserved
9 CAN_V+ NC

■Note:
1、All CAN_L and CAN_H of slaves connect directly by using series connection, not star connection.
2、There must be connected a 120 ohm resistance in start terminal(master) and end terminal(slave).
3、All FD2S Servo driver don’t need external 24VDC supply for CAN interface.
4、Please use the shield wires for communication cable,and make good grounding(Pin.3 is advised to
grounding when
communication is in long distance and high baudrate）.
5、The max. distance at different baudrate are shown in following table:

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Baudrate Distance
1Mbit/s 25M
800Kbit/s 50M
500Kbit/s 100M
250Kbit/s 250M
125Kbit/s 500M
50Kbit/s 600M
25Kbit/s 800M
10Kbit/s 1000M
10.3.2 Software Introduction

10.3.1.1 EDS

EDS（Electronic Data Sheet）file is an identification documents or similar code of slave device,to identify what
kind of slave device is(Like 401,402 and 403,or which device type of 402).This file includes all information of
slaves,such as manufacturer,sequence No.,software version,supportable baudrate,mappable OD and
attributes of each OD and so on,similar to the GSD file for Profibus.Therefore,we need to import the EDS file
of slave into the software of master before we configure the hardware.

10.3.1.2 SDO

SDO is mainly used in the transmit the low priority object between the devices, typically used to configure

and mange the device,such as modifying PID parameters in current loop,velocity loop and position loop,and

PDO configuration parameters and so on.This data transmission mode is the same as Modbus,that is it

needs reponse from slave when master sends data to slave.This communication mode is suitable for

parameters setting,but not for data transmission frequently.

SDO includes upload and download.The host can use special SDO instructions to read and write the OD

of servo.

10.3.1.3 PDO

PDO can transport 8 bytes of data at one time,and no other protocol preset(Mean the content of the data

are preset),it is mainly used to transmit data in high frequency.PDO uses brand new mode for data

exchange,it needs to define the data receiving and sending area before the transmission between two

devices,then the data will transmit to the receiving area of devices directly when exchanging data.It greatly

increase the efficiency and ultilization of the bus communication.

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PDO COB-ID
COB-ID is a unique way of CANopen communication protocol,it is the short name
of Communication Object Identifier. These COB-ID defines the respective transmission levels for PDO, These
transport level, the controller and servo will be able to be configured the same transmission level and the
transmission content in the respective software.Then both sides know the contents of data to be transferred,
there is no need to wait for the reply to check whether the data transmission is successful or not when
transfering data.
The default ID allocation table is based on the CAN-ID(11 bits) defined in CANopen 2.0A（The COB-ID of
CANopen 2.0B protocol is 27 bits）,include function code(4 bits) and Node-ID(7 bits) as shown in following
figure:

Node-ID is defined by system integrators,such setting by the DIP switch on the devices(Like servo’s station
No.).The range of Node-ID is 1~127(0 is forbidden).
Function Code:The function code for data transmission define the transmission level of PDO,SDO and
management message.The smaller the function code,the higher the priority.
The allocation table for CAN identifiers in master/slave connection set predefined by CANopen is as follows:
Broadcast objects
Function code Index of
Object COB-ID communication
（ID-bits 10-7）
parameter in OD
NMT Module Control 0000 000H -
1005H，1006H，
SYNC 0001 080H
1007H
TIME SSTAMP 0010 100H 1012H，1013H
Reciprocity objects.
Function code Index of
Object COB-ID communication
（ID-bits 10-7）
parameter in OD
Emergency 0001 081H-0FFH 1024H，1015H
PDO1(Send) 0011 181H-1FFH 1800H
PDO1(Receive) 0100 201H-27FH 1400H
PDO2(Send) 0101 281H-2FFH 1801H
PDO2(Receive) 0110 301H-37FH 1401H
PDO3(Send) 0111 381H-3FFH 1802H
PDO3(Receive) 1000 401H-47FH 1402H
PDO4(Send) 1001 481H-4FFH 1803H
PDO4(Receive) 1010 501H-57FH 1403H
SDO(Send/Server) 1011 581H-5FFH 1200H
SDO(Receive/Client) 1100 601H-67FH 1200H
NMT Error Control 1110 701H-77FH 1016H-1017H
Note:
1. The smaller the COB-ID,the higher the priority.
2. The function codes of COB-ID in every level are fixed.
3. COB-ID of 00H, 80H, 100H, 701H-77FH, 081H-0FFH are system management format.
The COB-ID supported by FD2S Servo:
Send PDO（TXPDO）
Send PDO of servo means servo sends out data,and these data are received by PLC.The function codes
of send PDO (COB-ID) are as follows:
1、 0x180+Station No. of Servo
2、 0x280+ Station No. of Servo
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3、 0x380+ Station No. of Servo
4、 0x480+ Station No. of Servo
Receive PDO（RXPDO）
Receive PDO of servo means servo receive data,and these data are sent by PLC.The function codes of
receive PDO(COB-ID) are as follows:
1、 0x200+ Station No. of Servo
2、 0x300+ Station No. of Servo
3、 0x400+ Station No. of Servo
4、 0x500+ Station No. of Servo
FD2S Servo is designed according to the standard of CANopen 2.0A protocol,and it also supports CANopen
2.0B protocol.Therefore,if 8 PDOs are not enough,users can define new PDO,for example,set 0x43FH as the
communication PDO of Station No.1,but it needs the controllers and servo define PDO by the same rule.

PDO transmission types:

PDO supports two transmission mode:
SYNC: Transmission is triggered by the synchronization message（Transmission type:0-240）
In this transmission mode, controller must have the ability to send synchronous messages（The message is
sent periodically at a maximum frequency of 1KHz）,and servo will send after receiving the synchronous
message.
Acyclic:Pre-triggered by remote frame,or by specific event of objects speicficed by the equipment
sub-protocol.In this mode,servo will send out data as soon as receiving the data of synchronous message
PDO.
Cyclic:Triggered after sending 1 to 240 SYNC messages.In this mode,servo will send out data in PDO after
receiving n SYNC messages.

ASYNC(Transmission Type:254/255):
Slave sends out message automatically as soon as the data change,and it can define an interval time
between two messages which can advoid the one in high priority always sending message.(The smaller
number of PDO,the higher its priority)
PDO Inhibit Time:
Each PDO can define an inhibit time,that is the minimum interval time between two continuous PDO
transmission.It is used to advoid the PDO in higher priority always occupying the communication.The inhibit
time is 16bit unsigned integer,its unit is 100us.

Protection mode（Supervision type）

Supervision type is to choose which way master uses to check slave during operation,and check whether
slave is error or not and handle the error.
Heartbeat message:Slave send message to master cyclically during supervision time.If master hasn’t
received the message from slave after heartbeat time,then master will consider slave as error.
Message format
(0x700+NodeID)+Status
Status：
0：Start 4:Stop 5:Run 127:Pre-operational
Node Guarding: Slave send message to master cyclically during supervision time.If master hasn’t received
the message from slave after supervision time,then master will consider slave as error.
The format of master request message:
（0x700+NodeID） （No data in this message）

Format of slave response message:

（0x700+NodeID）+Status:
Status:
The bit7 of the data is triggered bit.This bit will alternately set to 0 or 1 in the response message.It will be set
to 0 at the first request of node guarding.The bit0 ~ bit6 indicate the status of node.
Status: 0:Initialization 1:No connection 2.Connection 3:Operational 4:Stop 5:Run
127:Pre-operational
Normally standard CAN slave only one protection mode,but FD2S Servo can support both.

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Boot-up process
The boot-up process is shown in following figure.

Note:
►The letters in the parenthesis means the objects which can used in this status:
a. NMT ，b. Node Guard ，c. SDO ，d. Emergency ，e. PDO ，f. Boot-up
► State transition（1-5 are sent by NMT service）,NMT command as shown in the parenthesis:
1：Start_Remote_node (0x01)
2：Stop_Remote_Node (0x02)
3：Enter_Pre-Operational_State (0x80)
4：Reset_Node (0x81)
5：Reset_Communication (0x82)
6：Initialization finish,enter pre-operational status and send boot-up message.

NMT management message can be used to change the modes.Only NMT-Master node can send NMT
Module Control message,and all slave must support NMT Module Control service,meanwhile NMT Module
Control message needn’t response.The format of NMT message is as follows:

For example, If you want a node in the operational status to return to the pre-operational status,then the
controller needs to send following message:
0x000:0x80 0x02

10.3.3 CANopen Communication Parameters

LED Internal Name Meaning Default

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Display Address Value
1：Save all control parameters except
motor parameters
d5.00 2FF00108 Store_Loop_Data 0
10 ： Initialize all control parameters
except motor parameters
Driver station No.
d5.01 100B0008 ID_Com Note:It needs to save and restart driver 1
after changing this parameter.
Baudrate of CAN port:
Note: It needs to save and restart driver
after changing this parameter.This 50
2F810008 CAN_Bandrate parameter can only set in KincoServo
software.

10.3.4 CANopen Communication Address of Servo Parameters

About the objects of each operation mode please refer to Appendix.

About common object address please refer to object list in Appendix.
About all the communication address please refer to parameters list.
About CANopen communication example please refer to Appendix.

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Chapter 11 Alarm and Troubleshooting

11.1 Alarm Messages

Digital flickering on the display indicates that an alarm occurs indicating that the driver is faulty. For
details about faults, see Table 11-1 “Fault codes”. A code of the alarm message is represented by a
hexadecimal data, and four numeric displays appear. If the driver is faulty, the corresponding bits in the alarm
codes are set to “1”. For example, if an encoder is not connected, the 1st and 2nd bits of the faulty code are set
to “1”. As a result, “0006” is displayed.
Table 11-1 Fault codes
1st bit in numeric display 4th bit in numeric display
2nd bit in numeric display 3rd bit in numeric display
(left) (right)
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
EEPROM Error

Commutation

STO Error

Over Frequency

IIt Error

Logic Voltage

Following Error

Chop Resistor

Over Current

Low Voltage

Over Voltage

Over Temperature

Encoder Counting

Encoder UVW

Encoder ABZ

Internal
A maximum of 7 generated alarms can be stored in the driver. For details, enter the menu of Group F007.
Press Enter. The interface of faulty codes is displayed. The errors that you first discovered are those that
have occurred most recently. Press ▲ or ▼ to browse the messages of historical alarms. If the decimal point
at the lower right corner in the second bit of the numeric display is on, it indicates that the earliest alarm
message is just browsed; if the decimal point at the lower right corner in the third bit of the numeric display is
on, it indicates that the latest alarm message is just browsed.
For details on error messages, you need to access PC software via a communication port to check the
working status of the driver when an error occurs. Here are some messages of the driver for your reference:
1. Error codes;
2. Bus voltage when an error occurs;
3. Motor speed when an error occurs;
4. Motor current when an error occurs;
5. Driver temperature when an error occurs;
6. Working mode of the driver when an error occurs;
7. Accumulated working time of the driver when an error occurs;

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11.2 Alarm Causes & Troubleshooting

Alarm Alarm Information Alarm Cause Troubleshooting

code
FFF.F There is no motor type set in servo
No motor configured Set the motor type in d4.01.
/800.0 driver
000.1 Internal Internal problem Please contact manufacturer
Encoder ABZ The ABZ signal cable is
000.2 Check the cable.
disconnected.
Encoder UVW The UVW signal cable is
000.4 Check the cable.
disconnected.
Encoder Counting Interferences are suppressed. Check encoder cable.
Encoder cable problem Remove interference(Such as
000.8
connect the motor cable to SHIELD
terminal etc.)
Encoder Error ABZ and UVW signals of the
000.6 encoders incur error Check the cable.
simultaneously.
Over Temperature The driver temperature exceeds Check whether the selected driver
001.0
83°C. has enough power.
Over Voltage Check the input voltage,or determine
The bus voltage of the driver
002.0 whether a braking resistor is
exceeds the allowable range.
connected.
Low Voltage The voltage of the driver bus is Check the input power.
004.0 below the allowable range. Power on AC first,then power DC.
Reduce deceleration.
Over Current The power tube in the driver is Check motor wires. If the motor
faulty, or short circuit occurs on the works properly, it can be judged that
008.0
phase line of the motor. faults occur on the power tube in the
driver.
Chop Resistor The actual power of brake resistor
010.0 Change brake resistor.
is larger than rated power
Following Error Control loop parameters setting Set VFF (d2.08) as 100%,increase
problem. kpp(d2.07) and kvp(d2.01).
020.0 Overload or block. Choose bigger power motor or check
Encoder signal problem. whether the load is blocked.
Check the encoder cable.
Logic Voltage The logic voltage is lower than
040.0 Check the logic power supply 24V.
18V.
IIt Error Control loop parameters setting Increase kvp(d2.01).
080.0 problem. Choose bigger power motor or check
Overload or block. whether the load is blocked.
Over Frequency Check the input pulse frequency and
The input pulse frequency exceeds the maximum permissible value of
100.0
the allowable maximum value.
the frequency.（d3.38） 。
STO Error Check the wiring according to
200.0 STO Error
Chapter 3.4.
Commutation UVW signal of encoder cable
400.0 Check encoder cable.
problem
EEPROM Error Because of updating firmware. Initialize all control parameters and
800.0 Driver internal problem. save,then restart driver.
Contact manufacturer.
Driver abnormal working Logic power supply problem. Check 24VDC power supply.
888.8
states Driver internal problem. Contact manufacturer.

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Chapter 12 Appendix

Appendix 1 Instructions of operation mode via Communication

1. Position mode(Mode 1)

Take this mode for example: In the coordinate system shown below, the red arrow indicates the current
position = 450. If it is defined as absolute motion, when the target position is set to 700, the motor will move to
the position of coordinate = 700; if it is defined as relative motion, when the target position is set to 700, the
motor will move to the position of coordinate = 1150.

Fig.1 Absolute/Relative positioning

In mode 1, the following objects have to be defined :
CANopen Address Modbus Value Meaning
Address
60600008 0x3500 1 Set as position mode
60810020 0x4A00 User setting Profile velocity
60830020 0x4B00 User setting Acceleration
60840020 0x4C00 User setting Deceleration
607A0020 0x4000 User setting Target position
60400010 0x3100 2F -> 3F Start absolute positioning
4F -> 5F Start relative positioning
103F Start absolute positioning while target
position change
105F Start relative positioning while target
position change

More details please refer to “Mode and Control” and “Target Object” in Appendix.
About position mode controlled by communication,please refer to communication example in Appendix.

2. Speed Mode(Mode -3 or 3)

Mode 3 implements velocity control over the motor. The operation curve consists of three sequences:

acceleration, uniform velocity, and deceleration, as shown below. The acceleration time can be calculated on

the basis of initial velocity, uniform velocity, and acceleration velocity.

Vt＝Vo＋at Vt－Uniform velocity
Vo－Initial velocity
a - Acceleration or deceleration
t - Acceleration time

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S＝Vot + (1/2) at2 S－Acceleration displacement

In mode -3, when a new value is assigned to the target velocity, the motor will run at the new velocity
immediately, without a definable acceleration/deceleration as described in mode 3.
In speed mode, the following objects have to be defined:
CANopen 地址 Modbus Value Meaning
Address
60600008 0x3500 3 or -3 Set as speed mode
60FF0020 0x6F00 User setting Target velocity
60830020 0x4B00 User setting Acceleration
60840020 0x4C00 User setting Deceleration
60400010 0x3100 F Start running
More details please refer to “Mode and Control” and “Target Object” in Appendix.
About position mode controlled by communication,please refer to communication example in Appendix.

3. Master-slave mode(Mode -4)

In this mode, the movement of the motor is directly controlled by the external encoder, pulse/direction,
CW/CCW pulse signal from the X1 interface of the drive. If the system receives signal from the external
encoder, set the drive to master/slave mode. The drive will serve as the slave and the motor shaft will be the
slave shaft to follow the encoder master shaft signal of the X1 interface to perform the following movement.
The velocity rate of the following movement can be set by the electronic gear ratio.
In mode -4, the following objects have to be defined:
CANopen Modbus Value Meaning
Address Address
60600008 0x3500 -4 Set as master-slave mode
25080110 0x1910 User setting Factor of electronic gear
25080210 0x1920 User setting Divider of electronic gear
User setting Pulse mode
0...CW/CCW mode
1... Pulse/Direction mode
25080310 0x1930
2...Incremental encoder mode
Note:This parameter must save
after change.
60400010 0x3100 F Start running
More details please refer to “Mode and Control” , “Target Object” and “Master-slave mode” in Appendix.

4.Torque Mode(Mode 4)

In this mode, the motor will output at constant torque. The output torque depends on the value of target

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I demand
torque.The conversion formula is Tdemand = Kt * ， K t is torque constant,users can find it in the
2
catalog. I demand is peak current.
In mode 4, the following objects have to be defined:
CANopen Modbus Value Meaning
Address Address
60600008 0x3500 -4 Set as torque mode
60710010 0x3C00 User setting Target torque
60730010 0x3D00 User setting Max. current
60800010 0x4900 User setting Max. speed
60400010 0x3100 F Start running
More details please refer to “Mode and Control” and “Target Object” in Appendix.

Warning: Before locking the motor shaft, pay attention to the drive. Because it has constant torque output,
the motor velocity is only restricted by the value of target torque. Make sure the load is correctly installed and
in normal operation before any operation. Remember to set the maximum velocity.

5. Homing mode(Mode 6)

To make a system execute positioning in accordance with its absolute positioning, the first step is to define
the origin. For instance, as shown in the following XY plane, to navigate to (X, Y) = (100mm, 200mm), you
must define the origin of the machine firstly. It’s necessary to define the origin.

In mode 6, the following objects have to be defined:

CANopen Modbus Value Meaning
Address Address
60600008 0x3500 6 Set as homing mode
607C0020 0x4100 User setting Home offset
60980008 0x4D00 User setting Homing method
60990120 User setting Homing speed for searching
0x5010
home signal
60990220 User setting Homing speed for searching
0x5020
index signal
609A0020 0x5200 User setting Homing acceleration
60400010 0x3100 F->1F Start running
More details about homing method please refer to homing methods in Appedix.

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6. Driver Status Display

FD2S Servo driver uses object 60410010(Modbus address is 0x3200) to indicate the current status
of driver.The definitions of every bit are as following:
bit Definition Meaning Value
0 Ready to Switch on Ready to switch on 60410010＝0x0001
1 Switched On Already switched on 60410010＝0x0002
2 Operation Enable Operation enable 60410010＝0x0004
3 Fault Driver fault 60410010＝0x0008
4 Voltage Disable Voltage output disable 60410010＝0x0010
5 Quick Stop Emergency stop 60410010＝0x0020
6 Switch On Disable Switch on disable 60410010＝0x0040
7 Warning Warning 60410010＝0x0080
8 Manufacturer specific 1 Reserved 60410010＝0x0100
9 Reserved 1 Reserved 1 60410010＝0x0200
10 Target Reached Target position reach 60410010＝0x0400
11 Internal Limit Active Internal limit active 60410010＝0x0800
12 Setp.Ach./v=0/Hom.att. Pulse response 60410010＝0x1000
13 Foll.Err./Res.Hom.Err. Following 60410010＝0x2000
error/Reference error
14 Commutation Found Commutation found 60410010＝0x4000
15 Reference Found Reference found 60410010＝0x8000

Appendix 2:Example for CANopen Communication

1.Canopen communication between Kinco F1 PLC and FD2S Servo

1.1 Wiring diagram

F1 PLC CAN port FD2S CAN port (X4)

CAN_L 2 ---------------------------------- CAN_L 2

CAN_H 7 ---------------------------------- CAN_H 7

■Note:
1.It must use series connection for multiple slaves.
2.CAN1 and CAN2 of F1 PLC are separately,can be used at the same time.
3.There are terminal resistors in PLC which set by DIP switch.Therefore,it needs a 120ohm terminal resistor
in the end of the communication cable(In the last slave).

1.2 Parameter setting.

About the settings of FD2S parameters such as baudrate and station No.,please refer to the chapter of
CANopen.

1.3 Software program

(1)Create new project,select Kinco F122-D1608T and click OK.

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(2)Select program language according to your habit.Then click OK.

(3)Select “Resources” option and click “PLC Configuration”.

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(4)Click “Extras->add configuration file” to add EDS file of FD2S Servo.

(5)There are two CAN ports in F1 PLC.Both of them can be used as master. Set baudrate and Node-ID for
CAN port.If you need synchronous message,please click “activate” ,then set “Com.Cycle period” and
“Sync.COB-ID”.

(6) Right click CAN port and select “Append Subelement->FD2S driver” to add slaves.Then set parameters
such as Node ID,Nodeguarding,RX-PDO and TX-PDO.
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(7)Configure PDO objects according to the requirement.

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(8)After configure all the parameters,there will be all the registers corresponding to all the OD
as shown in following figure.For example,the register for Controlword is QW4,and the register
for Statusword is IW1.8.

(9)Configure other slaves according to procedure above.Then we can start to program.In the program,we can
use the register directly or define gloable variables.

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(10)The program is as following figure.More details please refer to the chapter of operation mode.After
creating communication between F1 PLC and servo,it needs to set a initial value 6 to the object
“Controlwrod”,or other command can’t be effective in servo.

If the objects are not in the EDS file or not commonly use,then we can use SDO to read and write these
ojectes,as shown in following figure.

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2.CANopen Communication between FD2S Servo and Peak CAN.

Peak company has many kinds of CAN adapter such as ISA,PCI,USB-CAN and so on.This example is to use
PCAN-USB connected to FD2S Servo.
2.1 Wiring
Master Slave 1 Slave 2 ----- Slave N
PCAN_USB CAN 口 FD2S X4 port FD2S X4 port FD2S X4 port
2 CAN_L 2CAN_L 2CAN_L 2CAN_L
7 CAN_H 7CAN_H 7CAN_H 7CAN_H
It needs to add a 120-150 ohm resistor between PIN2 and PIN7 in the terminal(Slave N).

2.2 Set the communication parameters such as baudrate,ID according to FD2S Servo.Then open
PCAN-VIEW(Software for PCAN-USB) to send and receive data.
Following figure is the example to send command to set 6040 as 3F.The lower part of the figure is to send
data,the upper part of the figure is to receive data.

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Following is the example about sending and receiving messages for different operation mode.(The
sataion No. is 1)
Homing mode（The controlword should change from F to 1F)
Internal Setting
Name Message（ID=1） Note
Address value
6040001 601 2B 40 60 00 0F 00
Control word F
0 581 60 40 60 00 0F 00
6060000 601 2F 60 60 00 06 00
Operation mode 6
8 581 60 60 60 00 06 00
6098000 601 2F 98 60 00 21 00
Homing method 33
8 581 60 98 60 00 21 00
Velocity for
6099012 601 23 99 60 01 55 55 08 00
searching limit 200RPM DEC=[(RPM*512*Encode
0 581 60 99 60 01 55 55 08 00
switch r_resolution)/1875]
Velocity for
6099022 601 23 99 60 02 00 40 06 00
searching 150RPM
0 581 60 99 60 02 00 40 06 00
phase-N signal
6040001 601 2B 40 60 00 1F 00
Control word 1F
0 581 60 40 60 00 1F 00
601 40 41 60 00 00 00 00 00 Read status word,C037 means reference
found.
Position mode（Control word should change from 2F to 3F for absolute positioning,and change from
4Fto5F for relative positioning.103F or 105F means activate immediately when position change.)
Internal Setting
Name Message（ID=1） Note
Address value
6040001 601 2B 40 60 00 0F 00
Control word F
0 581 60 40 60 00 0F 00
6060000 601 2F 60 60 00 01 00
Operation mode 1
8 581 60 60 60 00 01 00 DEC=[(RPM*512*Encode
607A002 601 23 7A 60 00 50 C3 00 00 r_resolution)/1875]
Target velocity 50000inc
0 581 60 7A 60 00 50 C3 00 00
6081002 601 23 81 60 00 55 55 08 00
Profile velocity 200RPM
0 581 60 81 60 00 55 55 08 00
Default
6083002 value
Acceleration NULL
0 610.352r
ps/s
Default
6084002 value
Deceleration NULL
0 610.352r
ps/s
2F(Absol
ute 601 2B 40 60 00 2F 00
positionin 581 60 40 60 00 2F 00 DEC=[(RPS/S*65536*En
g) coder_resolution)/1000/
3F(Absol 4000]
ute 601 2B 40 60 00 3F 00
positionin 581 60 40 60 00 3F 00
6040001
Control word g)
0
4F(Relati
ve 601 2B 40 60 00 4F 00
positionin 581 60 40 60 00 4F 00
g)
5F(Relati
601 2B 40 60 00 5F 00
ve
581 60 40 60 00 5F 00
positionin
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g)
601 40 41 60 00 00 00 00 00 Read status word.D437 means target
position reach.

Speed mode

Internal Setting
Name Message（ID=1） Note
Address value
6060000 601 2F 60 60 00 03 00
Operation mode 3
8 581 60 60 60 00 03 00
60FF002 601 23 FF 60 00 00 40 06 00
Target velocity 150RPM
0 581 60 FF 60 00 00 40 06 00
6040001 601 2B 40 60 00 0F 00 DEC=[(RPM*512*Encode
Control word F
0 581 60 40 60 00 0F 00 r_resolution)/1875]
Default DEC=[(RPS/S*65536*En
6083002 value coder_resolution)/1000/
Acceleration NULL
0 610.352r 4000]
ps/s
Default
6084002 value
Deceleration NULL
0 610.352r
ps/s

Note:All the data are Hexadecimal format when using communication.

Appendix 3:Example for RS485 Communication

1.Modbus Communication Between FD2S Servo and Kinco HMI

(1) HMI control single FD2S Servo.

a．Wiring diagram

b. Parameters setting
It needs to choose Modbus RTU in HMI software,the communication parameters are as following figure.The
PLC station No. must be set the same as the ID of FD2S Servo.

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c. Address setting
It needs to use address type 4X in HMI program(All the objects of FD2S Servo are corresponding to
4X).According to Modbus address of objects in the Common Object List,the Modbus address of the object
“Target velocity”(60FF0020) is 0x6F00,its decimal value is 28416.When we use this address in HMI,we need
to add 1,so in HMI the address for “Target velocity” is 28417 as shown in following figure.

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(2)HMI control multiple FD2S Servo

a、Wiring diagram

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b. Parameter setting
The parameters setting in HMI is the same as above example,the difference is to set different station no. for

different servo.In the attribute of components in HMI,it needs to select the PLC No. for different servo.(The

PLC No. is not the servo station No.,as shown in the figure above,PLC0:2 means the PLC No. is 0,and

station No. is 2)

2. Modbus Communication Between FD2S Servo and Siemens S7-200

(1)Wiring diagram

(2)Parameter setting.
About the parameter setting of FD2S Servo please refer to Chapter 10.2.The default parameters are Modbus
RTU,19200,8,None,1.
In the software of S7-200 PLC,there is a library function used to set communication parameters as shown in
following figure.

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(3)Program
It needs to use the Modbus function (MODBUS_MSG) to send and receive data.The descriptions of Modbus
function are shown in following figure.

(4)Example descriptions
S7200 plc Inputs Function Description
I0.0 Write 60600008=1 Set as position mode
I0.1 Wirte 607A0020=10000 Set the target position
I0.2 Write 60810020=1000rpm Set the profile velocity
I0.3 Write 60400010=0x4F first,then 0x5F Start relative positioning
I0.4 Read 60630020 Read the actual position
I0.5 Read 60410010 Read the status word

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Appendix 4:Example for RS232 Communication

1.Communication between FD2S Servo and Kinco HMI.

Kinco MT4000 and MT5000 series HMI can communicate with RS232 port of FD2S Servo.Users can set

internal parameters of FD2S Servo and display the status of FD2S Servo.Kinco HMI can communicate with

single FD2S Servo,and also can communicate with multiple FD2S Servo via RS232.
(1) HMI control single FD2S Servo
a．Wiring diagram

b. Communication parameters setting

It needs to choose Kinco Servo Series driver in HMI.The parameters setting are shown in following figure.

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c. Address setting
There are three address types in HMI software which are corresponding to the data length of the objects in
FD2S Servo.These address types are 08(8 bits),10(16 bits) and 20 (32 bits).The format of the address is
Index.Subindex.Following figure is an example for using object 60FF0020(Target velocity)

(2)HMI controls multiple FD2S Servo (D05.15 must set as 1)

a、Wiring diagram

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b. Parameters setting
The parameters setting in HMI is the same as above example,the difference is to set different station no. for

different servo.In the attribute of components in HMI,it needs to select the PLC No. for different servo.(The

PLC No. is not the servo station No.,as shown in the figure above,PLC0:1 means the PLC No. is 0,and

station No. is 1)

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Appendix 5: Use KincoServo software to import and export driver

parameters.

Export: It means to upload the parameters from driver and save in PC.
1.Select the Menu->Extend->Read Driver Config;

2.Open the window as the following picture:

3.Click the Open File, pop up a dialog box like that:

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4.Select the export.cdo, click the Open, the parameters will be listed in the window, and then
click the Read, and values of parameters will be shown in following the window:

5.At last, choose the Save, and input the file name, so the data in driver is uploaded.

Import: It means to download the parameters into servo driver.

1.Select the Menu->Extend->Write Driver Config:

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2.Open the window as the following picture.

3.Click the Open File, then pop up a dialog window to select file.

4.Select one of the file that needed to be download to driver. For example we choose
Motor-test.cdi, Click Open. The parameters and their values in this file will be shown in the
window:
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5.Then click the Write, so the parameters are downloaded to driver. After that do not forget to
click Save Parameter, then the parameters are saved in driver.

Appendix 6: Conversion between engineering unit and internal unit of

common objects.

There are engineering unit and internal unit for some internal objects in FD2S Servo.When driver is controlled
by communication,some objects use internal unit,therefore it needs to convert the unit.For example,the
engineering unit for speed is RPM,and the internal unit is dec.Their conversion formular is
1RPM=2730dec(Resolution of encoder is 10000).Suppose to set speed as 10 RPM,then you need to send
data 27300dec to the driver when using communication control.
Following table is the list of common conversion unit.
Parameter Name Engineerin Internal Conversion Fomular
g Unit Unit
Velocity RPM dec dec=[(RPM*512*Encoder_resolution)/1875]
Acceleration r/s*s dec dec=[(RPS/S*65536*
Encoder_resolution)/4000000]
Kpp hz dec 1 hz= 100dec
K_Velocity_FF % dec 100%=256dec
Notch_N hz dec Hz=dec*45+100
Speed_Fb_N hz dec Hz=dec*20+100
Current A dec 1 Arms=1.414 Ap=105dec
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Appendix 7: Common Objects List

Based on the data communication protocols described in Chapter 10,all parameter values are transferred in
hexadecimal data. In the later sections of this document, we adopt the hexadecimal system and use Index
(16-bit index) and Subindex (8-bit subindex) to represent the register addressing. The digit 08 indicates the
register will store data up to 1 byte, and the digit 10 indicates that the register will store data up to 2 bytes,
and the digit 20 indicates the register will store data up to 4 bytes. It also covers the storage digits and
read/write property of the register, read or write flag (RW), read-only or write-only flag (RO, WO), and
mapping flag (M).
Modes and Control:
Index Subindex Bits Modbus Command Unit Descriptions
Address Type
6040 00 10 0x3100 RW bitcode Use control word to change status of
drive =>machine state
0x06 Motor power off
0x0F Motor power on
0x0B Quick stop, load tops-voltage
switched off
0x2F-3F Start absolute positioning
immediately
0x4F-5F Start relative positioning
immediately
0x103F Start absolute positioning
while target position changes.
0x105F Start relative positioning
while target position changes
0x0F-1F Start homing
0X80 Clear internal error.
6041 00 10 0x3200 RO bitcode Status byte shows the status of drive
bit0：ready to switch on
bit1：switch on
bit2：operation enable
bit3：falt
bit4：Voltage Disable
bit5：Quick Stop
bit6：switch on disable
bit7：warning
bit8：internal reserved
bit9：reserved
bit10： target reach
bit11： internal limit active
bit12： Step.Ach./V=0/Hom.att.
bit13： Foll.Err/Res.Hom.Err.
bit14： Commutation Found
bit15： Referene Found
6060 00 08 0x3500 WO number Operation modes:
1 Positioning with position loop
3 Velocity with position loop
-3 Velocity loop (immediate velocity
mode)
-4 Master/slave or pulse/direction control
mode
6 Homing
7. CANOPEN based motion interpolation
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Measurement data:
Index Subindex Bits Modbus Command Unit Descriptions
Address Type
6063 00 20 0x3700 RO inc Actual position value
606C 00 20 0x3b00 RO DEC=[(RPM*51 Actual velocity value
2*Encoder_res
olution)/1875]
6078 00 10 0x3E00 RO number Actual current value
Status words for digital inputs
bit0: Negative limit signal status
60FD 00 20 0x6D00 RO bitcode bit1: Positive limit signal status
bit2: Home signal status
bit3: Hardware lock signal status

Target object:
Index Subindex Bits Modbus Command Unit Descriptions
Address Type

Target position in operation

607A 00 20 0x4000 RW inc mode 1, shift to demand position
if control word starts motion
DEC=[(RPM*51 Maximum velocity of trapezium
6081 00 20 0x4A00 RW 2*Encoder_res profile in mode 1
olution)/1875]
DEC=[(RPS/S* Acceleration of the trapezium
6083 00 20 0x4B00 RW 65536*Encoder profile
_resolution)/40 Default value：610.352rps/s
00000] Deceleration of trapezium profile
6084 00 20 0x4C00 RW
Default value：610.352rps/s
DEC=[(RPM*51 Target velocity in mode 3, -3, or 4
60FF 00 20 0x6F00 RW 2*Encoder_res
olution)/1875]
1Arms=1.414 Target current
6071 00 10 0x3C00 RW Ap=105dec
6073 00 10 0x3D00 RW Maximum current
Maximum velocity.
6080 00 20 0x4900 RW，M RPM Actual velocity in mode 4.
Maximum velocity in other mode.

Multiple position,multiple speed.

Index Subindex Bits Modbus Command Unit Descriptions
Address Type

2020 01 20 0x0C10 RW DEC Multiple position control 0

2020 02 20 0x0C20 RW DEC Multiple position control 1

2020 03 20 0x0C30 RW DEC Multiple position control 2

2020 04 20 0x0C40 RW DEC Multiple position control 3

2020 10 20 0x0D00 RW DEC Multiple position control 4

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2020 11 20 0x0D10 RW DEC Multiple position control 5

2020 12 20 0x0D20 RW DEC Multiple position control 6

2020 13 20 0x0D30 RW DEC Multiple position control 7

2020 05 20 0x0C50 RW RPM Multiple speed control 0

2020 06 20 0x0C60 RW RPM Multiple speed control 1

2020 07 20 0x0C70 RW RPM Multiple speed control 2

2020 08 20 0x0C80 RW RPM Multiple speed control 3

2020 14 20 0x0D40 RW RPM Multiple speed control 4

2020 15 20 0x0D50 RW RPM Multiple speed control 5

2020 16 20 0x0D60 RW RPM Multiple speed control 6

2020 17 20 0x0D70 RW RPM Multiple speed control 7

Performance object
Index Subindex Bits Modbus Command Unit Descriptions
Address Type
Maximum following error at which the
6065 00 20 0x3800 RW，M inc drive generates an alarm
Default value 10000inc
Position reach window
position range for “target reached”
6067 00 20 0x3900 RW，M inc
flag
Default value 10inc
607D 01 20 0x4410 RW，M inc Soft positive limit
Soft negative limit.
607D 02 20 0x4420 RW，M inc
(if both are zero, there is no limit)

Homing
Index Subindex Bits Modbus Command Unit Descriptions
Address Type
6098 00 08 0x4D00 RW integer Homing methods
6099 01 20 0x5010 RW DEC=[(RP Velocity for searching limit switch
6099 02 20 0x5020 RW M*512*Enc Velocity for searching phase-N
oder_resolu signal
tion)/1875]
609A 00 20 0x5200 RW DEC=[(RPS Acceleration
/S*65536*E
ncoder_res
olution)/400
0000]
607C 00 20 0x4100 RW inc Home offset

Velocity loop object:

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Index Subindex Bits Modbus Command Unit Descriptions

Address Type
VC_KP proportional gain of velocity
loop
60F9 01 10 0x6310 RW inc/s
50 soft gain
200 hard gain
VC_KI integral gain of velocity loop
0 no correction of transient
deviations
60F9 02 10 0x6320 RW integer
1 default value
2 strong correction, can cause
oscillation
60F9 05 10 0x6350 RW integer Speed feedback filter

Position loop object:

Index Subindex Bits Modbus Command Unit Descriptions
Address Type
PC_KP proportional value of position
loop, for example:
unsig
1000 default value, soft correction
60FB 01 10 0x6810 RW ned
3000 value for middle performance
8000 good performance value, with low
following error, high position stiffness
integ Velocity feedforward
60FB 02 10 0x6820 RW
er
integ Acceleration feedforward
60FB 03 10 0x6830 RW
er
integ Smooth filter
60FB 05 10 0x6850 RW
er

Pulse input parameters:

Index Subindex Bits Modbus Command Unit Descriptions
Address Type
2508 01 10 0x1910 RW integer Numerator of electronic gear ratio
2508 02 10 0x1920 RW unsigned Denominator of electronic gear ratio

Pulse mode control

0...CW/CCW
1...Pulse/Direction
2...Incremental encoder
10..CW/CCW(RS422 type)
11..Pulse/Direction(RS422 type)
12.. Incremental encoder (RS422
2508 03 08 0x1930 RW integer
type)
Note:0,1,2 are used for
PIN4,5,9,10,14,15 of Master_Encoder
interface,they are TTL signal.
10,11,12 are used for
PIN6,7,8,11,12,13,they are differential
signal.
Input pulse amount before electronic
2508 04 20 0x1940 RW inc
gear.
Execute pulse amount after electronic
2508 05 20 0x1950 RW inc
gear

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2508 06 10 0x1960 RW DEC Filter for pulse input

2508 0C 10 0x19C0 RW pulse/mS Pulse speed of master

2508 0D 10 0x19D0 RW pulse/mS Pulse speed of slave

Storage parameters:
Index Subindex Bits Modbus Command Unit Descriptions
Address Type
1：Save all control parameters
10：Initialize all control parameters.
unsign
2FF0 01 08 0x2910 RW
ed Note ： Only for control
parameters,exclude motor
parameters.
unsign 1：Save motor parameters
2FF0 03 08 0x2930 RW
ed

Input and output parameters:

Index Subindex Bits Modbus Command Unit Descriptions
Address Type
2010 03 10 0x0830 RW unsigned Function definition of digital input 1
2010 04 10 0x0840 RW unsigned Function definition of digital input 2
2010 05 10 0x0850 RW unsigned Function definition of digital input 3
2010 06 10 0x0860 RW unsigned Function definition of digital input 4
2010 07 10 0x0870 RW unsigned Function definition of digital input 5
2010 08 10 0x0880 RW unsigned Function definition of digital input 6
2010 09 10 0x0890 RW unsigned Function definition of digital input 7
2010 1D 10 0x09D0 RW unsigned Function definition of digital input 8
2010 0F 10 0x08F0 RW unsigned Function definition of digital output 1
2010 10 10 0x0900 RW unsigned Function definition of digital output 2
2010 11 10 0x0910 RW unsigned Function definition of digital output 3
2010 12 10 0x0920 RW unsigned Function definition of digital output 4
2010 13 10 0x0930 RW unsigned Function definition of digital output 5
2010 1E 10 0x09E0 RW unsigned Function definition of digital output 6
2010 1F 10 0x09F0 RW unsigned Function definition of digital output 7
Status of digital input
bit0：Din1
bit1：Din2
bit2：Din3
2010 0A 10 0x08A0 RO bitcode bit3：Din4
bit4：Din5
bit5：Din6
bit6：Din7
bit7：Din8
Status of digital output
bit0：Dout1
bit1：Dout2
bit2：Dout3
2010 14 10 0x0940 RO bit code
bit3：Dout4
bit4：Dout5
bit5：Dout6
bit6：Dout7
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Polarity of digital input
0：Normally-open；1：Normally-close
bit0：Din1
bit1：Din2
bit2：Din3
2010 01 10 0x0810 RW bitcode bit3：Din4
bit4：Din5
bit5：Din6
bit6：Din7
bit7：Din8
Default value is FF
Polarity of digital output
0：Normally-open；1：Normally-close
bit0：Dout1
bit1：Dout2
bit2：Dout3
2010 0D 10 0x08D0 RW bitcode
bit3：Dout4
bit4：Dout5
bit5：Dout6
bit6：Dout7
Default value is FF
Simulation of digital input
bit0：Din1
bit1：Din2
bit2：Din3
2010 02 10 0x0820 RW bitcode
bit3：Din4
bit4：Din5
bit5：Din6
bit6：Din7
Simulation of digital output
bit0：Dout1
bit1：Dout2
bit2：Dout3
2010 0E 10 0x08E0 RW bitcode
bit3：Dout4
bit4：Dout5
bit5：Dout6
bit6：Dout7

Error code:
Index Subindex Bits Modbus Command Unit Descriptions
Address Type
Current error code:
bit0：Internal
bit 1：Encoder ABZ
bit 2：Encoder UVW
bit 3：Encoder counting
unsigne bit 4：Over temperature
2601 00 10 0x1F00 RO
d
bit 5：Over voltage
bit 6：Low voltage
bit 7：Over current
bit 8：Chop resistor
bit 9：Following error
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bit 10：Logic voltage
bit 11：IIt error
bit 12：Over frequency
bit 13：Reserved
bit 14：Commutation
bit 15：EEPROM
unsigne
2610 00 10 / RO Error code of historical alarm 0
d
unsigne
2611 00 10 / RO Error code of historical alarm 1
d
unsigne
2612 00 10 / RO Error code of historical alarm 2
d
unsigne
2613 00 10 / RO Error code of historical alarm 3
d
unsigne
2614 00 10 / RO Error code of historical alarm 4
d
unsigne
2615 00 10 / RO Error code of historical alarm 5
d
unsigne
2616 00 10 / RO Error code of historical alarm 6
d
unsigne
2617 00 10 / RO Error code of historical alarm 7
d

Bus specification parameters:

Index Subindex Bits Command Command Unit
Type Type
Station No. of driver
Default value:1
100B 00 08 RW unsigned
Note:it needs to save and restart driver after
change.
Baudrate for CAN
Setting value Baudrate
100： 1M
50： 500k
25： 250k
2F81 00 08 RW unsigned 12： 125k
5： 50k
1： 10k
Default value: 50
Note:it needs to save and restart driver after
change.
Baudrate for RS232
Setting value Baudrate
540 19200
270 38400
2FE0 00 10 RW unsigned
90 115200
Default value: 270
Note:it needs to save and restart driver after
change.

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Baudrate for RS485
Setting value Baudrate
1080 9600
540 19200
2FE2 00 10 RW unsigned 270 38400
90 115200
Default value: 540
Note:it needs to save and restart driver after
change.
CAN-PDO parameters：0X1400-0X1A00
0X1400-7（RX-Parameter/Read）
0X1600-7（RX-Mapping）
0X1800-7（TX-Parameter/Write）
0X1A00-7（TX-Mapping）

Below are all the internal parameters address in servo.

Modbus
Index Subindex Bits Descriptions
Address
0x1000 0x00 20 Device_Type 0x0400
0x100B 0x00 08 EL.ID_Com 0x0600
0x2000 0x00 08 EL.Switch_On_Auto 0x0700
0x2010 0x27 08 Group_OD_RW 0x0800
0x2010 0x01 10 EL.Din_Polarity 0x0810
0x2010 0x02 10 Din_Simulate 0x0820
0x2010 0x03 10 EL.Dinx_Function[0] 0x0830
0x2010 0x04 10 EL.Dinx_Function[1] 0x0840
0x2010 0x05 10 EL.Dinx_Function[2] 0x0850
0x2010 0x06 10 EL.Dinx_Function[3] 0x0860
0x2010 0x07 10 EL.Dinx_Function[4] 0x0870
0x2010 0x08 10 EL.Dinx_Function[5] 0x0880
0x2010 0x09 10 EL.Dinx_Function[6] 0x0890
0x2010 0x0A 10 Din_Status.All 0x08A0
0x2010 0x0B 10 Din_Virtual.All 0x08B0
0x2010 0x0C 10 Din_Sys 0x08C0
0x2010 0x0D 10 EL.Dout_Polarity 0x08D0
0x2010 0x0E 10 Dout_Simulate 0x08E0
0x2010 0x0F 10 EL.Doutx_Function[0] 0x08F0
0x2010 0x10 10 EL.Doutx_Function[1] 0x0900
0x2010 0x11 10 EL.Doutx_Function[2] 0x0910
0x2010 0x12 10 EL.Doutx_Function[3] 0x0920
0x2010 0x13 10 EL.Doutx_Function[4] 0x0930
0x2010 0x14 10 Dout_Status.All 0x0940
0x2010 0x15 10 Dout_Virtual.All 0x0950
0x2010 0x16 10 Dout_Sys.All 0x0960
0x2010 0x17 10 EL.CMD_Active_Filter 0x0970
0x2010 0x18 10 EL.Zero_Speed_Window 0x0980
0x2010 0x19 08 EL.Limit_Function 0x0990
0x2010 0x1A 10 Reserve 0x09A0
0x2010 0x1B 20 Pos_L_Pos 0x09B0
0x2010 0x1C 20 Pos_L_Neg 0x09C0
0x2010 0x1D 10 EL.Dinx_Function[7] 0x09D0

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0x2010 0x1E 10 EL.Doutx_Function[5] 0x09E0
0x2010 0x1F 10 EL.Doutx_Function[6] 0x09F0
0x2010 0x20 08 Rising_Captured1 0x0A00
0x2010 0x21 08 Falling_Captured1 0x0A10
0x2010 0x22 08 Rising_Captured2 0x0A20
0x2010 0x23 08 Falling_Captured2 0x0A30
0x2010 0x24 20 Rising_Capture_Pos1 0x0A40
0x2010 0x25 20 Falling_Capture_Pos1 0x0A50
0x2010 0x26 20 Rising_Capture_Pos2 0x0A60
0x2010 0x27 20 Falling_Capture_Pos2 0x0A70
0x2020 0x1B 08 Group_OD_RW 0x0C00
0x2020 0x01 20 EL.Din_Pos[0] 0x0C10
0x2020 0x02 20 EL.Din_Pos[1] 0x0C20
0x2020 0x03 20 EL.Din_Pos[2] 0x0C30
0x2020 0x04 20 EL.Din_Pos[3] 0x0C40
0x2020 0x05 20 EL.Din_Speed[0] 0x0C50
0x2020 0x06 20 EL.Din_Speed[1] 0x0C60
0x2020 0x07 20 EL.Din_Speed[2] 0x0C70
0x2020 0x08 20 EL.Din_Speed[3] 0x0C80
0x2020 0x09 10 Group_OD_RW 0x0C90
0x2020 0x0A 10 Group_OD_RW 0x0CA0
0x2020 0x0B 10 Group_OD_RW 0x0CB0
0x2020 0x0C 10 Group_OD_RW 0x0CC0
0x2020 0x0D 08 EL.Din_Mode0 0x0CD0
0x2020 0x0E 08 EL.Din_Mode1 0x0CE0
0x2020 0x0F 10 EL.Din_Control_Word 0x0CF0
0x2020 0x10 20 EL.Din_Pos[4] 0x0D00
0x2020 0x11 20 EL.Din_Pos[5] 0x0D10
0x2020 0x12 20 EL.Din_Pos[6] 0x0D20
0x2020 0x13 20 EL.Din_Pos[7] 0x0D30
0x2020 0x14 20 EL.Din_Speed[4] 0x0D40
0x2020 0x15 20 EL.Din_Speed[5] 0x0D50
0x2020 0x16 20 EL.Din_Speed[6] 0x0D60
0x2020 0x17 20 EL.Din_Speed[7] 0x0D70
0x2020 0x18 10 Group_OD_RW 0x0D80
0x2020 0x19 10 Group_OD_RW 0x0D90
0x2020 0x1A 10 Group_OD_RW 0x0DA0
0x2020 0x1B 10 Group_OD_RW 0x0DB0
0x2030 0x00 10 EL.Index_Window 0x1000
0x2310 0x04 08 Group_OD_RW 0x1200
0x2310 0x01 20 Auto_Rev_Pos.All 0x1210
0x2310 0x02 20 Auto_Rev_Neg.All 0x1220
0x2310 0x03 08 Auto_Reverse 0x1230
0x2310 0x04 10 Stop_Time 0x1240
0x2340 0x0D 08 Group_OD_RW 0x1400
0x2340 0x01 08 EL.Step_Stop_Mode 0x1410
0x2340 0x02 10 EL.Step_Stop_Amp 0x1420
0x2340 0x03 08 EL.Encoder_Out_Select 0x1430
0x2340 0x04 10 EL.Kvp[1] 0x1440
0x2340 0x05 10 EL.Kvi[1] 0x1450
0x2340 0x06 10 EL.Kpp[1] 0x1460
0x2340 0x07 10 EL.Kvp[2] 0x1470
0x2340 0x08 10 EL.Kvi[2] 0x1480
0x2340 0x09 10 EL.Kpp[2] 0x1490
0x2340 0x0A 10 EL.Kvp[3] 0x14A0
0x2340 0x0B 10 EL.Kvi[3] 0x14B0
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0x2340 0x0C 10 EL.Kpp[3] 0x14C0
0x2340 0x0D 08 EL.Keba 0x14D0
0x2502 0x10 08 Group_OD_RW 0x1600
0x2502 0x01 10 EL.Analog1_Filter 0x1610
0x2502 0x02 10 EL.Analog1_Dead 0x1620
0x2502 0x03 10 EL.Analog1_Offset 0x1630
0x2502 0x04 10 EL.Analog2_Filter 0x1640
0x2502 0x05 10 EL.Analog2_Dead 0x1650
0x2502 0x06 10 EL.Analog2_Offset 0x1660
0x2502 0x07 08 EL.Analog_Speed_Con 0x1670
0x2502 0x08 08 EL.Analog_Torque_Con 0x1680
0x2502 0x09 08 EL.Analog_MaxT_Con 0x1690
0x2502 0x0A 10 EL.Analog_Speed_Factor 0x16A0
0x2502 0x0B 10 EL.Analog_Torque_Factor 0x16B0
0x2502 0x0C 10 EL.Analog_MaxT_Factor 0x16C0
0x2502 0x0D 10 EL.Analog_Dead_High 0x16D0
0x2502 0x0E 10 EL.Analog_Dead_Low 0x16E0
0x2502 0x0F 10 Analog1_out 0x16F0
0x2502 0x10 10 Analog2_out 0x1700
0x2507 0x02 08 Group_OD_RW 0x1800
0x2507 0x01 20 Position_Offset 0x1810
0x2507 0x02 10 Velocity_Offset 0x1820
0x2508 0x0F 08 Group_OD_RW 0x1900
0x2508 0x01 10 EL.Gear_Factor[0] 0x1910
0x2508 0x02 10 EL.Gear_Divider[0] 0x1920
0x2508 0x03 08 EL.PD_CW 0x1930
0x2508 0x04 20 Gear_Master 0x1940
0x2508 0x05 20 Gear_Slave 0x1950
0x2508 0x06 10 EL.PD_Filter 0x1960
0x2508 0x07 10 Gear_Div_Error 0x1970
0x2508 0x08 10 EL.Frequency_Check 0x1980
0x2508 0x09 10 EL.PD_ReachT 0x1990
0x2508 0x0A 08 EL.Master_Capture_Enable 0x19A0
0x2508 0x0B 10 Reserve 0x19B0
0x2508 0x0C 10 Master_Speed 0x19C0
0x2508 0x0D 10 Slave_Speed 0x19D0
0x2508 0x0E 08 CPLD_Shift.All 0x19E0
0x2508 0x0F 20 Master_Capture 0x19F0
0x2509 0x0E 10 Group_OD_RW 0x1A00
0x2509 0x01 10 Gear_Factor[1] 0x1A10
0x2509 0x02 10 Gear_Divider[1] 0x1A20
0x2509 0x03 10 Gear_Factor[2] 0x1A30
0x2509 0x04 10 Gear_Divider[2] 0x1A40
0x2509 0x05 10 Gear_Factor[3] 0x1A50
0x2509 0x06 10 Gear_Divider[3] 0x1A60
0x2509 0x07 10 Gear_Factor[4] 0x1A70
0x2509 0x08 10 Gear_Divider[4] 0x1A80
0x2509 0x09 10 Gear_Factor[5] 0x1A90
0x2509 0x0A 10 Gear_Divider[5] 0x1AA0
0x2509 0x0B 10 Gear_Factor[6] 0x1AB0
0x2509 0x0C 10 Gear_Divider[6] 0x1AC0
0x2509 0x0D 10 Gear_Factor[7] 0x1AD0
0x2509 0x0E 10 Gear_Divider[7] 0x1AE0
0x250A 0x08 08 Group_OD_RW 0x1B00
0x250A 0x01 20 EL.Master_Period 0x1B10
0x250A 0x02 08 EL.Closed_Loop 0x1B20
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0x250A 0x03 08 EL.Master_Direction 0x1B30
0x250A 0x04 10 EL.Closed_Error 0x1B40
0x250A 0x05 20 Reserve 0x1B50
0x250A 0x06 10 Reserve 0x1B60
0x250A 0x07 20 Pos_Abs_Master 0x1B70
0x250A 0x08 10 Master_Speed_VL 0x1B80
0x2600 0x00 10 Error_Mask 0x1C00
0x2601 0x00 10 Error_State.All 0x1F00
0x2602 0x00 10 Error_State2 0x2000
0x2605 0x06 08 Group_OD_RW 0x2200
0x2605 0x01 10 Error_Mask 0x2210
0x2605 0x02 10 EL.Store_Mask_ON 0x2220
0x2605 0x03 10 EL.Store_Mask_OFF 0x2230
0x2605 0x04 10 Error_Mask2 0x2240
0x2605 0x05 10 EL.Store_Mask_ON2 0x2250
0x2605 0x06 10 EL.Store_Mask_OFF2 0x2260
0x2F81 0x00 08 EL.CAN_Baudrate 0x2300
0x2FE0 0x00 10 EL.RS232_Bandrate 0x2400
0x2FE1 0x01 10 (word *) U2BRG 0x2500
0x2FE1 0x01 20 ED_Sim 0x2510
0x2FE2 0x00 10 EL.RS485_Bandrate 0x2600
0x2FE3 0x00 10 (word *) U1BRG 0x2700
0x2FF0 0x15 08 Group_OD_RW 0x2900
0x2FF0 0x01 08 Store_Loop_Data 0x2910
0x2FF0 0x02 08 Store_Device_Data 0x2920
0x2FF0 0x03 08 Store_Motor_Data 0x2930
0x2FF0 0x04 08 EL.Key_Address_F001 0x2940
0x2FF0 0x05 08 Group_OD_RW 0x2950
0x2FF0 0x06 10 Group_OD_RW 0x2960
0x2FF0 0x07 10 Group_OD_RW 0x2970
0x2FF0 0x08 10 Group_OD_RW 0x2980
0x2FF0 0x09 10 Group_OD_RW 0x2990
0x2FF0 0x0A 10 Group_OD_RW 0x29A0
0x2FF0 0x0B 10 Group_OD_RW 0x29B0
0x2FF0 0x0C 10 Tuning_Start 0x29C0
0x2FF0 0x0D 10 Group_OD_RW 0x29D0
0x2FF0 0x0E 10 Group_OD_RW 0x29E0
0x2FF0 0x0F 20 Soft_Version_LED 0x29F0
0x2FF0 0x10 08 Group_OD_RW 0x2A00
0x2FF0 0x11 08 Group_OD_RW 0x2A10
0x2FF0 0x12 08 Group_OD_RW 0x2A20
0x2FF0 0x13 10 No_Motor 0x2A30
0x2FF0 0x14 10 Real_Speed_RPM 0x2A40
0x2FF0 0x15 08 Store_Resolver 0x2A40
0x2FF0 0x15 08 Reserve 0x2A40
0x2FF7 0x00 20 Time_Driver 0x2D00
0x2FFD 0x00 10 User_Secret 0x2E00
0x2FFF 0x00 10 Bootloader 0x2F00
0x6004 0x00 20 Pos_Abs 0x3000
0x6040 0x00 10 Control_Word 0x3100
0x6041 0x00 10 Status_Word.All 0x3200
0x605A 0x00 10 EL.Quick_Stop_Mode 0x3400
0x605B 0x00 10 EL.Shutdown_Stop_Mode 0x3410
0x605C 0x00 10 EL.Disable_Stop_Mode 0x3420
0x605D 0x00 10 EL.Halt_Mode 0x3430
0x605E 0x00 10 EL.Fault_Stop_Mode 0x3440
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0x6060 0x00 08 Operation_Mode 0x3500
0x6061 0x00 08 Operation_Mode_Buff2 0x3600
0x6063 0x00 20 Pos_Actual 0x3700
0x6064 0x00 20 Pos_Actual 0x3710
0x6065 0x00 20 EL.Max_Following_Error 0x3800
0x6067 0x00 20 EL.Target_Pos_Window 0x3900
0x606B 0x00 20 Speed_Demand_Buff 0x3A00
0x606C 0x00 20 Speed_Real_Filter 0x3B00
0x6071 0x00 10 Group_OD_RW 0x3C00
0x6071 0x00 10 CMD_q 0x3C00
0x6073 0x00 10 Max_Current 0x3D00
0x6073 0x00 10 EL.CMD_q_Max 0x3D00
0x6078 0x00 10 Actual_Current 0x3E00
0x6078 0x00 10 I_q_b 0x3E00
0x607A 0x00 20 Pos_Target 0x4000
0x607C 0x00 20 EL.Home_Offset 0x4100
0x607D 0x02 08 Group_OD_RW 0x4400
0x607D 0x01 20 EL.Soft_Positive_Limit 0x4410
0x607D 0x02 20 EL.Soft_Negative_Limit 0x4420
0x607E 0x00 08 EL.Invert_Dir 0x4700
0x607F 0x00 20 EL.Max_Speed 0x4800
0x6080 0x00 10 Group_OD_RW 0x4900
0x6081 0x00 20 Profile_Speed 0x4A00
0x6083 0x00 20 EL.Profile_Acce 0x4B00
0x6084 0x00 20 EL.Profile_Dece 0x4C00
0x6085 0x00 20 EL.Quick_Stop_Dece 0x3300
0x6098 0x00 08 EL.Homing_Method 0x4D00
0x6099 0x05 08 Group_OD_RW 0x5000
0x6099 0x01 20 EL.Homing_Speed_Switch 0x5010
0x6099 0x02 20 EL.Homing_Speed_Zero 0x5020
0x6099 0x03 08 EL.Homing_Power_On 0x5030
0x6099 0x04 10 EL.Homing_Current 0x5040
0x6099 0x05 08 EL.Home_Offset_Mode 0x5050
0x6099 0x06 20 Speed_Pos_Average 0x5060
0x6099 0x07 20 Speed_Demand_Diff 0x5070
0x6099 0x08 10 Pos_Filter_Err1 0x5080
0x6099 0x09 20 Pos_Filter_Out_Err 0x5090
0x6099 0x0A 20 Profile_Dece_Buff 0x50A0
0x609A 0x00 20 EL.Homing_Accelaration 0x5200
0x60F4 0x00 20 Pos_Error 0x5500
0x60F5 0x07 10 Group_OD_RW 0x5600
0x60F5 0x01 10 Kci_d 0x5610
0x60F5 0x02 20 PID_Limit_q 0x5620
0x60F5 0x03 20 PID_Limit_d 0x5630
0x60F5 0x04 10 EL.Kap 0x5640
0x60F5 0x05 10 EL.Kad 0x5650
0x60F5 0x06 10 EL.User_IIt_I 0x5660
0x60F5 0x07 10 EL.User_IIt_Filter 0x5670
0x60F6 0x27 08 Group_OD_RW 0x5800
0x60F6 0x01 10 EM.Kcp 0x5810
0x60F6 0x02 10 EM.Kci 0x5820
0x60F6 0x03 10 EL.Speed_Limit_Factor 0x5830
0x60F6 0x04 10 EM.N_Compensation 0x5840
0x60F6 0x05 10 EM.N_bEMF 0x5850
0x60F6 0x06 10 Comm_Shift_UVW 0x5860
0x60F6 0x07 10 Voltage_Angle_Adjust 0x5870
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0x60F6 0x08 10 CMD_q 0x5880
0x60F6 0x09 10 CMD_d 0x5890
0x60F6 0x0A 08 SVPWM 0x58A0
0x60F6 0x0B 10 K_DC 0x58B0
0x60F6 0x0C 10 CMD_q_Buff_Filter 0x58C0
0x60F6 0x0D 10 CMD_d_Buff 0x58D0
0x60F6 0x0E 10 CMD_q_Max_Buff 0x58E0
0x60F6 0x0F 10 CMD_q_Limit 0x58F0
0x60F6 0x10 10 Driver_IIt_Real 0x5900
0x60F6 0x11 10 Driver_IIt_Max 0x5910
0x60F6 0x12 10 Motor_IIt_Real 0x5920
0x60F6 0x13 10 Motor_IIt_Max 0x5930
0x60F6 0x14 10 I_a 0x5940
0x60F6 0x15 10 I_b 0x5950
0x60F6 0x16 10 Angle 0x5960
0x60F6 0x17 10 I_q 0x5970
0x60F6 0x18 10 I_d_b 0x5980
0x60F6 0x19 20 PID_q_Sum 0x5990
0x60F6 0x1A 20 PID_d_Sum 0x59A0
0x60F6 0x1B 20 PID_q_Out 0x59B0
0x60F6 0x1C 20 PID_d_Out 0x59C0
0x60F6 0x1D 10 PID_q_Int 0x59D0
0x60F6 0x1E 10 PID_d_Int 0x59E0
0x60F6 0x1F 10 U_a 0x59F0
0x60F6 0x20 10 U_b 0x5A00
0x60F6 0x21 10 U_q 0x5A10
0x60F6 0x22 10 (word *) PDC1 0x5A20
0x60F6 0x23 10 (word *) PDC2 0x5A30
0x60F6 0x24 10 (word *) PDC3 0x5A40
0x60F6 0x25 10 Angle_B 0x5A50
0x60F6 0x26 10 User_IIt_Real 0x5A60
0x60F6 0x27 10 Z_Capture_Angle 0x5A70
0x60F7 0x12 08 Group_OD_RW 0x6000
0x60F7 0x01 10 EL.Chop_Resistor 0x6010
0x60F7 0x02 10 EL.Chop_Power_Rated 0x6020
0x60F7 0x03 10 EL.Chop_Filter 0x6030
0x60F7 0x04 10 EL2.Ripple_DCBUS_Filter 0x6040
0x60F7 0x05 10 EL2.RELAY_Time 0x6050
0x60F7 0x06 08 Reserve 0x6060
0x60F7 0x07 10 Reserve 0x6070
0x60F7 0x08 10 EL2.Temp_Device_Offset 0x6080
0x60F7 0x09 10 (word *) DTCON1 0x6090
0x60F7 0x0A 08 EL.Frequency_Switch_Enable 0x60A0
0x60F7 0x0B 10 Temp_Device 0x60B0
0x60F7 0x0C 10 Ripple_DCBUS 0x60C0
0x60F7 0x0D 10 Chop_Power_Real 0x60D0
0x60F7 0x0E 10 Reserve 0x60E0
0x60F7 0x0F 20 PWM_Time_Current 0x60F0
0x60F7 0x10 20 PWM_Time_Last 0x6100
0x60F7 0x11 10 STO_Status 0x6110
0x60F7 0x12 10 Real_DCBUS 0x6120
0x60F9 0x2B 08 Group_OD_RW 0x6300
0x60F9 0x01 10 EL.Kvp[0] 0x6310
0x60F9 0x02 10 EL.Kvi[0] 0x6320
0x60F9 0x03 08 EL.Notch_N 0x6330
0x60F9 0x04 08 EL.Notch_On 0x6340
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0x60F9 0x05 08 EL.Speed_Fb_N 0x6350
0x60F9 0x06 08 EL.Speed_Mode 0x6360
0x60F9 0x07 10 EL.Kvi_T32 0x6370
0x60F9 0x08 20 EL.Kvi_Sum_Limit 0x6380
0x60F9 0x09 08 EL.PI_Switch 0x6390
0x60F9 0x0A 20 EL.Target_Speed_Window 0x63A0
0x60F9 0x0B 10 EL.Kd_Virtual 0x63B0
0x60F9 0x0C 10 EL.Kp_Virtual 0x63C0
0x60F9 0x0D 10 EL.Ki_Virtual 0x63D0
0x60F9 0x0E 10 EL.K_Load 0x63E0
0x60F9 0x0F 10 Sine_Frenquency_Adj 0x63F0
0x60F9 0x10 10 EL.Sine_Amplitude 0x6400
0x60F9 0x11 10 EL.Tuning_Scale 0x6410
0x60F9 0x12 10 EL.Tuning_Filter 0x6420
0x60F9 0x13 10 Tuning_Time 0x6430
0x60F9 0x14 10 EL.Zero_Speed_Time 0x6440
0x60F9 0x15 08 EL.Output_Filter_N 0x6450
0x60F9 0x16 10 Speed_QEI_Back 0x6460
0x60F9 0x17 20 Speed_Fb_Out1 0x6470
0x60F9 0x18 10 Real_Speed_RPM 0x6480
0x60F9 0x19 10 Real_Speed_RPM2 0x6490
0x60F9 0x1A 10 Speed_1mS 0x64A0
0x60F9 0x1B 20 Speed_Real_Filter 0x64B0
0x60F9 0x1C 20 Speed_Error 0x64C0
0x60F9 0x1D 10 Speed_Err_Err 0x64D0
0x60F9 0x1E 20 Speed_Curr_Out 0x64E0
0x60F9 0x1F 20 Speed_Curr_Sum 0x64F0
0x60F9 0x20 10 CMD_q_PID 0x6500
0x60F9 0x21 20 PID_Virtual 0x6510
0x60F9 0x22 20 Speed_Virtual 0x6520
0x60F9 0x23 10 Error1_Virtual 0x6530
0x60F9 0x24 10 Tuning_Input 0x6540
0x60F9 0x25 10 Tuning_Sine 0x6550
0x60F9 0x26 20 Tuning_Sum 0x6560
0x60F9 0x27 10 Tuning_Time_Count 0x6570
0x60F9 0x28 08 PI_Point 0x6580
0x60F9 0x29 20 Speed_Demand_Filter 0x6590
0x60F9 0x2A 10 EL.K_Load_N 0x65A0
0x60F9 0x2B 20 EL.Quick_Stop_Dece2 0x65B0
0x60FB 0x0E 08 Group_OD_RW 0x6800
0x60FB 0x01 10 EL.Kpp[0] 0x6810
0x60FB 0x02 10 EL.K_Velocity_FF 0x6820
0x60FB 0x03 10 EL.K_Acc_FF 0x6830
0x60FB 0x04 08 EL.Pos_Speed_Filter 0x6840
0x60FB 0x05 10 EL.Pos_Filter_N 0x6850
0x60FB 0x06 08 EL.Store_Position 0x6860
0x60FB 0x07 20 EL.Pos_Shift 0x6870
0x60FB 0x07 10 Reserve 0x6870
0x60FB 0x08 20 Pos_Error 0x6880
0x60FB 0x09 20 Speed_Calculat_Buff 0x6890
0x60FB 0x0A 20 Speed_Demand_Pos 0x68A0
0x60FB 0x0B 20 Profile_Speed_Buff 0x68B0
0x60FB 0x0C 10 Acc_Feedforward 0x68C0
0x60FB 0x0D 20 Pos_Filter_Out 0x68D0
0x60FB 0x0E 20 Pos_Target_Profile 0x68E0
0x60FC 0x00 20 Pos_Demand 0x6C00
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0x60FD 0x00 10 Din_Status.All 0x6D00
0x60FD 0x00 20 Digital_Inputs 0x6D00
0x60FE 0x01 08 Group_OD_RW 0x6E00
0x60FE 0x01 20 Digital_Outputs 0x6E10
0x60FF 0x00 20 Speed_Demand 0x6F00
0x6410 0x1A 08 Group_OD_RW 0x7000
0x6410 0x01 10 EM.Motor_Num 0x7010
0x6410 0x02 08 EM.Feedback_Type 0x7020
0x6410 0x03 20 EM.Feedback_Resolution 0x7030
0x6410 0x04 20 EM.Feedback_Period 0x7040
0x6410 0x05 08 EM.Motor_Poles 0x7050
0x6410 0x06 08 EM.Commu_Mode 0x7060
0x6410 0x07 10 EM.Commu_Curr 0x7070
0x6410 0x08 10 EM.Commu_Delay 0x7080
0x6410 0x09 10 EM.Motor_IIt_I 0x7090
0x6410 0x0A 10 EM.Motor_IIt_Filter 0x70A0
0x6410 0x0B 10 EM.Imax_Motor 0x70B0
0x6410 0x0C 10 EM.L_Motor 0x70C0
0x6410 0x0D 08 EM.R_Motor 0x70D0
0x6410 0x0E 10 EM.Ke_Motor 0x70E0
0x6410 0x0F 10 EM.Kt_Motor 0x70F0
0x6410 0x10 10 EM.Jr_Motor 0x7100
0x6410 0x11 10 EM.Brake_Duty_Cycle 0x7110
0x6410 0x12 10 EM.Brake_Delay 0x7120
0x6410 0x13 08 EM.Invert_Dir_Motor 0x7130
0x6410 0x14 10 EM.Motor_Num 0x7140
0x6410 0x15 10 EM.Motor_BW 0x7150
0x6410 0x16 10 Motor_Using 0x7160
0x6410 0x17 08 EM.Motor_With_Brake 0x7170
0x6410 0x18 10 EM.Temp_Motor_Ref 0x7180
0x6410 0x19 10 Temp_Motor 0x7190
0x6410 0x1A 10 EM.Gain_Factor 0x71A0

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Appendix 8: Selection for Brake Resistor

Brake Resistor[Ω] Brake

Brake
Driver Brake Resistor
Resistor
Driver Model Power[ Resistor Withstand
Power[W]
W] Min. Max. Ref. Model(Ref.) Voltage[VDC]
（Ref.）
（Min.）
200W
FD422S-AA-000 400W 39 100 75 T-75R-100 100
750W
500
1.0KW
FD432S-AA-000 1.05KW 27 51 39 T-39R-200
1.26KW
1.26KW
200
1.57KW
FD622S-AA-000 1.88KW 47 150 75 T-75R-200 800
2.1kw
2.3kw

Note:Please set brake resistor value and power in d5.04 and d5.05 when using brake resistor.
Please select brake resistor power according to real application.

Appendix 9: Selection for Fuse

Driver Model Driver Power[W] Specification

200W 3.5A/250VAC
FD422S-AA-000 400W 7A/250VAC
750W 15A/250VAC
1000W 20A/250VAC
FD432S-AA-000 1.05KW 20A/250VAC
1.26KW 25A/250VAC
1.26KW
15A/500VAC
1.57KW
FD622S-AA-000 1.88KW 20A/500VAC
2.1KW
25A/250VAC
2.3KW

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