Home

FM860 User Manual - Zapp Automation Ltd

1. Modbus Setting Name Send and return message ID 1 Note address value Operation 01 06 35 00 00 06 06 04 0x3500 0x6 mode 01 06 35 00 00 06 06 04 01 06 4D 00 00 14 9E A9 Ox4DOO Homing mode 0x14 01 06 4D 00 00 14 9E A9 Turning signal 01 10 50 10 00 02 04 00 00 00 32 8F 75 0x5010 speed of 200RPM 01 10 50 10 00 02 51 0D homing 7 DEC RPM 512 Homing signal 01 10 50 20 00 02 04 80 00 00 25 E5 AF 0x5020 150RPM 60000 1875 speed 01 10 50 20 00 02 51 02 01 06 31 00 00 OF C7 32 0x3100 Control word OxF 01 06 31 00 00 OF C7 32 01 06 31 00 00 IF C6 FE 0x3100 Control word Ox1F 01 06 31 00 00 1F C6 FE 01 03 32 00 00 01 8A B2 Read status word 9437 means found homing Position control mode Absolute positioning of control word is changed from 2F to 3F Relative positioning is changed from 4F to 5F 103F means activate immediately when position change Modbus Setting Name Send and return message ID 1 Note address value 01 06 31 00 00 06 07 34 0x3100 Control word 6 01 06 31 00 00 06 07 34 Operation 01 06 35 00 00 01 47 C6 0x3500 1 mode 01 06 35 00 00 01 47 C6 01 10 40 00 00 02 04 C3 50 00 00 FE 39 0x4000 Target position 50000 DEC 01 10 40 00 00 02 54 08 01 10 4A 00 00 02 04 00 00 00 32 3D 19 DEC RPM 512 Ox4A00 Profile Speed 200RPM 01 10 4A 00 00 02 57 DO 60000 1875 Ox4BOO Profile Acce lOrps s Default value Ox4COO Profile Dece lOrps s
2. TX 5 RX T RX 2 TX 8 TX 4 GND 5 GND 8 Note 1 All the pin of TX RX of slave can be connected by series directly 2 It need connect 120ohm termination resistors on the terminal both for the Master and the last one of slave AS for FM860 connect a termination resistor on the pins as SW9 and SW10 3 FM Series needn t external 24V power supply to RS485 4 Use net cable with Shielded to communicate and don t forget GND 57 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver 7 2 2 RS485 Communication parameters Table 7 4 Communication parameters Modbus Name CANopen address Value Meaning address Drive ID Note ID Switch SW6 SW1 Selected 1 63 ID_Com Ox 100B0008 0x0600 1 or Ox2FE400 selected 1 127 2 Store and reboot the parameters if updated ID node is from 1 to127 Note the setting is valid when SW6 SW1 is Node_id_offset Ox2FE40008 0x2800 127 on OFF And Store and reboot the parameters if updated For RS485 Baud rate setting Value Baud rate 2082 4800 1041 9600 520 19200 259 38400 86 115200 RS485 Baud rate Ox2FE00010 0x2400 520 Need store and reboot Store the 1 Store the parameter which changed Parameter of Ox2FF00108 0x2910 1 10 Initialize the parameters which updated control loop data bit 8 Fixed Other
3. i EB AT 96ID1 DINT Position actual value COBId 0x1 82 t CAN Port 2 FI i refer to such procedure to configure several slaves then you can start to program to control FM860 As for Variable name can define it first for program or use the address directly IDOO1 VAR GLOBAL 2 Resources 10002 tv AT QD1 DINT A Global Variables 0003 cw AT OWA UINT 6 CanOpen implicit Variables CONSTA mo AT QB10 SINT Global Variables TP AT 96 QD3 DINT atiable_Configuration VAR CONFI PEAT BEDING library 35 CanDrv lib 12 3 06 11 05 16 c SPN ELN C library 35_CANopenManager lib 17 4 09 library 35 CANopenMaster lib 28 7 10 09 0010 library amp NALYZATION LIB 5 10 99 09 08 0011 mo3 AT 936 QB28 SINT library IECSFC LIB 13 4 06 15 51 28 glol B012 TP3 AT 5D 7 DINT CJ library SYSLIBTIME LIB 6 12 10 16 59 2 001 3 pv3 AT QD8 DINT g library SYSTASKINFO LIB 6 12 10 16 59 0014 ap3AT ID3 DINT GB Tools D015 END VAR 0009 tv3 AT 965 GD5 DINT cw3 AT 96 QAI 2 UINT 6 j The program is as bellows figure More details please refer to the chapter 6 Mode operation and pay attention to Chapter 7 before you do the control operation And you have to initialize Stepping drive control word as f when created the communication between F1 and CAN otherwise Stepping drive does not respond to other commands 80 Kincos Kinco FM Series Field bus Control Stepping Mo
4. Mapping of 0x1A00 TPDO Sub index Value Meaning 0 1 1 object are mapped to PDO 1 Ox60ff0020 Object Ox60ff sub index 0x00 consisted of 32 bits Table 7 28 The formatting of Send message Date Identifier DLC 0 1 2 3 4 5 6 7 0x250 Node_ID 8 Target speed 7 3 7 Boot up Process In the network initialization process CANopen support both for extended boot up and the process of minimum boot up And for extended boot up is optional but for minimum boot up must be supported by each node And the both of boot up can exist in the same network at the same time The node must be support extend boot up process if selected the DBT of CAL to configure ID 69 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver The boot up process is shown as following Power on Initialising Pre Operational a b c d Stopped a b Figure 7 8 Node status conversion Operational a b c d e 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 1 Start Remote node Stop Remote Node Enter Pre Operational State Reset Node Reset Communication QN t A U N Initialization finish enter pre operational status and send boot up message NMT services can make all or some nodes into different work state at any time The CAN message of
5. Kinco Kinco FM Series Fieldbus Control Stepping Motor Drive USER MANUAL Shanghai Kinco Automation Co Ltd Kincos Kinco FM Series Field bus Control Stepping Motor Drive EN 1 Chapter Product Overview wisccicssscssscccssccssscseseiscesssesssctscedssesssesncsssscissnssseascsteseisseancsssssssseiecnssscsseseseissassssasseass 8 1 Product A CCE PLAN CO weaver tte de a E pede eed E dd beoe sut debui Iu eed 8 1 2 Product OVER VIG Winch eR ERREUR t RE EI wen deed eniti bei i eS 8 1 3 Product LEN er ERI od e E e a HO EE OR P re ed E E E Ee 8 idolis EN 9 15 Product Model DescriptiOD oir reete ote einen i e eb ae dean ERR ERU eri E e e po svoussonsensovrodtbenens deet 9 1 5 1 FM860 Stepping Motor Drive nennen venvenvenneenvenvenvenneenvenvenvennvenvenvenvennvenvenvenvennvenvenvenveenvenvenven 9 Chapter 2 Precautions and Installation Requirement an seansoonveonveonveonveonveonvennsennseonsennvennsennsennvenneens 10 2 1 redu P 10 2 1 Environment Conditions eere teer teret eere ede eH Ene S ee ep ede nee eene eae redeas 10 2 2 Mounting Direction amp Spacing envenvennennvenvenvenseenvenvenvenvennvenvenvenveenvenvenvenveenvenvenvenneenvenvenven 10 Chapter 3 Interfaces and WIKINGS onn rzugsersesernvegersenswenserneedenddbendededehe o icbssvsccedesetesudersdessaseedeccesecesvessesvaees seceies 12 3 1 Appearance VIEW niti eet I OR EROR RO FREU RU GRE ORO EG Ed RERO EORR RO ER SERRES 12 3
6. 9 4 Appendix IV Homing Method The homing of FM drive is following the definition as DSP402 of CANopen Support the homing mode from 17 to 30 and 35 Mode 17 Defined the homing signal as Negative limit the running line is as belows ll Negative limit _ Figure 9 20 Homing 17 Mode 18 Defined Positive limit to be the homing signal the running line is as bellows Positive limit Figure 9 21 Homing 18 Homing Mode 19 and 20 Defined the external homing switch is the homing trigger signal the Initial movement direction is positive following is the running line 98 Kincos Kinco FM Series Field bus Control Stepping Motor Drive Homing switch signal Figure 9 22 Homing 19 and 20 Homing mode 21 22 Defined the external homing switch is the homing trigger signal The initial movement direction is Negative Following is the running line l Homing switch signal mE ANM Figure 9 23 Homing 21 and 22 Mode 23 26 With double limit defined the external homing switch is the trigger signal the initial direction is positive following is the running line 99 Kinco EZ Kinco FMSeries Field bus Control Stepping Motor Driver Homing switch si gal 5 7 Positive limit L TT Figure 9 24 Homing from 23 to 26 Homing Mode 27 30 With double limit defined the external homing switch is the trigger signal the initial direction is ne
7. LED Alarm Alarm Solution RUN ERR 1 Please refer FM860 Field Internal 1 Motor type is wrong for driver bus Control Stepping Motor Slow flash Fast flash Error 2 Driver s problem Driver Operating guide 2 Contact manufacturer The driver 1 The short circuit of Motor phase 1 Check Motor wiring output short Extinguished Fast flash 2 Driver s problem 2 Contact manufacturer circuit 1 The voltage of power supply is too Over high 1 Check power supplier voltage of Fast flash Fast flash 2 The energy of high speed stop 2 Add braking resistor driver bus occasions is too high Low 1 The voltage of power supply is too 1 Check power supply Extinguished Open voltage of lower 2 Reduce acceleration 73 Kinco Kinco FMSeries Field bus Control Stepping Motor Driver driver bus 2 Rapid start Over The power module of driver is over than Check the temperature is Extinguished Slow flash temperature 80 C whether larger than 40 C 1 cause to update the driver underlying EEPROM Fast flash Initialize the parameters first Open firmware Error Slow flash and save and reboot driver 2 Driver s problem 1 Check motor wiring l unconnected motor or connected 2 Please refer FM860 Field Motor Error Fast flash Open wrong bus Control Stepping Motor 2 write wrong motor parameters Driver Operating guide Logic The Internal logic voltage both for 15V voltage Contact manufacturer or
8. Delete Base parameters CAN parameters Receive PDO Mapping Send PDO Mapping Controlword Statusword Modes_of_operation Position actual value Velocity demand value Target torque Target position Profile velocity Homing method Position demand value Target velocity Properties Insert PDO ut Delete PDO 01400 Id NODEID 0x200 Target velocity Controlword Modes of operation PDO 0x1401 Id NODEID 0 300 Target position Profile velocity PDO 01402 Id NODEID 0 400 PDO 0x1403 Id NODEID 0 500 PDO 021404 Id Ox7ff PDO Ox1 405 Id Ox7ff PDO 0x1 406 Id Ox ff PDO Ox1 407 Id Os 7ff PDO 0x1800 Id NODEID 0x180 Statusword Position actual value PDO 01801 Id NODEID 0 280 PDO 0 1802 ld NODEID 0 380 PDO 0 1803 Id NODEID 0 480 PDO 021804 Id Ox 7ff PDO 01805 Id Ox 7ff PDO 0 1806 Id Ox7ff PDO 021807 ld 0x7ff Service Data Objects Module parameters h 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 control word is QW4 and the register for status word is IW 1 79 Kinco EZ Kinco FMSeries Field bus Control Stepping Motor Driver FM driver EDS VAR EI 96QB1 Can Output AT 96 QWi4 UINT Controlword COBId 0x202 H AT B10 SINT Modes of operation COBId 0x202
9. General Network functionality Visualization Platform Intel StrongARM First parameter register integer Last parameter register integer Register for return value integer RO Y R3 M RO z v Intel byte order Default OK Cancel b Select program language according to your habit Then click OK 75 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver x Name of the new POU PLc PRG OK Type of POLI Language of the POLI Cancel Program CIL C Function Block C LD C Function C FBD Retum Type SFC oor J es C CFC 1 CoDeSys Untitled File Edit Project Insert Extras Online Window Help l JE 4 J G alze aeea teea a POUs 4 Data 2 Visu 32 Reso J Ee Lin 1 Col 1 ONUNE 0V READ c It will show us a window as below after you finished step2 Then select Resources option and get into PLC Configuration page 76 Kinco Kinco FM Series Field bus Control Stepping Motor Drive CoDeSys Untitled File Edit Project Insert Extras Online Window Help alsje aoka zl 35 Resources PLC PRG PRG ST 2 Global Variables 0001 PROGRAM PLC PRG E library ANALYZATION LIB 5 10 99 09 08 O002VAR E E library IECSFC LIB 13 4 06 15 51 28 glo DDOSEND VAR E library SYSLIBTIME LIB 6 12 10 16 58 2 E C library SYSTASKINFO LIB 6 12 10 16 5 E G Tools 789 Alarm configuratio
10. X1 Green Send instructions Orange Receiving instructions 3 2 DIP Switch 3 2 1 ID Setting up Table 3 3 DIP switch settings SWI SW2 SW3 SWA SWS SW6 Node ID OFF OFF OFF OFF OFF OFF EEPROM ON OFF OFF OFF OFF OFF 1 OFF ON OFF OFF OFF OFF 2 ON ON OFF OFF OFF OFF 3 ON ON ON ON ON ON 63 Note Pease use the PC software to set and save your parameters when Node ID is bigger than 63 and all of switch have to be set as OFF And use the value of EEPROM when it is power on but not in value of switch 3 2 2 Communication port Settings Table 3 4 communication port SW7 ON SW8 ON RS485 2 wire MODBUS 13 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver SW7 OFF SW8 OFF RS485 4 wire MODUS DIP switch of termination resistors SW9 ON SW 10 OFF CAN bus SW9 OFF SW10 OFF Disable Enable SW9 ON 2 wires SW9 OFF SW10 0FF Disable RS485 bus SW10 0FF Enable 4 wires SW9 ON SW10 ON Enable SW9 OFF SW10 OFF Disable 3 3 I O Wiring Diagram DING DING OUT4 OUT2 OUT3 DINS COMI COMO OUT3 24VDC DIN1 DIN2 DIN3 AIN1 5VDC DIN1 DiN2 DIN3 AIN1 2 10 Figure 3 2 Wiring Diagram V Position 1 Momi ZA Last Position Figure 3 3 I O pins Table 3 5 IO function definition Item SCSI Pin Signal Description Functi
11. Bites max velocity limit pins NULL ond O sites PWH ON Bit18 position limiting DIN6 NULL O Bit11 reference found o absorb voltage Function Si ampa JE poT2 error m pour OK Cancel Figure 5 7 Drive standby 5 2 3 Digital output 1 Digital output wiring diagram E Figure 5 8 internal diagram of digital output 2 NPN wiring diagram COUTI OUT3 support NPN and the effective controller of low level input 39 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver Stepping Motor Driver Figure 5 9 NPN Wiring Common cathode 3 PNP wiring diagram only OUT3 support PNP and the effective controller of high level input Stepping Motor Driver Figure 5 10 PNP Wiring Support the effective controller of high level input 4 Follow the diagram as below to connect relay to the digital output Stepping Motor Driver X3 port OC power supply 24 DC power supply 249 Figure 5 11 Connecting relays on digital output Anti parallel diode 40 Kincos Kinco FM Series Field bus Control Stepping Motor Drive 5 3 Analog signal input 5 3 1 AINI common mode voltage input Figure 5 12 Common mode input voltage wiring diagram 41 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver 5 3 2 AINI Differential mode voltage input Stepper Driver 30k i i 1 A 1 R6 A L 1 1 1 Figure 5 13 Differential mode inpu
12. Gids 3Multi speed 3 5 cseteris mm ere e EE COPIE Tenba Reeken ORnet ken Rentes SEE ARS EON EN RAT 51 Chapter7 Communication Function veansvonveonveonveonsennvennveonvennsennvennvennvennsennvennvennvennsennvennvenseensvennsenneens 53 7 1 NP 53 7 1 1 RS232 HardwatBs reren sneren vere M 53 7 1 2 RS232 Parameters 5d coe racer debere n delebo deeper eer deleted ve eo aee Mete rea 53 7 1 3 Free transfer protocols ene edere be e eee ete ee o er bed eee d a eee 54 7 1 4 Data Protocol ioco em re E EIE ERE RE Aae ae ERE E RE epa EE SPARE RES 54 7 1 5 RS232 Communication address ennen oen venvenvenneenvenvenvenneenvenvenvennvenvenvenveenvenvenvenn 56 12 IS4850udaciet ees ote pa i e a PEG RR FEE AO EDDIE IO EIER AE DR DU RO denderde dean eH 57 7 2 1 RS485 Communication port essere aonana ana aa etre enne 57 7 2 2 RS485 Communication parametets 2 Do cci o Po a sen e E e E ER FERRE 58 7 2 3 MODBUS RTU Communication Protocol nennen envenvenvernvenvenvenvernvenvenvenveenvenvenvenn 58 124 Modbus Functi h Code dete emerit er est es en eb dr Eee ex e XE ES PCR TE anaa REIR 59 7 25 Modbus Communication address annen onno onvenvenvennvenvenvenvernvenvenvenvernvenvenvenveenvenvenvenn 61 1 3 CANopen Bus communication neenvenvenvenvenseenvenvenveeneenvenvenvennvenvenvenveenvenvenvenneenvenvenvenseenvenvenven 61 7 3 1 Hardware 1introducmpg iie c et rt ee re e r
13. finalog Speed Con 25 250k finalog Speed Factor 12 125k Auto Switch On Hotor 5 5Bk B phase current B phase current ADC data Bootloader CAN Baudrate CHD fctive Filter CHD q CMD_q_Max 3 Double click the index 2F81 the index will be added into the menu list successful as below 28 Kincos Kinco FM Series Field bus Control Stepping Motor Drive LT cx Operation Mode Buff DEC Status_Word HEX Pos Actual 6 668 step Real Speed RPH 8 rpm I q 8 888 Ap Operation Hode 1 DEC Pos Target 8 888 step Speed Demand 6 666 rpm Control Word 6 HEX 16 CHD q Hax 1 991 Ap 11 Profile Speed 8 888 rpm 12 Profile ficce 18 888 rps s 14 Profile Dece 18 888 rps s 15 Dini Function 108 HEX 4 How to cancel the index in the menu list Find it and click your PC on the right then click del to finish it If want to know more information about a index find it and click your PC mouse then click help 44 8 ECAN Setting As for this menu list it can set the communication parameters of CANopen please refer to chapter 7 3 LI ix Group RX1 PDO RX1 PD01 RX1_PDO2 RX1_PDO3 RX1_PDO4 RX1_PDO5 RX1_PD06 RX1_PDO 7 RX1_PD08 RX1_ID RX1 Transmission RX1_Inhibit Time e CAONOM FON N i h e 29 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver Group_TX1_PDO TX1_PDO1 TX1_PDO2 TX1_PD03 TX1_PDO4 TX1 PD05 TX1_PD06 TX1 PD07 TX1 PD08 TX1 ID TX1 Transmission TX1 Inhibit Time d MO
14. 1 1 FM860 Naming rule Fieldbus Kincos Kinco FMSeries Field bus Control Stepping Motor Driver Chapter 2 Precautions and Installation Requirement 2 2 1 Precaution 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 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 driver Avoid the driver and stepper motor from dropping or striking because they are precision equipment For safety do not use any damaged driver or any driver with damaged parts 1 Environment Conditions Table 2 1 Environment requirement Environment Condition Temperature Operating temperature 0 C 40 C Ice free Storage humidity 10 C 70 C Ice free Humidity Operating humidity lt 90 RH No condensation Storage humidity lt 90 RH No condensation Air Indoor No direct sunlight no corrosive gas or combustible gas no oil vapor or dust Height Below 1000m above the sea level Vibration so m s 2 2 Mounting Direction amp Spacing Please install the driver correctly according to following figure or it will cause faults The driver should be vertically installed on wall Take ful
15. 1 1 Intetfac s oF OLIVER ERR soest den eat denken been venten ie RE RAEES Ure EUER been ESL seat RE SES UE RARE RE RE RR enne 12 3 1 2 The X1 and X2 LED definition of FM 860 ennen oomen eneeeneeeneneneneneneneneneeeneeeneeeneeenee 13 32 DIP id 13 32 1 ID S Ct BP zer dete ore e rH ORAE E DOR dunken enn akan D EO ORO aE 13 3 2 2 Communication port Settings edente eto nnne ioa ra beta rra eoa re suba goa ra io EEEa SETAT 13 3 3 VO Wiring Diagram odore pere e rb PE ep Ri p b e ERE HORS 14 34 Comm nication Connector iere re n XE RI E n rg x Ree E TREE RI Ex Ero XE ede dean 15 3 4 1 CAN ep 15 3 4 2 END L 16 3 4 3 IRS 232 i ontendieen nOD IE ree T 16 35 _FMS860 Connecting View 17 Chapter 4 Using Kinco Stepping PC Software Installing PC Software essasevensevensnvenonvenonenvonevenseren 18 4 1 Installing PC Software ttt ERI t EOS EU REGE RRRRT EO SQUE ERE OUR K UENIRE SERNER 18 4 2 BaSy ABUD T 18 4 2 1 Connecting a PG ER 18 4 2 2 How to use Kinco Stepping PC software essent eene nennen 18 4 3 Operation Your Menu tti Ha e e D FO EGRE QE REO GRE RUE C ELO CER ATEEN 22 AA Howto control your DEIVe suus verver verven contre ete cen eene ee n e P ea tee EP E re eere a eg Fen 23 4 4 1 The Drive NITINGPER teren asin edere i o E 23 4 4 2 Motor configuratie ienesa HR veteranen rendent ee dass
16. 12 Hotor test switch 1 DEC There are 3 kinds of methods for user to set up motor parameters 1 Automatic detection of motor parameters Follows are the default value for the motor parameters Motor type MC Motor phase 2 Motor phase current 3A Arms Motor test switch 1 Driver setting is defaulted as 2 phase the LED will show error if you use 3 phase motor actually So please change the phase according to the actual phase of motor 2 Select motor type User also can select the right motor type if you don t like to use automatic detection of motor parameters then the parameters will be listed into the dialog by automation As for the motor type you can select motor type first then right click to find the help and click it then you will see the motor type list 3 User defined Motor type as XX If you selected the motor which are not in the list please set motor type as XX then set the motor parameters by manual 4 4 3 Current settings As for factory settings of Motor phase current defaulted as 3A Arms 4 2A peak General the scope of the current is from OA Arms 0A Peak 4 3 Arms 6A Peak which can change by user It needs to save motor parameters and reboot driver after you modified the value Please contact Manufacturer if you need the driver which current is over default value 24 Kincos Kinco FM Series Field bus Control Stepping Motor Drive 4 4 4 Microstep settings zld 1 PD CW RB DEC Hicros
17. 60000 1875 Canopen Command eee Bits Modbus address a Unit Description 2020 01 20 0x0C10 RW DEC Multiple position control 0 2020 02 20 0x0C20 RW DEC Multiple position control 1 2020403 20 0x0C30 RW DEC Multiple position control 2 2020 04 20 0x0C40 RW DEC Multiple position control 3 2020 05 20 0x0C50 RW DEC Multiple position control 4 2020 06 20 0x0C60 RW DEC Multiple position control 5 2020407 20 0x0C70 RW DEC Multiple position control 6 2020 08 20 0x0C80 RW DEC Multiple position control 7 2020 09 20 0x0C90 RW DEC Multiple position control 8 2020 0A 20 0x0CAO RW DEC Multiple position control 9 2020 0B 20 0OxOCBO RW DEC Multiple position control 10 2020 0C 20 0x0CCO RW DEC Multiple position control 11 109 Kinco Kinco FMSeries Field bus Control Stepping Motor Driver 2020 0D 20 OxXOCDO RW DEC Multiple position control 12 2020 0E 20 OxOCEO RW DEC Multiple position control 13 2020 0F 20 OxOCFO RW DEC Multiple position control 14 2020 10 20 0x0D00 RW DEC Multiple position control 15 2020411 20 0x0D10 RW DEC Multiple position control 0 2020412 20 0x0D20 RW DEC Multiple speed control 1 2020413 20 0x0D30 RW DEC Multiple speed control 2 2020414 20 0x0D40 RW DEC Multiple speed
18. Communication between FM860 and Modebus 1 Wiring diagram PC has to use RS232 RS485 module to connect FM drive RS485 module terminal FM860 RS485 X1 88 Kincos Kinco FM Series Field bus Control Stepping Motor Drive D Oene 2M RX TX DE I S RX TX4 GND 8 GND 2 Please refer Serial protocol communication in Appendix III to set up ID address and baud rate and defaulted as 19200 and 1 Need to save and reboot if updated 3 Please follow Modbus RTU communication protocol to control FM860 after finished such steps As below figure read object 0x60400010 control words need to add offset Device Id 1 Address 3101 Number of Polls 953 HEX SL MODBUS Point Type Valid Slave Responses 935 Length i 03 HOLDING REGISTER Reset Ctrs For Help press F1 Figure 9 8 Modbus parameters You can read object 0x60400010 by manual as below figure Show Data in z 01 Slave ddress C Decimal Hex Function 03 Send Data 31 00 00 01 Checksum aa F6 r Response Buffer 01 03 02 00 06 38 46 Figure 9 9 Read objects All mode send message in status number 1 Table 9 4 Examples for sending message of Homing and position control mode with station number 1 Homing control mode control word is changed from F to 1F 89 Kinco Kinco FMSeries Field bus Control Stepping Motor Driver
19. Default value 5p 01 06 31 00 00 2F C6 EA DEC RPS S 65536 01 06 31 00 00 2F C6 EA 60000 1000 4000 3F Absolute 01 06 31 00 00 3F C7 26 positioning 01 06 31 00 00 3F C7 26 0x3100 Control word ag 01 06 31 00 00 4F C6 C2 01 06 31 00 00 4F C6 C2 5F Relative 01 06 31 00 00 5F C7 OE positioning 01 06 31 00 00 5F C7 OE Table 9 5 Examples for sending message of Speed control mode with station number 1 90 Kinco Kinco FM Series Field bus Control Stepping Motor Drive Speed control mode Modbus Setting Name Message ID 1 Note address value DEC RPM 512 60000 1875 Operation 01 06 35 00 00 03 C6 07 0x3500 3 mode 01 06 35 00 00 03 C6 07 DEC RPS S 65536 60000 1000 4000 01 10 6F 00 00 02 04 80 00 00 25 F2 46 Ox6F00 Target speed 150RPM 01 10 6F 00 00 02 5C DC Ox4B00 Profile Acce 10rps s Default value 0x4C00 Profile_Dece 10rps s Default value 01 06 31 00 00 OF C7 32 0x3100 Control word F 01 06 31 00 00 OF C7 32 Note All the data are hexadecimal formatting when using communication 9 2 3 Modbus Communication Between FM860 and Siemens S7 200 1 Wiring diagram Signal connecting is as below FM860 RJ45 Figure 9 10 RS485 communication 2 Parameters setting As for the parameter setting of FM Stepping motor drive please refer to Chanpter The default parameters are Modbus RTU 19200 none check code In the software of S7 200 PLC there is a librar
20. Emergency Hess ID 16176616 Producer_Heartbeat_Time 14666126 RX1 ID 14888288 RX1 Transmission 14888318 RX1 Inhibit Time 14818128 RX2 ID 1461 6268 RX2_ Transmission 14616316 RX2_Inhibit_Time 14626126 RX3 ID 14828288 RX3 Transmission 14828318 RX3 Inhibit Time 14838128 RX4 ID 14838288 RX4 Transmission 14838318 RX4 Inhibit Time 1 2 3 4 5 6 7 8 Figure 9 30 Write drive 2 7 Click Save button the parameters will be saved to drive Then will show you Finish 105 Kinco EZ Kinco FMSeries Field bus Control Stepping Motor Driver ownt driver tent 777 nna Open file export data finish Write Finish Total 337 Alarm 6 Error 8 Save paraneter Finish Reboot Driver index 1ead value read value resuit 16650626 Sync_ID 16666626 ECAN_Sync_Period 1666 6668 ID Com 18868818 Guard Time 166D 6668 Life Time Factor 188E 6626 Node Guarding ID 18158828 Emergency Hess ID 16176616 Producer_Heartbeat_Time 14888128 RX1 ID 148882808 RX1 Transmission 14888318 RX1 Inhibit Time 146161286 R32 ID 1461 6268 RX2_Transmission 14010310 RX2 Inhibit Time 14626126 RX3_ID 14828208 RX3 Transmission 14828318 RX3 Inhibit Time 14636126 RX4_ID 1463 62 68 RX4_Transmission 1463 6316 RX4 Inhibit Time 4 2 3 4 5 6 7 8 Figure 9 31 Write drive 3 106 Kincos Kinco FM Series Field bus Control Stepping Motor Drive 9 6 Appendix VI Conversion between Engineering unit and internal unit of Common objects Ther
21. FM860 if you send an error address which is not in the list And the slave will find the address and check it out to you The slave will do not reply to if the address is different with master s 7 1 4 Data Protocol Data protocol is different with transfer The content of Data protocol is the 8 bytes middle of the 10bytes of transfer protocol All value and function is shown by index and sub index The formatting are download and upload A Download means master write value to the object of slave then will be error if download on the address which do not in the list Table 7 2 Master send message 10 5 Bytel Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 ByteO 54 Kincos Kinco FM Series Field bus Control Stepping Motor Drive CMD INDEX SUB INDEX DATA CMD Specified the data transfer direction and data size 0x23 Send 4bytes of data bytes 4 7 involves 32bits Ox2b Send 2bytes of data bytes 4 5 includes 16bits Ox2f Send 1bytes of data bytes 4 includes 8bits INDEX The address of send object SUB INDEX The address of send sub object The order of the 4bytes the data is from low to high For example write 7650DEC 607A0020 inc and 7650 is 10 hex 1DE2 is 16 hex The object is required 4 bytes the result of value is only 2bytes as 1D E2 so can add 0 on the hight position as 00 00 1D E2 DATA byte4 E2 byte5 1D byte6 00 byte7 00 Table 7 3 Slave returned ByteO Bytel By
22. GONE 0 e Configure Afa X Uendor ID Sync ID Guard Time Life Time Factor Node Guarding ID Emergency Hess ID Producer Heartbeat Time CAN_Baudrate NUE Nek 5 44 9 Drive Property We can know the information of drive such as software version S N and so on in the window Driver Property E ct x 1 Device Type 48192 HEX 2x Deuice Name FM860 AA driver String 3x Product Version U6 1 String hx Software Version FH886820138986 String 5x Manufacturer Kinco Electric Shenzhen Ltd String 6 Serial Num FN686 61 61613648661 String Ze Vendor ID 388 HEX 8x System Time 22858 S 9x Temperature 36 degree 44 10 Error Control This menu will show the error status if there is any error In the menu the code of 16 hex is the error code and the box is used to select whether the alarm is shielded or not The light will turn red if there is error 30 Kincos Kinco FM Series Field bus Control Stepping Motor Drive more details please refer to chapter 8 Note Untick the box to shield the error if you need but some of errors can t shield ziel Internal Error Over Current xl Over Voltage xl Low Voltage xl Over Temperature Logic Voltage Error xI Output 5U Over Load EEPROH Error xI Hotor Error X Xl Folloving Error Fieldbus Error lt lt 0e0600000020 02 28 xI Over Frequency 4 4 11 Error History As for FM860 Stepping motor Drive there are 7 gr
23. Motor Drive 2 NC Empty 6 NC Empty 7 NC Empty 8 CAN GND CAN GND Note 1 All the pin of CAN L CAN H can be connected by series directly 2 It need connect 120ohm termination resistors on the terminal both for the Master and the last one of slave AS for FM860 connect a termination resistor on the switch of SW9 3 FM Series needn t external 24V power supply to CAN 4 Please use the shield wires for communication cable and make good grounding 5 The max distance at different baud rate are shown in following table Table 7 13 The max Communication distance of baud rate Communication speed Communication distance 1Mbit S 25M 500Kbit s 100M 250Kbit s 250M 125Kbit s 500M 50Kbit s 600M 25Kbit s 800M 7 3 2 CANopen Communication parameters Table 7 14 Communication parameters CANopen Modbus Name Value Meaning address address Drive ID Note ID Switch SW6 SW1 Selected 1 63 or ID_Com Ox 100B0008 0x0600 1 Ox2FE400 selected 1 127 2 Store and reboot the parameters if updated ID node is from 1 to127 Note the setting is valid when SW6 SW1 is on Node id offset Ox2FE40008 0x2800 127 OFF And Store and reboot the parameters if updated CAN Baud rate setting Value Baud rate 100 IM RS485 Baud rate 2F810008 0x2300 50 50 500k 25 250k 12 125k 5 50k 63 Kincos Kinco FMSeries Field bus Control Step
24. Wiring connecting CAN_L CAN_H GND CAM H CAM L GND CAM H CAM L GND ID 1 ID 2 CAN H CAN_L GND ID N Figure 9 1 Several FM860 communication It need to add a 120 150ohm resistor between CAN_L and CAN_H and can set the DIP switch as SW9 to 82 Kincos Kinco FM Series Field bus Control Stepping Motor Drive connecting the resistor 3 Set the communication parameters such as baud rate ID address default as 500K and 1 respectively Need to save and reboot after updated 4 You can follow CANopen communication protocol to set up FM Stepping Motor Drive As for this example is used the data formatting of CANopen communication protocol to operate FM drive for each mode Following figure is the example to send command to set 6040 as 3F the lower part of the figure is send data upper part of the figure is receive data 3E Receive Transmit E Message DLC 581h 8 60 40 60 00 3F 00 5D 00 OD Message DLC Data 60ih 8 2B 40 60 00 3F 000000 Edit Transmit Message ID Hex DLC Data Hex o1 le S 40 60 oo 3F 00 oo 00 Cycle Time Message Type C Extended Frame 200 Paused Remote Request NT Table 9 1 Examples for sending and receiving message of Homing control mode with station number 1 Homing control mode the control word should change from F to 1F CANopen Name Setting Value Send or Return message ID 1 Note address 601 2F 60 60 00 06 00 5
25. beat message Slave send message to master cyclically during supervision time if master hasn t received message from slave after heartbeat time then master will consider slave as error Heartbeat Producer Consumer s Table 7 32 Heat beat message COB ID Byte 0 0x700 Node ID Status Table 7 33 Status value Value Meaning 0x00 Boot up 0x04 Stopped 0x05 Operational Oc7f Pre operational The Boot up message is the first heat beat if the node When the Heartbeat activated Node guarding Master send massage to slave cyclically during supervision time slave return it immediately If master don t receive the response from slave after supervision time Then master will consider the error of slave NMT Master Node send remote frame without data as below NMT Master NMT Slave COB ID 0x700 Node ID NMT Slave Node send message as following Table 7 34 NMT Master NMT Slave message COB ID Byte 0 0x700 Node ID Bit7 togglebit Bit6 0 Status As for Byte 0 involves a toggle bit bit7 and the toggle bit is turned to configure the 0 or 1 in node protection each time The first node protection of toggle bit 1s 0 And the bit from 0 to 6 means node status 71 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver Table 7 35 Status value definition Value Meaning 0 Initializing 1 Disconnected 2 Conne
26. control 3 2020 15 20 0x0D50 RW DEC Multiple speed control 4 2020416 20 0x0D60 RW DEC Multiple speed control 5 2020 17 20 0x0D70 RW DEC Multiple speed control 6 2020 18 20 0x0D80 RW DEC Multiple speed control 7 2020 19 20 0x0D90 RW DEC Multiple speed control 8 2020 1A 20 OxODAO RW DEC Multiple speed control 9 2020 1B 20 OxODBO RW DEC Multiple speed control 10 2020 1C 20 0x0DCO RW DEC Multiple speed control 11 2020 1D 20 OxODDO RW DEC Multiple speed control 12 2020 1E 20 OxODEO RW DEC Multiple speed control 13 20204 1F 20 OxODFO RW DEC Multiple speed control 14 2020420 20 OxOEO0 RW DEC Multiple speed control 15 2020436 08 OxOF60 RW DEC Multiple position control choose display 2020437 08 OxOF70 RW DEC Multiple speed control choose display 2020438 10 OxOF80 RW ms Multiple speed position Switching delay Table 9 14 Performance Objects Canopen Modbus address Command Bits Unit Description address type Max following error at which the drive 6065 00 20 0x3800 RW DEC generates an alarm Default value 200inc Position reach window 6067 00 20 0x3900 RW DEC Position range for target reached Default value 10inc 607D 01 20 0x4410 RW DEC Soft positive limit 110 Kinco Kinco FM Series Field bus Control Stepping Motor Drive 607D 02 20 0x4420 RW DEC Soft Negative limit Table 9 15 Homing control Canopen Co
27. does not exist 0x03 Data error or register number is wrong 0x04 Write operation failed including data range or object is read only 7 2 5 Modbus Communication address Please refer chapter 6 to know more about each mode operation As for object operation address access appendix VII RS485 do not support all in internal objects And RS485 communication case please refer appendix II 7 3 CANopen Bus communication FM Series Stepping Motor Drive is standard CAN slaver device and follow CANopen 2 0A B protocol Any PC can communicate with FM series Drive if the PC supported the protocol As for FM series Stepping Motor Drive selected object dictionary which based on the standard as CANopen all objects has clear definition of the functions The objects is same to the memory address part of object as speed and position can modify by external controller and part of object as status and error messages just can modify by the 61 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver drive The objects are as following Index Sub Bits Property Meaning For example 6040 00 16 20x10 RW Device status control word 6060 00 8 0x08 RW Operating Mode 607A 00 32 0x20 W Target position 6041 00 16 0x10 MW Device status word The property of object is as below 1 RW Object can be read and written 2 RO Read only 3 WO Write only 4 M Can be mapped similar to indirect addressing 5 S Objects can be stor
28. parameters 2 in analog 1 CANopen Name Modbus address Value Meaning address Dead zone of analog input Dead zone voltage of external analog 25020210 0 5V 410DEC 410 1 signal 1 offset voltage of external analog signal offset of Analog input 1 25020310 1V 819DEC 819 i 6 6 Multi target speed control mode 1 As for multi target speed control mode is active the target position to control motor by input port And there are 3 items to active it as below 1 Multi target speed control can run in 1 mode only 2 The index to simulate provide velocity mode is 0 and at the same time speed channel is invalid 3 At least there is 1 input port that defined multi target position control as 0 1 2 3 Please input 0 1 2 3 which will be constituted the codes of binary system and selected as multi target speed control from 0 15 channel and the list as below Table 6 10 Binary system code Multi position Multi position Multi position Multi position 5 i 5 Din Position Din Speed 0 0 0 0 0 0 0 0 0 1 1 1 0 0 1 0 2 2 0 0 1 1 3 3 0 1 0 0 4 4 0 1 0 1 5 5 0 1 1 0 6 6 0 1 1 1 7 7 1 0 0 0 8 8 1 0 0 1 9 9 1 0 1 0 10 10 1 0 1 1 11 11 1 1 0 0 12 12 1 1 0 1 13 13 1 1 1 0 14 14 1 1 1 1 15 15 Note The signal is defaulted as 0 if do not select input signal 0 1 2 3 for multi target position 6 6 1 Multi Target position control As for Mot
29. read or write flag RW read only or write only flag RO WO and mapping flag M Table 9 10 mode and control Modbus Canopen Command Bits address Unit Descriptions address type Use control word to change status of drive gt machine state 0x06 Motor power off OxOF Motor power on OxOB Quick stop load stop voltage switched off 6040 00 10 0x3100 RW Bit Ox2F 3F Start absolute positioning immediately Ox4F 5F Start relative positioning Ox103F start absolute positioning mode according to target position changes OxOF 1F Start Homing 107 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver 0X80 Clear internal error Status byte shows the status of drive bit0 ready to switch on bitl switch on bit2 operation enable bit3 fault bit4 Voltage Disable bit5 Quick Stop bit6 switch on disable 6041 00 10 0x3200 RO Bit bit7 warning bit8 Internal reserved bit9 Reserved bit10 Target reach bitl1 Internal limit active bit12 Step Ach V 0 Hom att bit13 Foll Err Res Hom Err bit14 Commutation Found bit15 Reference Found Operation mode 1 Position 6060 00 08 0x3500 RW DEC 3 Speed 4 Pulse 6 Return to homing 6061 00 08 0x3600 RO DEC Valid operation mode Table 9 11 Measurement data Canopen Modbus Command Bits Unit Description address address type 6063 00 20 0x3700 RO DEC Real position val
30. to set up ID address and baudrate as station number 1 and 38400 Need to save and reboot it after updated 3 Then find RS232 free communication protocol to control FM drive after finish such step Following are different mode to send message all station ID is 1 3 At present please refer RS232 communication protocol as chapter 7 to control FM stepping motor driver For example as bellowing send 6040 as 3F the data in blue is sent and is returned message in green frame Red parts are communication parameters ROW SComAssistant V2 1 Seles H 01 60 40 60 00 3F 00 00 00 CO IRE seaoc hd EXER EET eel FE COMDATA 9 17 Serial debugging assistant settings Table 9 7 Example for sending message of Homing and postion control mode with station number 1 Homing Control Mode Write control word F first then 1F Canopen Name Setting value Send and return message ID 1 Note address 01 2B 40 60 00 OF 00 00 00 25 01 60 40 60 00 OF 00 00 00 FO 60400010 Control word OxF Operation 01 2F 60 60 00 06 00 00 00 0A 60600008 0x6 mode 01 60 60 60 00 06 00 00 00 D9 DEC 01 2F 98 60 00 23 00 00 00 B5 60980008 Homing mode 0x23 DEC RPM 512 01 60 98 60 00 23 00 00 00 84 60000 1875 Signal speed 60990120 Of homing 200RPM 01 23 99 60 01 00 00 32 00 30 01 60 99 60 01 00 00 32 00 73 turning 60990220 Speed of 150RPM 01 23 99 60 02 00 80 25 00 3C 95 Kincos Kinco FMSeries
31. which will be constituted the codes of binary system and selected as multi target speed control from 0 15 channel and the list as below Table 6 13 Binary system code Multi speed control 3 Multi speed control 2 Multi speed control 1 Multi speed control 0 Input speed control 0 0 0 0 0 0 0 0 1 1 0 0 1 0 2 0 0 1 1 3 0 1 0 0 4 0 1 0 1 5 0 1 1 0 6 0 1 1 1 7 1 0 0 0 8 1 0 0 1 9 1 0 1 0 10 1 0 1 1 11 1 1 0 0 12 1 1 0 1 13 1 1 1 0 14 1 1 1 1 15 Note The signal is defaulted as 0 if do not select input signal 0 1 2 3 for multi target position The parameter of multi speed control 0 15 can select by IO port and also will be achieved by analog signal to control it The parameters of analog speed will be covered by the value of using analog signal 51 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver Table 6 14 Parameter setting of multi speed Modbus Name CANopen address Value Meaning address select the channel of analog speed 0 not valid 1 AINI valid channel Analog Speed Con 25020708 0x1670 Ix 0x10 0x1f Ainl control the target speed control x 0x10 1s avalid 52 Kincos Kinco FM Series Field bus Control Stepping Motor Drive Chapter 7 Communication Function FM860 Stepping Motor Drive used 3 types protocol as CANopen and RS485 Modbus protocol and CANopen The solution of
32. 0 200 O O Figure 6 3 Homing control mode Table 6 4 Objects in mode 6 CANopen Modbus NAME Value Meaning address address operation mode of Operation Mode 60600008 0x3500 6 drive is homing mode method for searching homing mode 60980008 0x4D00 User Setting homing Home_Offset 607C0020 0x4100 User Setting offset after homing velocity for searching Homing Speed Switch 60990120 0x5010 User Setting homing switch signal velocity for searching Homing Speed Zero 60990220 0x5020 User Setting homing signal Homing Accelaration 609A0020 0x5200 User Setting Homing Accelaration Write F first Lock motor motor Control_Word 60400010 0x3100 the 1F begin to move Please refer Chapter 9 to know how to control homing mode 6 5 How to simulate velocity mode 3 6 5 1 The index of velocity mode 3 The motor running is handled by X3 port of Drive in this mode And the index is as below Table 6 5 Objects in mode 3 CANopen Modbus NAME Value Meaning address address Operation mode of drive is target Operation_Mode 60600008 0x3500 3 speed control mode User Analog 1_Filter 25020110 0x1610 Sai filter parameter of analog signal as etting 45 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver f 4000 2z Analogl Filter time constant T Analog1_Filter 4000 CS User Analog 1_Dead 25
33. 020210 0x 1620 dead space of analog signal 1 Setting User Analog1_Offset 25020310 0x 1630 offset of analog signal 1 Setting polarity of analog output User analogl out polarity 25021410 0x1740 Seti 0 The same as the input polarity etting 1 In contrast to the input polarity User Analog 10V speed it is without analog_speed_rpm at 10V 25021310 0x1730 Setting dead and offset Analog signal control speed valid at operation mode 3 0x0 not valid User 0x1 speed controled by analog Analog_Speed_Con 25020708 0x1670 Setting signal 1 0x10 0x1f Ainl control the target speed control x 0x10 User Profile Acce 60830020 Ox4B00 acceleration of trapezoidal curve Setting User Profile Dece 60840020 0x4C00 acceleration of trapezoidal curve Setting Control_word 60400010 0x3100 F Lock motor motor begin to move More details please refer Appendix VII 6 5 2 The Process diagram of analog signal Use y pony U tan 1 d nme 1 10 u 10v N E E a 10v U asezas ss i d lo LE 10r PU asma 3 atis Shifting 7 uec Dead zone Figure 6 4 Analog signal process Table 6 6 Variable of analog signal Variable Meaning Scope U internal External voltage is same to internal 10V 10V 46 Kinco Kinco FM Series Field bus Control Stepping Motor Drive data Without offset and dead zone voltage the scope is from 2048 to 2047 Uexternal Power supply voltage 10V 10V U shift offset voltage the scope of 0 10 is 0 819
34. 1 U dead Dead zone voltage The scope of 0 1is 0 8191 6 5 3 How to simulate velocity mode 3 without dead zone voltage and offset Requirement Choose DIN1 as drive enable DIN2 as fault JGBRJT2 amp And 10V is at rated 1000rpm 10V is at rated 1000rpm As for the speed controlled by analog signal 1 as AIN1 Table 6 7 Parameter settings CANopen Modbus NAME Value Meaning address address Operation mode of drive is target speed control Operation Mode 60600008 0x3500 3 mode filter parameter of analog signal as f 4000 Analog 1 Filter 25020110 0x1610 5 2n Analogl Filter time constant t Analogl Filter 4000 S Analog 1 Dead 25020210 0x1620 0 dead space of analog signal 1 Analogl Offset 25020310 0x1630 0 offset of analog signal 1 polarity of analog output analogl out polarity 25021410 0x1740 0 0 The same as the input polarity 1 In contrast to the input polarity analog speed rpm at 10V speed of Analog signal 1 is same to the speed SR j 25021310 0x1730 1000 i SR 10V without dead and offset Analog signal control speed valid at operation mode 3 0x0 not valid Analog Speed Con 25020708 0x1670 1 Ox1 speed controlled by analog signal 1 Ox10 0x1f Ainl control the target speed control x 0x10 Profile Acce 60830020 Ox4B00 9830 acceleration of trapezoidal curve Profile Dece 60840020 0x4C00 9830 acceleration of trapezoidal curve 1 Store the parameters un involves Motor Store_Data 2F
35. 120ohm terminal resistance as ON to merge bus and OFF to disconnect if 16 Kinco Kinco FM Series Field bus Control Stepping Motor Drive Drives are on the end of Bus Please use SW9 to set up it if the drive with CAN function As for RS485 connector there are 2 kind of mode as 2 wire mode using SW9 and 4 wire mode using SW9 and SW 10 3 5 FMS60 Connecting View Terminal resistance Field Bus IN Power supply AC 220V Eh H AC DC Field Bus OUT DC 24 70 5A ID Station number RS232 I O Input output Figure 3 5 FM860 Over view 17 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver Chapter 4 Using Kinco Stepping PC Software Installing PC Software 4 Installing PC Software Please access www kinco cn to download Kinco Stepping PC Software and unzip to use directly 4 2 Easy Using 42 1 Connecting a PC You have to use Kinco Stepping PC software to set up the parameter by RS232 or CAN connector Please refer chapter 3 to connect Stepping Motor Drive and Motor before using How to connect FM860 Stepping motor drive from RS232 to PC Prepare 24VDC logic voltage console wire first and refer the connecting as following PC Desub RS232 RJ45 connector Pe ee TXD 3 DD ee RXD 6 GND 5 GND 4 How to connect the drive from CAN to PC as FM860 You need to have 24V logic voltage PEAK series USB or LPT adapter CAN communication
36. 23 4 4 3 Current settings siete CER EE EE EE a aE EE AEE FO EX SE RERO NA FOE CU ERERERTRTR ER 24 4 4 4 Mi rostep Tiu 25 4 4 5 Basic Setting ice erre o Rem e D p PR RE CR PE ea ERI RR ORE REX SS 25 4 4 6 V O Port Settings aio err tee e e e pex eb o ie e des eb o ede e re Po Rep e rog 26 4 4 7 Data dictionary uaa eei direi eun ded verde dose diee eee deseada bone d sert eee 27 4 4 8 Je WIND 29 4 4 9 Prive Property 2 ana eelut o i ip eere tha MR HIE eno ES taan EIE ERO BERTA A 30 A410 sUdeudbte c TE TET EE E E E E 30 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver S E Emor ELO EEE 31 44 2 Imtialize Saye astennen e E e e Ep ra E RE een UR RYE eE eae e TREE ERE ed 32 Chapter5 Operating the I O Port sonesvensenconsonensencenennennensensonennensenconsonensensensonsonensensonennennenseneonessense 33 5 1 Digital signal put serve ttr He He aee ei dei E Ri dedain eiie etes 33 5 1 1 The Polarity control of digital input essent eere isisisi eo 33 5 1 2 Digital signal input address and function nennen 34 5 1 3 Digital input both for NPN and PNP nnen venvenvenneenvenvensernvenvenvenvennvenvenvenveenvenvenvenn 36 22 Digital signal Output retenti ee eed vedan en ree be denken eges 38 5 2 1 The Polarity control of Digital signal output eneen onvenvenvernvenvenvenvernvenvenvenveenvenvenvenn 38 5 2 2 Digital signal output address and funct
37. 5V is out of the scope Error Overload of Output 5V The output of 5V current is too large Check the wiring of 5V load current Following Slow flash Open Check load or reduce Overload or get stuck Error acceleration Field bus Check bus communication Bus communication is closed Error parameters Input pulse frequency is too high Input pulse frequency is over the max value Check whether the input pulse frequency is larger than the max value Note the frequency both for slow flash and fast are 0 5Hz and 5Hz 74 Kinco EZ Kinco FM Series Field bus Control Stepping Motor Drive Chapter 9 Appendix 9 1 Appendix 1 CANopen Bus communication case 9 1 1 CANopen communication between FM860 and Kinco F1 PLC 1 Wiring diagram F1 PLC CAN port FM860 CAN X1A X1B CAN_L 2 CAN_L 2 CAN H 7 CAN_H 1 GND 3 GND 3 mNote a It must use series connection for multiple slaves b CANI and CAN2 of F1 PLC are divided can be used at the same time c There are terminal resistors with PLC and FM860 set by DIP switch 2 Parameter Setting For FM860 baud rate and station number and so on please refer to chapter 7 3 CANopen Bus Communication 3 Software program a Create a new project select Kinco F122 D1608T and click OK Target Settings Em x Configuration Kinco F122 D1608T Target Platform Memory Layout
38. 6 NULL wed Function pourafready Bit15 homing signal Bit16 start homing pourzjerror D Bit17 multi speed 8 O Bit18 multi speed 1 Bit11 quick stop poura NULL O Bit19 multi speed 2 Bit13 positive limit Bit14 negetive limit OOOOOOOo0OoOo0o0o0000 Bit12 reverse speed demand Figure 5 4 I O function setting 5 1 3 Digital input both for NPN and PNP 1 NPN Wiring Diagram Support the effective controller of low level output 36 Kincos Kinco FM Series Field bus Control Stepping Motor Drive Stepping Motor Driver E SDIN1 Controller DINS DIN6 Figure 5 5 NPN Wiring 2 PNP Wiring Diagram Support the effective controller of high level output Stepping Motor Driver Controller Figure 5 6 PNP Wiring 37 Kinco Kinco FMSeries Field bus Control Stepping Motor Driver 5 2 Digital signal output 5 2 1 The Polarity control of Digital signal output The polarity of digital output is defaulted as open About how to change the polarity please refer to example 5 1 5 2 2 Digital signal output address and function Table 5 3 Digital signal output and default function Name Function Value DOUT 1_ Function Ready 01 read Error DOUT2 Function Position reached 02 Cerror Zero velocity Motor brake DOUT3 Function Velocity reached 03 NULL Index signal Max velocity limit PWM ON Position limit
39. 662 68 RX1_Transmission 14666316 RX1 Inhibit Time 14616126 RX2_ID 1461 6268 RX2_Transmission 14818318 RX2 Inhibit Time 148280128 RX3 ID 1462 6268 RX3_ Transmission 14626316 RX3_Inhibit_Time 4hA2R198 RYh Tn Figure 9 28 Read drive 3 4 Click Save button make the data to be saved on the default position Now you finished the operation 5 If you want to use the data which you just saved to a new drive then you can click Write Drive Configuration in the Extend list and select Open file button to find your data 103 Kinco EZ Kinco FMSeries Field bus Control Stepping Motor Driver Write driver Config Open file J start export data Write no process i Save pal Choosing load data file 1x Reboot SE O user f ek EE E save 2013 4 18 cdi Ej save default cdi fname m in tE QD nane TEH T Files cdi x mis m Figure 9 29 Write drive 1 6 Click Write data the data you saved will be updated to the drive will be show True on result column It means updated OK 104 Kincos Kinco FM Series Field bus Control Stepping Motor Drive lee 1 Export data finish C wite 7 rinish Total 337 Alarm 6 Error 8 Save paraneter no process Reboot Driver index load value read value result 16656626 Sync_ID 1666 6626 ECAN Sync Period 188B8688 ID Com 188C68818 Guard Time 166D 6668 Life_Time_Factor 166E 6626 Node Guarding ID 16146626
40. 81 60 60 60 00 06 00 601 2F 98 60 00 14 00 581 60 98 60 00 14 00 60600008 Operation mode 0x6 60980008 Homing mode 0x14 Turning signal 601 23 99 60 01 00 00 32 00 60990120 m 200RPM ensen speed of Homing 581 60 99 60 Ol 00 00 32 00 Change as the unit of Homing signal 601 23 99 60 02 00 80 25 00 DEC 60990220 150RPM speed 581 60 99 60 02 00 80 25 00 DEC RPM 512 601 2B 40 60 00 F 00 60000 1875 60400010 Contorl word OxF 581 60 40 60 00 F 00 601 2B 40 60 00 1F 00 60400010 Control word Ox1F 581 60 40 60 00 1F 00 601 40 41 60 00 00 00 00 00 Read status word 9437means found homing 83 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver Table 9 2 Examples for sending and receiving message of Position control mode with station number 1 Position control mode Absolute positioning of control word is changed from 2F to 3F Relative positioning is changed from 4F to SF 103F means activate immediately when position change CANopen Setting Name Message ID 1 Note address value Control word 601 2B 40 60 00 OF 00 60400010 OxF 581 60 40 60 00 OF 00 Operation 601 2F 60 60 00 01 00 60600008 Ox1 mode 581 60 60 60 00 01 00 601 23 7A 60 00 50 C3 00 00 607A0020 Target position 50000 DEC 581 60 7A 60 00 50 C3 00 00 601 23 81 6001 00003200 Speed RPM need change 60810020 Profile velocity 200RPM 581 60 81 60 01 00 003200 to DEC D
41. 858 customer write parameter AT 3141 2842Q 03848 113 Kinco Kinco FMSeries Field bus Control Stepping Motor Driver A2 3241 2842Q 02940 2856Q 030B5 2856Q 02976 28S56Q 02054 2856Q 02741 2586Q 069B8 2886Q 05180 2886Q 03865 2886Q 051F6 2886Q 030B8 2886Q 03080 2886Q 01865 28110Q 054K1 28110Q 047F0 28110Q 03999 2S130Y 063R8 2S130Y 039M0 3S57Q 04079 3S57Q 04056 3S57Q 04042 3885Q 04097 8885Q 04067 2885Q 040F7 6410 05 08 0x7050 RW 2p r Number of motor polarity is defaulted as 50 6410 0B 10 0x70BO RW lArms 10dec The motor phase current 6510404 10 0x8040 RW lArms 10dec The motor phase current limit 6410 0C 10 0x70CO RW 1mH 10dec The inductance of motor phase 6410 0D 10 0x70D0 RW 1Q 10dec The resistor of motor phase 6410 13 08 0x7130 RW Dec Direction of motor turn 0 clockwise 1 counter clockwise 6410 16 10 0x7160 HEX The value formatting of Current motor type is ASCII 6410 19 08 0x7190 RW DEC Motor parameter with power on and self test switch 0 Disable 1 Enable 6410 1A 08 0x71A0 RW DEC The phase of motor 2 2 phase stepping motor 3 3 phase stepping motor 6410 1B 08 0x71B0 RW DEC IO port with 5V voltage output switch 0 D
42. Case een venvenvenneenvenvenvenneenvenvenvenveenvenvenvenneenvenvenven 86 9 2 1 Modbus Communication between FM860 and KINCO HMI seen 86 9 2 2 Communication between FM860 and Modebus essere eere 88 9 2 3 Modbus Communication Between FM860 and Siemens 87 200 sss 91 9 3 Appendix III RS232 Communication Case esee en eere tnnt etre nennen 93 9 3 1 Communication between FM860 and KINCO HMI sees 93 9 3 2 The Free Protocol Communication between FM860 and Adjustment tool of Serial port 94 9 3 3 Console Wire rimin ins ebbe e D OR n ae p n PER vate leva 97 94 Appendix IV Honung Method sis ss o etr eee ere leet ere ev ton vete re e banken Ve Vua e Un o sande RUN Tg 98 9 5 Appendix V Use Stepping Motor Drive PC software to read and write drive eneen 101 9 6 Appendix VI Conversion between Engineering unit and internal unit of Common objects 107 9 7 Appendix VII Common Object List eneen venvenvenneenvenvenvennvenvenvenvennvenvenvenvennvenvenvenn 107 FM Stepping Motor Drive User manual Revision History Kinco 2013 06 05 2013 09 06 Kinco FMSeries Field bus Control Stepping Motor Driver Description Of Changes Revision 1 0 Preliminary Release Modified the parameters both for diver and motor Added items from 4 4 2 to 4 4 4 Safety Precautions For the sake of personal safety and avoidance of property loss please read t
43. EC RPM 512 60830020 Profile_Acce 10rps s Default value 60000 1875 Both for 60840020 Profile_Dece 10rps s Default value Profile Acce and profile 601 2B 40 60 00 2F 00 dece is defaulted as DEC Ox2F 581 60 40 60 00 2F 00 DEC RPS S 65536 Ox3F Absolute 601 2B 40 60 00 3F 00 60000 1000 4000 positioning 581 60 40 60 00 3F 00 60400010 Control word 601 2B 40 60 00 4F 00 Ox4F 581 60 40 60 00 4F 00 Ox5F Relative 601 2B 40 60 00 5F 00 positioning 581 60 40 60 00 5F 00 601 40 41 60 00 00 00 00 0 Read status word D437 means target position reach Table 9 3 Examples for sending and receiving message of Speed control mode with station number 1 Speed control mode CANopen Name Setting value Message ID 1 Note address 601 2F 60 60 00 03 00 Speed RPM need change 60600008 Operation mode 0x3 581 60 60 60 00 03 00 To DEC 601 23 FF 60 02 00 80 25 00 DEC RPM 512 60000 60FF0020 Target speed 150RPM 581 60 FF 60 02 00 80 25 00 1875 84 Kinco Kinco FM Series Field bus Control Stepping Motor Drive 601 2B 40 60 00 OF 00 60400010 Control word OxF 581 60 40 60 00 OF 00 Profile 60830020 10rps s Default value Acceleration Profile 60840020 10rps s Default value Deceleration DEC RPS S 65536 60000 1000 4000 Note The transmission formatting of all data is following Hexadecimal in communication mode 85 Kincos Kinco FMSeries Field b
44. F00108 0x2910 1 10 initialize the parameters un involves motor 6 5 4 How to simulate velocity mode with dead zone voltage Requirement 0 5V 0 5V are dead zone voltage means the speed is O during the voltage from 0 5V 0 5V And 10V is at 1000rpm 10V is at 1000rpm 47 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver Use analog channel 1 as AINI to control speed AL internal U external Figure 6 5 Control speed diagram 1 In fact the speed of 10V is 950rpm 10V 0 5V 10V 1000rpm duo to the dead zone voltage Base on chapter 6 5 3 the index have to change as below Table 6 8 Parameter of Analog 1 CANopen Modbus Name Value Meaning address address Dead zone of analog input Dead zone voltage of external 25020210 0x1620 0 5V 410DEC 1 analog signal 1 6 5 5 How to simulate profile velocity mode with dead zone voltage and offset Requirement offset voltage is 1 V Dead zone is 0 5V 1 5V 10V X 1000rpm And choose analog channel 1 as AIN1 control speed a U internal 0 5V IV1 5V 10V gt l external Figure 6 6 Speed mode diagram 2 In fact the speed of 10V is 850rpm 10V 1V 0 5V 10V 1000rpm 10V is 1050rpm 48 Kincos Kinco FM Series Field bus Control Stepping Motor Drive LOV 1V 0 5V 10V 1000rpm duo to the dead zone and offset voltage Base on 6 5 3 the index have to change as below Table 6 9
45. Field bus Control Stepping Motor Driver homing signal 01 60 99 60 02 00 80 25 00 FF 60400010 Control word Ox1F 01 2B 40 60 00 1F 00 00 00 15 01 60 40 60 00 1F 00 00 00 EO 01 40 41 60 00 00 00 00 00 1E Read status word 9437 means found homing Position Control Mode control word of absolute positioning is written 2F then 3F relative positioning is written 4F then 5F 103F update immediately Canopen Setting Name Send and return message ID 1 Note addess value 01 2B 40 60 00 OF 00 00 00 25 60400010 Control word OxF 01 60 40 60 00 OF 00 00 00 FO Operation 01 2F 60 60 00 01 00 00 00 OF 60600008 Ox1 mode 01 60 60 60 00 01 00 00 00 DE 01 23 7A 60 00 50 C3 00 00 EF 607A0020 Target position 50000 DEC 01 60 7A 60 00 50 C3 00 00 B2 01 23 81 60 00 00 00 32 00 C9 60810020 Profile_Speed 200RPM DEC RPM 512 01 60 81 60 00 00 00 32 00 8C 60000 1875 60830020 Profile_Acce 10rps s Default value 60840020 Profile_Dece 10rps s Default value 01 2B 40 60 00 2F 00 00 00 05 Ox2F DEC RPS S 65536 01 60 40 60 00 2F 00 00 00 DO 60000 1000 4000 Ox3F absolute 01 2B 40 60 00 3F 00 00 00 F5 positioning 01 60 40 60 00 3F 00 00 00 CO 60400010 Control word 01 2B 40 60 00 4F 00 00 00 E5 Ox4F 01 60 40 60 00 4F 00 00 00 BO Ox5F relative 01 2B 40 60 00 5F 00 00 00 D5 positionning 01 60 40 60 00 5F 00 00 00 AO Table 9 8 Examples for sending mes
46. Motor Driver Figure 3 4 pins of RJ45 Table 3 6 Coummunication connector definition Item RJ45 Pin Signal Description Function 1 CAN_H Differential signal 2 CAN_L of CAN 3 GND Signal common XI 4 NC Empty CAN Bus connector CAN 3 NC Empty 6 NC Empty 7 NC Empty 8 GND Signal common 3 4 2 RS485 Table 3 7 RS485 Definition Item RJ45 Pin Signal Description Function 1 RX Received data 2 RX 3 GND Signal common XI 4 TX Transmitted data RS485B Bus connector RS485 5 TX 6 NC Empty 7 NC Empty 8 GND Signal common 3 4 5 RS232 Table 3 8 RS232 Definition Item RJ45 Pin Signal Description Function 1 NC Empty 2 NC Empty 3 TX Transmitted data X2 4 GND Signal common RS232 Communication connector RS232 5 NC Empty 6 RX Received data T NC NC 8 NC NC Notes 1 The Stepping Motor Drive of FM860 series do not support CAN and RS485 at the same time Defined that the model FM860 AA 000 support CAN and FM860 LA 000 build in RS485 only 2 As for X1 connector of FM860 involves X1A IN and X1B OUT The function of X1A is same to X1B and convenient the working of parallel connection by RJ45 3 RS485 connector has been defaulted as 4 wire Modbus which can use SW7 and SW8 to choose the mode It will be as 2 wire Modbus If the switch both SW7 an SWS are ON otherwise it is 4 wire modbus 4 Use SW9 and SW10 to choose
47. NMT sevice is consisted of 2 bytes as COB ID 0 the first byte represents the type of service requests as NMT comm And specifier the second byte is Node ID or 0 7 3 8 NMT Module Control 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 Table 7 29 NMT Master NMT Slave s COB ID Byte 0 Byte 1 0x000 CS Node ID When Node ID is 0 then all the NMT slave device are addressing CS is command its value is as follows Table 7 30 Command value of CS Command NMT service 0x01 Start Remote Node 70 Kincos Kinco FM Series Field bus Control Stepping Motor Drive 0x02 Stop Remote Node 0x80 Reset Node 0x81 Reset Node 0x82 Reset Communication 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 Table 7 31 Controller Message COB ID Byte 0 Byte 1 0x000 0x80 0x02 7 3 9 Protection mode Supervision Type Supervision type is that master selected what kind of check type during operation And there are two kind of type as Heartbeat message and Node guarding to check the fault of slave and handle it Heat beat message Heat
48. SDO Basic Structure as below Client Server Server Client ByteO Bytel 2 Byte3 Byte4 7 SDO Object Index Object sub index Data Command specifier SDO Command word contains the following information 1 Download upload 2 Request response 3 Segmented expedited transfer 4 CAN frame bytes 5 For subsequent each segment alternately reset and set the toggle bit SDO achieved five requests and response 1 Initiate Domain Download 2 Download Domain Segment 3 Initiate Domain Upload 4 Upload Domain Segment 5 Abort Domain Transfer Download is for the write operation of object dictionary Upload is for read operation The details of SDO command word is as below 64 Kinco EZ Kinco FM Series Field bus Control Stepping Motor Drive Table 7 16 Initiate Domain Download Initiate Domain Download ByteO Bytel 3 Byte4 7 Bit 7 5 4 3 2 1 0 Subject index Client ccs 1 n e S data and sub index Server scs 3 z Z 2 Explanation n is the bytes from 8 n to the seventh of meaningless data of message e As for e 0 the message is delivered normally and accelerating the delivery as e 1 s means whether specified data length As for the value of 0 means No and Yes for the value of 1 e 0 s 0 Keep by CiA e 0 s l The data byte is byte counter byte 4 is the low part LSB byte 7 is high part MSB e 1 The data byte is the data
49. Setting Profile_Dece Pos Target 607A0020 0x4000 User Setting target position Write 2F first Absolute position is running then Motor then 3F Begin run Control Word 60400010 0x3 100 Write 4F first Relative position is running then Motor begin run then 5F According to the change of target position begin 103F absolute position moving immediately Please refer Appendix VII for more information And read chapter 9 if want to know how to set up profile position mode by communication or I O to finish it 6 2 Profile velocity mode 3 As for the mode 3 can running for the speed control of Motor The running curve involves 3 phase as accelerating uniform speed and speed reduction The time of accelerating can figure out by initial velocity Uniform speed and accelerated speed as below 43 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver Vt Vo at Vt Uniform speed Vo Initial velocity a Accelerated speed or depend reduction t Acceleration time S Vot 1 2 at2 S Accelerated segment displacement y Cinc s Uniform spee Accelerated Uniform speed speed Speed reduction gt t0 ti t2 t3 t s Figure 6 2 The curve both for speed and time of Mode3 Table 6 2 Objects in Mode 3 CANopen Modbus Name Value Meaning address address Operation_Mode 60600008 0x3500 3 operation mode of drive User Speed_Demand 60FF0020 Ox6F00 target speed Settings User acceler
50. X x Add Type LW Address 22417 System Register Address 0 System Register Code Word 5 y Code om Word Type Length Type Length Format Range DDDDD 1 65535 Fommat Range DDDDD 0 10255 Figure 9 4 Address parameter settings 2 HMI control multiple FM drive a Wiring diagram HMI 24 1 5 RX RX RX GND ID 1 ER Figure 9 5 HMI communicate with several FM 1 87 1 5 8 RK RX GND ID n Kinco EZ Kinco FMSeries Field bus Control Stepping Motor Driver HMIO Figure 9 6 HMI communicate with several FM 2 b Parameters setting The parameters setting in HMI is same as such example The difference is different station number for different FM Drive In the attribute of components of HMI It needs to select the PLC No for different FM drive The PLC No is not the drive station No as shown in the figure above PLCO 2 means the PLC No as 0 and station No as 2 Number Input Component Attribute A 6 a alada Graphics Basic Attributes Priority Normal V Read Address Same As Write Address Read Address Write Address HMI HMIO HMI HMIO Port COMO Port COMO Change Change E Station Num 1 z Station Num Addr Type 4X Addr Type LW Address 28417 System Register Address 0 System Register Code Word gt Code y Word 5 Type BIN jes 2 Type BIN 2 Format Range DDDDD 1 65535 Format Range DDDDD 0 10255 Figure 9 7 HMI parameters 9 2 2
51. ation of trapezoidal curve acceleration of Profile_Acce 60830020 0x4B00 Settings trapezoidal curve User Profile_Dece 60840020 0x4C00 acceleration of trapezoidal curve Settings Lock the motor shaft write such parameters and write 6 first Control_Word 60400010 0x3100 run it as the parameter request And motor will then re run after you write new speed value Please refer Appendix VII for more information And read chapter 9 if want to know how to set up profile velocity mode by communication or I O port to finish it 6 3 Pulse Control Mode 4 The motor running is monitored by X3 port of Drive in the mode 4 And the index is as below Table 6 3 Objects in Mode 4 CANopen Modbus Name Value Meaning address address Set up operation mode to be pulse control Operation Mode 60600008 0x3500 4 mode microstep 64101810 0x7180 User Setting the number of pulses per motor revolution Control Word 60400010 0x3100 F Lock motor motor begin to move Note Please re define the IO port both for DINI and DIN2 as example of 5 3 And refer Appendix VII for more information about the index of objects 44 Kinco Kinco FM Series Field bus Control Stepping Motor Drive 6 4 Homing Control Mode 6 It must define the homing before you do the localization of absolute position As following picture shown that have to define the homing as 0 0 before locate X and Y 100mm 200mm Y 4 10
52. cable needn t power supply external Pecan Desub CAN RJ45 connect CAN L 2 CAN L 2 CAN H 7 CAN H 1 GND 3 GND 3 4 2 2 How to use Kinco Stepping PC software 1 Click the Kinco Stepping PC software folder and find the icon as Kincose Ref and double click it to open the software as following picture 18 Kinco EZ Kinco FM Series Field bus Control Stepping Motor Drive KincoStep V1 1 File Communication Driver Motor Operation Mode Extend Language View Help eue wee Toolbar Comm Status Closed A 2 Click File gt New KincoStep V1 1 File Communication Driver Motor Operation Mode Extend Language View Help Create a new document Comm Status Closed A 19 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver 3 It will popup a dialog as following picture Please click RS232 if the communication type is serial port then click the Next ti Commutation Way C RS485 C USB C CAN RS232 C Off Line Next Cancel Click CAN if you use PECAN and press Next key Commutation Way NE C RS485 C USB C RS232 C Off Line Next Cancel 4 Then it will show us a dialog as following to set up COM baud rate ID and click the Red communication xo MI Property almi x CON Baudrate Driver ID 2 0 ET tomm Status 20 5 Kincos Kin
53. carded by the receiver Frame 1 OK Frame 2 NOK to A Pan EEN i EED RAA De lt 1 5 char gt 1 5 char Figure 7 5 Frame formatting 2 7 2 4 Modbus Function code Function code 0x03 Read data registers Table 7 5 Request format Target station Start address Start address Read number Read number Function code No upper byte lower byte upper byte lower byte Table 7 6 Courrect answer format Station Function code Return data Register 1 Register number Number of upper byte lower bytes bytes me qs e pee ee 99 For Example Send massage01 03 32 00 00 01 8A B2 meaning 01 ID number 03 function code read data register 3200 Read Objects status word 60410010 ZZ modbus address 0001 Read word 8A B2 Check code Return message 01 03 02 00 31 79 90 meaning 59 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver 01 ID number 03 Function code Read data registers 02 Returns the number of byte data 0031 Returns the status word data of object 79 90 Check code Function code 0x06 Write a single data register Table 7 7 Request format Target Register address Register address Register value Register value Function code station No upper byte lower byte upper byte lower byte Return formatting The original will return if the setup is successful For example Send message 01 06 31 00 00 OF C7 32 meaning 01 ID number 06 Function code write word 31 00 Writ
54. co FM Series Field bus Control Stepping Motor Drive Set CAN parameters in following window if you use PECAN Follows are default parameters PE 1034 CAN Ver 2 8 Detail Baudrate 586 KBit s Driver ID 2 Comm Status 6 Check whether there is Comm Status Open COMI 38400 on the right bottom and the light of Comm Status has turned on in green If yes it is connecting successful Property Sil i xj CON Baudrate Driver ID Comm Status For CAN it will show us Comm Status Open 500K Bit S and the light is also in green if accessed successful lol x CAN Uer 2 8 Detail Baudrate 586 KBit s Driver rp Comm Status 21 Kinco EZ Kinco FMSeries Field bus Control Stepping Motor Driver 4 3 Operation Your Menu Click Kinco Stepping PC software and it will open a window as following KincoStep V1 1 File Communication Driver Motor Operation Mode Extend Language View Help dE LEO e d sg c T Ws e Comm Status Closed A As for such window you can set up your drive and motor via menu bar And the details of menu bar are as follows Table 4 1 Menu bar introducing Item Function description File New tasks Open old file Save Communication Setting up the communication way and parameter from drive to PC Drive Control the Drive refer to Item 4 4 for details Motor To set up the parameter Operation Mode Homing
55. cting 3 Preparing 4 Stopped 2 Operational 127 Pre operational Note The parts with the icon as will be provided to the node with extend boot up Please pay attention the status 0 is never shown for node protection A node can not support Node Guarding and Heartbeat protocol at the same time You can seclec one of them 7 3 10 CANopen Communication Address of Stepping Motor Drive Parameters Please refer Chapter 6 to know more about each operation mode Please access object list as Appendix VII in Chapter 9 for common object address Please refer all communication address as Appendix VII Please refer Chapter 9 as Appendix I of CANopen communication case 72 Kinco Kinco FM Series Field bus Control Stepping Motor Drive Chapter 8 Alarm and Troubleshooting 8 1 Alarm Messages LED of ERP light flashes red it indicates that the drive failure alarm As for details please refer the code list as below And the alarm information is hex Error Control S fe xl 88801 V 39 Internal Error 8882 v Over Current 8885 v Over Voltage I Low Uoltage 88018 I 8028 I 6646 6686 EEPROM Error I 8188 q q eee ss Hotor Error 8288 I 8488 Fieldbus Error I 6866 I Over Frequency Figure 8 1 Real time error Table 8 1 Error alarm and sulution Over Temperature Following Error Logic Voltage Error Output 5U Over Load
56. d SDO message Daten Identifier DLC 0 1 2 3 4 5 6 7 66 Kinco Kinco FM Series Field bus Control Stepping Motor Drive 0x600 Node_ID 8 2b 40 60 00 002f Table 7 24 Return SDO message Daten Identifier DLC 0 1 2 3 4 5 6 7 0x580 Node_ID 8 60 40 60 00 00 7 3 5 COB ID COB ID is the specific way of CANopen communication The full name is communication object identifier The COB ID defined the transport level If you have the transport level the controllers and drives can define the same transport level and contents Then the data transmission is transparent and Both sides know the contents of the data to be transmitted As for the default ID allocation table is base on CANopen 2 0A which defined 11bits CAN ID The COB ID of CAN open 2 0B is 27bits and involves the function code with 4 bits and the Note ID with 7bits Node ID Function Code Figure 7 7 Formatting of CAN ID distribution Node ID can define by defined by system integrators via the DIP switch of device The scope of Node id is from 1 to 127 0 is not allowed to be used Function Code is for data transmission define the transport level of each PDO SDO and message management and function code is smaller the priority is higher Table 7 25 allocation list for CAN identifiers in master slave connection set predefined by CANope
57. e abject control word 60400010 s modbus address Data length is a WORD 00 OF Write data in hexadecimal 000F C7 32 Check code Function 0x10 Write multiple registers Table 7 8 Request format Register Register Target Start Start Function value 1 valuel station address address code Upper lower no upper byte lower byte byte Table 7 9 Correct answer format Start Start address Target Function address Number of Number of upper byte S station no code lower byte bytes lower bytes TJ For example 60 Kincos Kinco FM Series Field bus Control Stepping Motor Drive Send message 01 10 6F 00 00 02 04 00 00 00 32 9B 88 meaning 01 ID number 10 Function node write word 6F 00 Write target speed 60FF0020 s modbus address Data length is a WORD 00 02 Wirte 2 WORD 04 Data length is 4 BYTE 2 WORD 00 00 00 32 Write data in hexadecimal as 00320000 Decimalism as 3276800 and converted to 200RPM 9B 88 Check code Return message 01 10 6F 00 00 02 5C DC meaning 01 ID number 10 Function code read register 6F 00 Object address 0002 Write WORD number 5C DC Check code It will response error if access the error number And return a no normal function code as 0x80 function code Table 7 10 Abnormal answer format Station number Abnormal function code CRC Table 7 11 Meaning of Error value Error code value Meaning 0x01 Function code do not support 0x02 Register address
58. e are engineering unit and internal unit for some internal object in FM drive When drive 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 relationship is IRPM 1638DEC suppose to set speed as 1OPRM Then you need to send data 163840dec The number of internal revolution as 60000 DEC to the drive when using communication control Table 9 9 List of common conversion unit Parameter Name Engineering Internal unit Conversion relationship unit Speed RPM DEC DEC RPM 512 60000 1875 Acceleration r s s DEC DEC RPS S 65536 60000 4000000 The number of step rev DEC lrev 60000DEC if 400tep equal to lrev so Istep pulses per equal to 60000 400 150DEC revolution Mcrostep 9 7 Appendix VII Common Object List Based on Chapter 7 Communication protocol described all parameter value are transferred in hexadecimal data In the later section of this document we adopt the hexadecimal system and use index 16 bi index and Sub index 8 bit sub index 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
59. e rr ee e rere abe EUR He epo Ko eee Ege redd 62 7 3 2 CANopen Communication parameters nennennvenvenvenvennvenvenvenvennvenvenvenvennvenvenvenveenvenvenvenn 63 1 3 3 ADE 64 7 3 4 Kj 64 7 3 5 COB ID EEOEREEEDEDEUEEREEEOUDEEMMDEUNTET 67 7 3 6 bor 68 Kincos Kinco FM Series Field bus Control Stepping Motor Drive 7 3 7 BOOt Up PLOCESS 69 7 3 8 NMT Mod le Conttol 4 5 2 toe rto tatit reto a SEO Po Pee ees Ea o Pes ratae 70 7 3 9 Protection mode Supervision Type menten IURI USER be nbs 71 7 3 10 CANopen Communication Address of Stepping Motor Drive Parameters sess 72 Chapter8 Alarm and Troubleshooting eas seanseonseonseonveonseonvennseonvennsennvennsennvennsennsennsennvennvennsenneennsenneens 73 8 1 Alarm Messages T lien 73 Chapter A PPO ix ieicicsccsasciecdeccincescsicscedsasivecsvencssesesssuocssencstessdeducessenssdesusndncosescseeedtdndacssuscsvegssdadesedueeseenseveaenrs 75 9 1 Appendix 1 CANopen Bus communication Case envenvennennvenvenvenseenvenvenvenneenvenvenvenneenvenvenven 75 9 1 1 CANopen communication between FM860 and Kinco F1 PLC eese 75 9 1 2 CANopen Communication between FM860 and Peak CAN sese 82 9 2 Appendix IT RS485 Communication
60. ed demand DINS Function Positive limit 05 NULL Negative limit Homing signal DIN6_Function Start homing 06 NULL Multi speed 0 Multi speed 1 Multi speed 2 Multi speed 3 Multi position 0 Multi position 1 Multi position 2 Multi position 3 Set point active Operation mode Table 5 2 Meaning of digital signal input Function Meaning Pulse input In the mode as pulse plus direction the pulse signal Note input Only DIN1 and DIN2 can Direction input In the mode as pulse plus direction the direction signal support these functions input Clockwise pluse input In double pulse mode the CW pulse input as clockwise Counterclockwise pulse input In double pulse mode the CW pulse input as counterclockwise Quadrature encoder phase A Incremental encoder mode A phase signal input input 34 Kincos Kinco FM Series Field bus Control Stepping Motor Drive Quadrature encode phase B Incremental encoder mode B phase signal input input Quadrature encoder index Incremental encoder mode Z phase signal input input Motor free Motor off and motor axis is loose in avail status Drive enable Drive enable control word in avail status can be configured via object 202033 to input control word Fault reset Clear error alarm the rising edge of the signal is detected Quick stop When the signal is valid the motor shaft releases Aft
61. ed in Flash ROM area and data don t be lost even power off 7 3 1 Hardware introducing CAN communication protocol describes a way of transmitting information between devices The definition of CAN layer is 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 define 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 GND CAN L CAN H Figure 7 6 Standard CAN interface as RJA5 Table 7 12 RJ45 pins definition Pin Symbol Description 1 CAN_H CAN_H bus 2 CAN_L CAN_L bus 3 CAN_GND CAN_GND 4 NC Empty 62 Kinco EZ Kinco FM Series Field bus Control Stepping
62. eed it please contact our customer service center 1 2 Product Overview FM860 is one of the new Stepping motor drive with field bus control It cans driving two phase or three phase hybrid stepping motor As for the heat sink used new design style The structure is small and exquisite and also can meet CE standard requirement 1 3 Product Features Power supply 24 70VDC Support drive two or three phase step motor output current as 0 1 6A peak 6 channels opto isolation digital signal input and 3 channels of them support wide voltage input as 5 24VDC 3 channels opto isolation digital signal output max current 100mA Single channel analog signal input 10V control the speed Support multiple pulse input mode PLS DIR CW CCW and QEI Support CANOpen and Modbus bus protocol control and optimize the customer s control circuitry Multi IO configuration to adapt to different control modes With motor parameter adaptive function driving motor in the best performance With the protection function of over voltage under voltage overheat and over current CAN and RS485 Option RS232 Kincos Kinco FM Series Field bus Control Stepping Motor Drive Micro step 0 128 CEand RoHS 1 4 Product Weight G W 0 51kg N W 0 36 kg 1 5 Product Model Description 1 5 1 FM860 Stepping Motor Drive O00 Firmware version RS232 CAN LA RS232 RS485 8 Working Voltage 80VDC nd Output Current 6A peak Figure
63. er the signal is removed the drive requires re enabling Reverse speed demand To reverse the target speed in the speed mode Positive limit Indicates the limit of forward running of motors normally closed by default the drive regards position positive limits as valid and polarity can be modified to adjust to normally open switches Negative limit Indicates the limit of inverted running of motors normally closed contact by default the drive regards position negative limits as valid and polarity can be modified to adjust to normally open switches Homing signal Homing switch signal Start homing Star the command of homing the rising edge of the signal is detected Multi speed 0 Multi speed 1 Multi speed 2 Multi speed 3 Using it to control the switch of multi position Input signal 3 0 to consist a number in hex Multi position 0 Multi position 1 Multi position 2 Multi position 3 Used to switch Multi position Input signal as 4bits from 3 0 to consist a number in hex Set point active Create target position or position segment the ring edge of the signal is avail Operation mode To switch 2 kind of mode The mode of valid signal and invalid can be defined as flexible Need to via object 202031 input operation mode and select 0 and the object 202032 to select 1 to configure Example 5 2 How to set up drive enable by PC sof
64. eries Field bus Control Stepping Motor Driver ld sort ame Find what fon 6418 1B 5U output switch 2561 8E A phase current Index 6x2F81 2501 64 A phase current ADC data Sub Index 6x66 2561 61 ADC Shift A Name CAN Baudrate 2501 62 ADC Shift B Data Type Unsigned8 2582 82 finalogi Dead Attribute writeable real update Operator Help 2582 81 fnalogi Filter A 2562 63 finalog1 Offset CAN baudrate setting 100 1M 2502 8F finalogi out 50 580k 2582 87 finalog Speed Con 25 250k 2582 8n finalog Speed Factor 42 125k 2088 88 Auto Switch On Motor 5 58k 2581 8F B phase current 2581 B5 B phase current ADC data 2FFF 88 Bootloader 2F81 66 CAN Baudrate 2616 1D CMD_Active_Filter 6871 80 CHD q 6873 88 CHD q Hax v 4 0s rf Example 4 4 How to add a index and setting it Let s learn how to add an index into Basic operation list and setting it Now we add CANopen Baud rate 1 Right click in the Basic operation list and choose Add then it will popup a window of Data Dictionary such as the picture 2 Input CAN and click Find next it will jump to 2F81 and to know more information on the right side zal 5U output switch fi phase current Index 8x2F81 A phase current ADC data Sub Index 8x88 ADC Shift A Name CAN Baudrate ADC Shift B Data Type Unsigned8 Attribute writeable real update 5 Operator Help analoe1 Offset CAN baudrate setting 188 1H finalogi out 58 500k finalogi Dead
65. es Field bus Control Stepping Motor Drive 9 3 Appendix III RS232 Communication Case 9 3 1 Communication between FM860 and KINCO HMI Kinco MT4000 and MT5000 series HMI can communicate with FM drive via RS232 User can set internal parameters of FM drive and running status of FM drive Kinco HMI can communicate with single FM drive And communicate with multiple FM drives via RS232 HMI control single FM drive Wiring diagram HMI Terminal 9pin D SUB female male Controller Terminal RJ45 Figure 9 13 RS232 Communication b Communication parameters setting The parameter setting is shown as following picture Pay attention to PLC station number is the Drive ID number The drive ID number is defaulted as 1 if you want to set up it as N PLC station number also is N Tas _ Security Levels Setting User Permissions Setting Historical Events Storage HMI TaskBa HMI Extended Attributes HMI System Information Tet Print Setting COMO Setting COM1 Setting COM2Seting Extended Memory Type RS232 PLC Communication Time Out Baud Rate ET Protocol Time Out 1 ms Data Bit 8 5 Protocol Time Out 2 ms Parity Check m Max interval of word block pack Max interval of bit block pack Max word block package size Max bit block package size Stop Bit M Broadcast Use Default Setting Figure 9 14 communication parameters settings 1 93 Kinco Kinco FMSeries Field bus Control Stepping Moto
66. gative following is the running line j i Homing switch signal L s Negative limit Figure 9 25 Homing from 27 to 30 Homing Mode 35 The current position of Motor is to be the homing 100 Kincos Kinco FM Series Field bus Control Stepping Motor Drive 9 5 Appendix V Use Stepping Motor Drive PC software to read and write drive 1 Please refer to Chapter 5 make your Drive to connect the software and click extend function then select r Read Drive configuration Read driver Config Ble x Open File no process Read no process Save no process Figure 9 26 Read drive 1 2 Click Open File button to find the cod file in the default address and open it 101 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver Read driver Config E pen File start export data Read Finish Total 8 Error 8 Sa IE neoaracc Choosing upload file 2 x BREED O user e e EE XS D rmeeo EPEN T Files k cdo x mi m Figure 9 27 Read drive 2 3 Click Read then column of value will be read and shown as bellows 102 Kincos Kinco FM Series Field bus Control Stepping Motor Drive Fromead driver conna E Open File export data finish 18858828 Sync ID 18868828 ECAN Sync Period 166B 6668 ID Com 166C 6616 Guard Time 188D8888 Life Time Factor 188E 6626 Node Guarding ID 16146626 Emergency Hess ID 18178818 Producer Heartbeat Time 14888128 R31 ID 146
67. ght usec o CAN Port 2 FIX Sync COB ID 128 activate IV Node ld E JV Automatic startup Digital I O FIX B CAN Port 1 FIX EFM driver EDS VAR Support DSP301 4 01 and DSP306 Heartbeat Master ms f Right click CANMaster and select Append FM Drive to add slaves Then set parameters such as Node ID Node guarding RX PDO and TX PDO EI F122 D1608T m Base parameters CAN parameters Receive PDO Mapping Send F4 gt B Digital I O FIX m General M IM driver EDS PEE VAR EE Node ID p J2 X0B1 Can Output Write DCF Optional device E XIB2 Can Input L CAN Port 2 FIX No initializatior m Node guard IV Nodeguarding Guard COB ID Guard time ms o Life time factor o Heartbeat settings Activate heartbeat generation Heartbeat producer time o ms Activate heartbeat Consumer Emergency telegram v Emergency COB D NODEID D 80 vl 78 Kinco Kinco FM Series Field bus Control Stepping Motor Drive g Configure the PDO objects of slave according to the requirement Base parameters CAN parameters Receive PDO Mapping Sena PDO Mapping Service Data Objects Module parameters Controlword Modes of operation Target torque Target position Profile velocity Homing method Target velocity Properties Insert PDO ur
68. hese safety precautions carefully before test running and use of the driver The following safety measures must be strictly followed After being powered on the voltage in side FM860 driver is about 70VDC max The voltage still exists 30 seconds after the power supply is cut off Before performing any wiring or check operation use a multimeter to verify that the voltage on the driver terminals is safe otherwise the electric shock may occur Never connect wires while the driver and the motor are working otherwise the electric shock may occur Do not remove the housing of the driver when the power is on or the driver is working otherwise the electric shock may occur To avoid personal injury and property loss only qualified and service trained personnel can operate the driver Follow related technical specifications and electric installation standards during installation The driver must be securely grounded with the cross section of the ground cable Do not insert any object into the driver which may cause damage to the equipment If any fault occurs to the driver please return the driver to the maintenance and repair center Opening the driver without authorization or improper operation may cause damage to the driver Removing the enclosure of the driver without authorization will void the warranty The waste driver shall be disposed of as industrial waste to avoid environmental pollution Owarn When this driver is applied i
69. ing Reference found Index signal frequency Absorb voltage Table 5 4 Meaning of Digital output signal function Function Meaning Ready Drive is on operation mode Error Alarm status Position reached In position mode target position data is no change from position to time window And while the position error in the position to the window Zero velocity Motor velocity is zero after motor enable Reserved Function is pending Velocity reached Motor speed reached the target in the control of speed mode Reserved Function is pending Reserved Function is pending PWM ON Drive enable motor Position limiting Motor is in limit Reference found Index signal frequency Absorb voltage End of homing Index signal seems to be homing and set output periodic pulse To absorb the main voltage used as 3 phase driver and connecting resistor between V and B Example 5 5 How to set Driver ready 38 Kincos Kinco FM Series Field bus Control Stepping Motor Drive 1 Connect Kincostep PC software to FM860 2 Open I O window And click the button as Lal in DINI and find ready and mark it in the list as following hise Function Simula i Item DINI pulse input d Bit81 ready O Bite error p1N2 direction input d O Bite3 position reached O Bites zero velocity DIN3 motor free d O Bites motor brake O Bit66 velocity reached Dru NULL EE O Bite index
70. ion esses ener 38 5 2 3 Digital output EP 39 5 3 Analog signal input tetti a aa a EE a Peg ERR RR a Pte RSS 41 5 3 1 AINI common mode voltage input rennen nennen trennen nne nnei 41 3 3 2 AINI Differential mode voltage input sees enne en eerte 42 Bird MEI coups 43 6 1 Profile position model EU RR tod He Ha S Ode tbe Er a cagsuon ste e ERI a X ER eR AE I 43 62 _ Profile velocity mode 3 seneheee teen PE p I Ree peres 43 6 3 Pulse Control Mode 4 nis ertet eret i a der rv e dde ite dovuta dev rei 44 64 Homing Control M de6 iore ete epe led o e abe ae REPE atest sentences 45 6 5 How to simulate velocity mode 3 tiic eene ep Rr e e PE PH eanes 45 6 5 1 Theundex or velocity mode 3 csi vvehsccesverscesscersdentochs cetscessteetestscetsvevstseiesks cotvsessteeteststetxeeustselectecetcetes 45 6 5 2 The Process diagram of analog signal ennenvennenneenvenvenvennvenvenvenvennvenvenvenveenvenvenvenn 46 6 5 3 How to simulate velocity mode 3 without dead zone voltage and offset eee eee eee eeeeeeees 47 6 5 4 How to simulate velocity mode with dead zone voltage see 47 6 5 5 How to simulate profile velocity mode with dead zone voltage and offset eee eee 48 6 6 X Multi target speed control mode 1 ener en eere nren en neret 49 6 6 1 Multi Target position Control i eiui eee teret rt peo an treo pho nione oh Pr hee denten ilena vendnd 49
71. isable 1 Enable Table 9 20 Parameters for saving Canopen address Bits Modbus address Command type Unit Description 2FF0 01 08 0x2910 RW DEC 1 Save all parameters updated 10 Initialize all parameters updated Note save for control loop parameters un involves motor s 2FF0403 08 0x2930 RW DEC Save motor parameters 114 Kinco Kinco FM Series Field bus Control Stepping Motor Drive 1 save all motor parameters updated Table 9 21 Error code Canopen Modbus Command A Bits ee pee Unit Description Real time alarm error lower to 16 bits Bit 0 internal bit 1 over current bit 2 over voltage bit 3 low voltage bit 4 Temperature bit 5 internal logic voltage 2601 00 10 Ox1F00 RO Bit bit 6 5V input current overload bit 7 internal EEPROM bit 8 Searching Motor error bit 9 Position error bit10 Bus error bit 11 Input pulse frequent bit 12 bit 15 Real time alarm error over to 16 bits 2602 00 10 0x2000 RO Without sign nies Self test error status lower to 16 bit with power on bit 0 A phase over current bit 1 B phase over current bit 2 high voltage bit3 lower voltage bit 4 lower voltage power supply bit5 temperature 2603 00 10 0x2100 RO Bit bit 6 A phase over current bit 7 B phase over current bit 8 Aphase over current bit 9 B phase over current bit 10 A phase power circu
72. it bit 11 B phase power circuit bit 12 Motor phase wrong wiring bit 13 Motor A phase wrong wiring bit 14 Motor A phase wrong wiring 115 Kinco Kinco FMSeries Field bus Control Stepping Motor Driver bit 15 Motor A phase without wiring 2604 00 10 0x2200 RO Bit Self test error status up to 16 bits bit 0 Motor B phase without wiring bit 1 Analog input circuit bit2 Logic 15V voltage bit3 Logic 5V voltage bit 4 Output 5V overload bit 5 Memory read failure bit 6 Memory write failure bit 7 Memory read and write failure bit 8 Memory read data checking error bit 9 Reserved bit 10 Reserved bit 11 bit 12 watch dog reset Reserved bit 13 PCB bit 14 Program does not match with the A crystal oscillator circuit fault bit 15 ADC Conversion circuit fault 2610 00 08 N A RO Bit Drive error group 0 2611 00 08 N A RO Bit Drive error group 1 2612 00 08 N A RO Bit Drive error group 2 2613 00 08 N A RO Bit Drive error group 3 2614400 08 N A RO Bit Drive error group 4 2615400 08 N A RO Bit Drive error group 5 2616 00 08 N A RO Bit Drive error group 6 2617 00 08 N A RO Bit Drive error group 7 Table 9 22 Bus specification parameters Canopen Bits Modbus address address Command type Unit Description 100B 00 08 0
73. ly into account heat dissipation when using any heating components such as braking resistors so that the driver is not affected 10 Kincos Kinco FM Series Field bus Control Stepping Motor Drive Figure 2 1 mounting direction 11 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver Chapter 3 Interfaces and Wirings 3 1 Appearance View SW7 55W10 Communication port Switch Heat sink X1A IN X1B OUT Communication port of Field Bus ian ID Dial switch Cover x2 RS232 port x3 1 0 X4 Power Supply Port Figure 3 1 FM860 overview 3 1 4 Interfaces of driver Table 3 1 Jacks introducing Interface Symbol Function SW7 SW10 Communication port Switch Field Bus X1A IN CAN Bus X1B OUT Or RS485 Bus interface ID Switch SWI SW6 ID Switch RS232 X2 RS232 interface DIN1 DINI DIN2 DIN2 IO DIN3 X3 Digital signal input DIN3 DIN4 DINS DIN6 12 Kincos Kinco FM Series Field bus Control Stepping Motor Drive GND Analog signal input and logic voltage interface Digital signal output 2 or 3 phase stepper motor cable interface Power supply and Motor wire KA connector B Power supply input DC24 70V 31 2 The X1 and X2 LED definition of FM 860 Table 3 2 The LED definition Name Color Definition X2 Green Power instructions Orange Receive RS232
74. mmand Bits Modbus address Unit Description address type Homing mode 6098 00 08 0x4D00 RW DEC refer to homing control mode 6099 01 20 0x5010 RW Speed of searching limit switch DEC RPM 512 Speed for searching homing 6099 02 20 0x5020 RW 60000 1875 signal DEC RPS S 65 536 Acceleration for searching 609A 00 20 0x5200 RW 60000 4000000 homing 607C 00 20 Ox4100 RW DEC Homing offset 1Ap 1 414 Arms 6099 04 10 0x5040 RW Homing current 1Arms 79dec Table 9 16 Input and output parameters Canopen Command NES Bits Modbus address oe Unit description 2010 03 20 0x0830 RW Bit Function definition of Digital input 1 2010 04 20 0x0840 RW Bit Function definition of Digital input 2 2010 05 20 0x0850 RW Bit Function definition of Digital input 3 2010 06 20 0x0860 RW Bit Function definition of Digital input 4 2010 07 20 0x0870 RW Bit Function definition of Digital input 5 2010 08 20 0x0880 RW Bit Function definition of Digital input 6 2010 10 20 0x0900 RW Bit Function definition of Digital output 1 2010 11 20 0x0910 RW Bit Function definition of Digital output 2 2010 12 20 0x0920 RW Bit Function definition of Digital output 3 Input status bit0 Dinl bitl Din2 2010 0B 10 0x08BO RO Bit bit2 Din3 bit3 Din4 bit4 Din5 bit5 Din6 Output staus 2010418 10 0x0980 RO Bit bit0 Doutl bitl Dout2 111 Kinco Kinc
75. mode Eind Support the language both for English and Chinese and the function as read write Please refer the detail as appendix 22 Kincos Kinco FM Series Field bus Control Stepping Motor Drive 4 4 Howto control your Drive 4 4 1 The Drive Settings LI ox User_Secret Auto Half Current Switch Auto Current Percent 56 666 Half_Current_Time 1 588 S Phase Current Limit 4 388 firms 5U Output Switch 8 DEC RS232 Bandrate 38406 600 Bandrate RS485 Bandrate 19260 600 Bandrate ID Com 1 DEC Node ID Offset 127 DEC MO 00 7 OM FON ek The dialog can be set for your Drive as for the User secret And you also can right click to get help KincoStep ixi 2 Index 0x2FFD00 J Name User_Secret Data Type Unsigned16 RWSLT Operator Help user secret 16 bit 1 65534 O no key 65535 wrong key input 4 4 2 Motor configuration If you prefer to select Software to create motor parameters please download KincoStep software from www kinco cn first and use console wire with the connector from RS232 to RJ45 to connect your software and run it 23 Kinco EZ Kinco FMSeries Field bus Control Stepping Motor Driver ME 1x Motor Using HC ASCII 2 Hotor Num HC ASCII 3 Motor Phase 2 phase 4 Motor Poles 58 2p r 5 Hotor Phase Current 1 697 Ap 6 R Hotor 3 208 Ohm 7 L Hotor 6 666 mH 8 Tq Hotor 8 328 Nm 9 Jr Hotor 6 686 kgcm 2 18 Motor Rotation Dir 8 DEC 11 Feedback Resolution 68888 DEC reu
76. n gt fp Library Manager Log Zum Browser PLC Configuration Settings Automatic calculation of addresses Check for overlapping addresses Save configuration files in project EB Task configuration 70 Watch and Recipe Manager L3 Workspace LE POUs 5 Data ONLNE 0V READ d Click Extras gt add configuration file then show us a dialog to add EDS file of FM860 Select configuration file 36988 Co russorest Eet Er XS D krmco rmaeo TRM T can keds def 7 mi UREESGTS G e There are 2 CAN ports in F1 PLC both of them can be used as master Set baud rate and Node ID for CAN port If you need synchronous message please click activate then set transmission cycle synchronization message and COB ID in Com Cycle period TI Kincos Kinco FMSeries Field bus Control Stepping Motor Driver Base parameters caw parameters Module paraneters Mndiie id R d Subelement Kinco RP2D 1608C1 RP2D 1608C1 eds Replace element KincoED KincoED ED5 Calculate addresses MT5020 CAN MTS5020 EDS FM driver KINCO FM860 ED5 Cut Crits i n Copy Ctrl C utput address qud Shel Diagnostic address MB16 Delete Del c DE A E Base parameters CAN parameters Module parameters baud rate 500000 Com Cycle Period psec o BE 0B1 Can Output Bi XIB3 Can Input Sync Window Len
77. n Broadcast objects Function code Object COB ID The index of communication parameters in OD CID bits 10 7 NMT Module Control 0000 000H SYNC 0001 080H 1005H 1006H 1007H TIME SSTAMP 0010 100H 1012H 1013H CANopen master slave Reciprocity objects Function code Object COB ID The index of communication parameter in OD ID bits 10 7 EMCY 0001 081H OFFH 1024H 1015H TPDO 1 send 0011 181H 1FFH 1800H RPDO receive 0100 201H 27FH 1400H TPDO2 send 0101 28 1H 2FFH 1801H RPDO2 receive 0110 301H 37FH 1401H TPDO3 send 0111 381H 3FFH 1802H 67 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver RPDO3 receive 1000 401H 47FH 1402H TPDO4 send 1001 481H 4FFH 1803H RPDO4 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 COB ID is smaller the priority is higher 2 The function code of COB ID is fixed formatting 3 COB ID 7j 00H 80H 100H 701H 77FH 081H OFFH are systems management formatting 7 3 6 PDO Process data object can send 8 bytes data one time No other pre set protocols use for the high frequency switching data PDO transmission mode used a new data exchange the devices have to define the area both for data sending and receiving And send related data to each other directly during the data exchange which reduced more time to improve the efficie
78. n some mechanical instruments where personal safety is directly involved e g nuclear power control medical device truck train airplane amusement and safety devices be sure to install proper fault proof devices to avoid the possibility of personal injury Electronic devices have the appropriate lifecycle Adequate safety measures must be taken to ensure personal and equipment safety in case of a failure The users must be liable for any loss resulting from equipment fault or misoperation of the driver Chapter 1 Product Overview 1 1 Product Acceptance Upon receiving the product please check the following items Make sure the driver model is consistent with that ordered Unpack the product and make sure it is free from damage and no part is missing Make sure all set screws in the driver are securely tightened Check the received product against the packing list and contact our customer service center in time if any part is missing Tablel 1 Packing list Packing List article Qty FM860 Stepping Motor Drive lpes Services Directory lpes FM860 Fieldbus Control Stepping Motor Driver Operating Ipcs guide Certificate of Conformity Ipcs SCSI 20P connector lpcs 6P 5mm pitch size terminal block Ipcs length 10mm diameter p10 Insulated terminals 6pcs length 15mm diameter 12 Insulated terminals 6pcs Console wiring RS232 to RJ45 pcs Note The console wiring is optional product If n
79. nable DIN2 as fault reset DIN3 as operation mode DIN4 as positive limit DIN5 as negative limit DING as star homing 1 As following picture click button em to show us a list and select the item we want and click OK to finish it motor free drive enable DIN1 driue enable ping Fault reset DEREN prnufpositive limit pins negetive limit Ho U REE quick stop reverse speed demand positive limit negetive limit homing signal start homing multi speed 6 multi speed 1 multi speed 2 multi speed 3 multi position 6 multi position 1 multi position 2 multi position 3 set point active operation mode DIN6 homing signal Function pouT1 ready pouT2 error DOUTS3 NULL OQOOOOOOOO0O00000000 2 Follow step1 to operate the I O port and finish as below oort EE Function Simulate Polarity Real Virtual pini drive enable IE e prwafFaurt reset E e e pina operation mode E e eo pinu positive limit El e pins neqetive dimit E e e pin6 homing signal E e e Function Simulate Polarity Real DOUT1 ready pouT2 error TE EXE LC Eee eco pouT3 NULL 4 4 7 Data dictionary You can get the index and detail information of all FM Series in the data dictionary As shown in following picture left side includes information of index sub index and naming of CANopen Right side is the details of the parameters 27 Kincos Kinco FMS
80. ncy of bus communication So resulting in a high bus utilization 1 Send PDO TPDO Send PDO for Stepping motor drive is send out data and receive by PLC The function code as COB ID of PDO is 1 0x180 Station No of Stepping motor drive 2 0x280 Station No of Stepping motor drive 3 0x380 Station No of Stepping motor drive 4 0x480 Station No of Stepping motor drive 2 Receive PDO RPDO Receive PDO as for Stepping motor drive is receive data and which sent by PLC The function code as COB ID of sending PDO is 1 0x200 Station No of Stepping motor drive 2 0x300 Station No of Stepping motor drive 3 0x400 Station No of Stepping motor drive 4 0x500 Station No of Stepping motor drive The design of FM series Stepping motor drive is follow up CANopen 2 0A It support CANopen 2 0B also And meanwhile if the 8 PDO are un enough user can define a new PDO as 0x43FH for station 1 controller and drive are also follow it 3 PDO Transport Type PDO have 2 type transport 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 68 Kinco EZ Kinco FM Series Field bus Control Stepping Motor Drive message Acyclic Pre triggered by remote frame or by specific event of objects s
81. o FMSeries Field bus Control Stepping Motor Driver bit2 Dout3 2010 01 10 0x0810 RW Bit Polarity of Input signal 0 closed 1 open bit0 Dinl bitl Din2 bit2 Din3 bit3 Din4 bit4 Din5 bit5 Din6 Default FF 20104 0E 10 0x08E0 RW Bit Polarity of Output signal 0 close 1 open bit0 Doutl bit Dout2 bit2 Dout3 Default value FF 2010402 10 0x0820 RW Bit Signal Simulation of input bit0 Dinl bitl Din2 bit2 Din3 bit3 Din4 bit4 Din5 bit5 Din6 2010 0F 10 Ox08FO RW Bit Signal Simulation of output bit0 Doutl bitl Dout2 bit2 Dout3 2020431 08 OxOF10 RW DEC Input operation mode control 0 Without input mode 2020 32 08 OxOF20 RW DEC Input operation mode control 1 With input mode 2020 33 10 OxOF30 RW DEC Input control word Table 9 17 Pulse input parameters Canopen Modbus Bits address address Command type Unit Description 6410418 10 0x7180 RW DEC Numerator of pulses per revolution 2508 03 08 0x1930 RO DEC Pulse mode control 0 Double pulse mode 112 Kinco Kinco FM Series Field bus Control Stepping Motor Drive 1 Pulse direction mode 2 Incremental encoder mode Note select pulse mode via IO 2508404 20 0x1940 RW DEC In
82. on 1 DINI DIN1 input High speed digital signal input X3 I O iis E T 2 DINI DINI input interface 14 Kinco Kinco FM Series Field bus Control Stepping Motor Drive 3 DIN2 DIN2 input Scope of input voltage 5 24VDC 4 DIN2 DIN2 input Effective input signal 5 DIN3 DIN3 input gt 3VDC and gt 5mA Invalid input signal lt 1 5VDC 6 DIN3 DIN3 input Maximum input frequency of optocoupler IMHz 11 DIN4 DIN4 input Low speed digital signal input 12 DINS DINS input interface 13 DIN6 DING input Scope of input voltage 12 24VDC Effective input signal gt 8VDC 14 COMI The COM input of DIN4 DINS DIN6 i il Invalid input signal lt 5VDC Max input frequency of optocoupler 1OkHz 7 AIN1 AIN1 Differential input The analog signal input interface 8 AINI AINI Differential input The input impedance 180K Common port both for AINland Logic Max input frequency 4kHz n d power Max withstand voltage 24VDC 9 5VDC 5VDC Logic power output nd 200mA 20 24VDC 24VDC Logic power input nne ken Power supply is without input 15 OUTI OUT Output 17 OUT2 OUT2 Output ie COMO Common output both for OUTI and Max output current 100mA OUT2 Max withstand voltage 24VDC 19 OUT3 Output3 18 OUT3 Output 3 3 4 Communication Connector 341 CAN lt r Pin Position 15 TLLLLLLL Kincos Kinco FMSeries Field bus Control Stepping
83. or need to move 7 points position and request that the speed in O point position is 100prm to arrive the pulse of 5000 49 Kinco Kinco FMSeries Field bus Control Stepping Motor Driver For the speed in 1 to 7 point position is 150rpm 175prm 200rpm 300rpm 325rpm 275rpm and 460rpm speed to the pulse as15000 28500 10500 20680 30550 850 15000 respectively Table 6 11 I O Settings Item Value DINI Drive enable DIN2 Operation mode DIN3 Set point active DIN4 Multi position 0 DINS Multi position 1 DING Multi position 2 Table 6 12 Position and speed settings CANopen Modbus Name Value Meaning address address Din Pos 0 20200120 Ox0C10 5000 Multi position 0 Input multi speed 0 20201120 0x0D10 100 Multi speed 0 Din_Pos 1 20200220 0x0C20 15000 Multi position 1 Din Speed 1 20201220 0x0D20 150 Multi speed 1 Din_Pos 2 20200320 0x0C30 28500 Multi position 2 Din Speed 2 20201320 0x0D30 175 Multi speed 2 Din_Pos 3 20200420 0x0C40 10500 Multi position 3 Din_Speed 3 20201420 0x0D40 200 Multi speed 3 Din_Pos 4 20200520 0x0C50 20680 Multi position 4 Din Speed 4 20201520 Ox0D50 300 Multi speed 4 Din Pos 5 20200620 0x0C60 30550 Multi position 5 Din Speed 5 20201620 0x0D60 325 Multi speed 5 Din_Pos 6 20200720 0x0C70 850 Multi position 6 Din_Speed 6 20201720 0x0D70 275 Multi speed 6 Din_Pos 7 20200820 0x0C80 15000 Multi posi
84. oups of historical error information In following picture Error point is the number of the pointer for current error Error history N means the current error at the N As for last error record is N 1 for example N is 4 the last error record is 4 123 the value is 3 the next error record is N 1 There are 8 error history ME A Error_Count Error_Point Error History 8 error state Error History 8 error bits Error History 8 DCBUS Error History 8 Speed Error History 8 Current Error History 8 Hode Error History 8 time month Error History 8 time min Error History 8 Temperature Error History 1 error state Error History 1 error bits Error History 1 DCBUS Error History 1 Speed 31 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver 4 4 12 Initialize Save The menu provides save parameters initialize control parameters and reboot drive Pay attention to that motor parameters is saved separately Initialize Save Save control parameters Save motor parameters Initialize control paraneters Reboot driver 32 Kincos Kinco FM Series Field bus Control Stepping Motor Drive Chapter 5 Operating the I O Port As for FM860 there are 6 channels digital input 3 channels digital output Both for digital input and output setting is flexible You can set up the function of I O as the real requirement 5 1 Digital signal input 5 1 1 The Polarity control of digital in
85. peicficed by the equipment sub protocol In this mode Stepping Motor Drive will send out data in PDO after receiving SYNC message Cyclic Triggered after sending 1 to 240 SYNC message In this mode Stepping Motor drive will send out data in PDO after receiving N pcs 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 void the one in high priority always sending message smaller the priority is higher the smaller number of PDO the higher its priority As for FM series just support ASYNC transmission mode right now It will be added different transmission later 4 PDO Inhibit time Each PDO can define a inhibit time That is the minimum interval time between two continue PDO transmission It is used to avoid the PDO in higher priority always occupying the communication The inhibit time is 16bits un signged integer Its unit is 100us 5 For example Use TPDO to update Target speed by the object as Ox1 A00 And seclected 0x1800 to configure the property of mapping object as Ox1A00 Table 7 26 Property of object 0x1800 Property of object 0x1800 Sub index Value Meaning 0 3 The object has 3 sub index 1 0x250 Node_ID Node ID 2 254 Asynchronous transmission 3 50 Disable transmission time interval Table 7 27 Mapping of 0x1A00 TPDO
86. ping Motor Driver Need store and reboot Store the parameter 1 Store the parameters which changed Ox2FF00108 0x2910 1 of control loop 10 Initialize the parameters which updated 7 3 3 EDS EDS Electronic Data Sheet file is one kind of code to connect from PLC to slave and identify the slave type as 401 402 or 403 This file involves all information of slave as manufacturer series number software version baud rate and so on and same to the GSD file of Profibus So you have to import EDS file to PC software first before configure the hardware 7 3 4 SDO SDO is used in the priority transmission of object between the devices general use for the configuration management of device as modify the parameter both for PID and PDO and etc As for the data transmission is same to MODBUS master send message and returned a response from slave And the communication is good at parameter setting not suitable for demanding real time data transmission SDO is used to access the object dictionary of device in CANopen protocol Visitor is called client and abject dictionary is accessed and provided CANopen device as server The CAN message of client and the response of server always involves 8 bytes And one request of client must have a response from the server SDO has 2 kinds of transmission process 1 Expedited transfer Up to 4 bytes of data transmission 2 Segmented transfer Data length larger than 4 bytes Table 7 15
87. put Now make S1 as open or close to change the polarity of IO via Kincostep PC software It means the polarity is open if the light is in green the DINI is un working Example 5 1 How to set up the digital signal input as DIN1 Figure 5 1 Polarity settings of digital signal input as DINI 1 Kincostep PC software has running in FM860 successful 2 Open I O window And click DIN4 and DINS polarity light which will become in red now DIN4 and DINS is close then DINI is effective lol x Function Simulate Polarity Real Virtual DIN1 arive enable DIN2 fault reset piNs operation mode piNu positive limit pins negetive limit DIN6 start homing Function Simulate Polarity Real pourafready ea pourzjerror poura NULL Fal HE Py Fees eeeeee eooees em Figure 5 2 Digital I O View of PC Software Kincos Kinco FMSeries Field bus Control Stepping Motor Driver 5 1 2 Digital signal input address and function Table 5 1 Digital signal input function and default value NAME FUNTION Value DINI Function Pulse input 01 Pulse Direction input Clockwise pulse input DIN2 Function Counterclockwise pulse input 02 Direction input Quadrature encoder phase A input Quadrature encode phase B input DIN3 Function Quadrature encoder index input 03 motor free Motor free Drive enable DIN4 Function Fault reset 04 NULL Quick stop Reverse spe
88. put pluses before electronic gear 2508 05 20 0x1950 RW DEC Input pluses after electronic gear Filter frequency of Pulse smoothing 2508 06 10 0x1960 RW DEC coefficient f 1000 2z Pulse Filter Time constant t Pulse Filter 1000 S 2508 0C 10 0x19CO RW kHz Pulse frequency before electronic gear 2508 0D 10 0x19DO RW kHz Pulse frequency after electronic gear 6410 18 10 0x7180 RW Step rev The pulse number of motor per revolution Table 9 18 Analog input parameters Canopen Modbus Command Bits Unit Description address address type 2502 0F 10 Ox16F0 RW DEC Output data of analog 1 Filter parameter and frequency of analog 1 2502 01 10 0x1610 RW DEC f 4000 27 Analogl Filter Time constant t Analog1 Filter 4000 S Analog 1 Dead 2502 02 10 0x1620 RW DEC DEC Dead_Voltage 10V 8192 Analog 1 offset 2502 03 10 0x1630 RW DEC DEC Offset Voltage 10V 8192 2502 14 08 0x1740 RW DEC Output polarity of analog 1 2502 13 10 0x1730 RW RPM 10V Speed of analog Simulate speed control 0 Invalid analog channel 1 Valid analog channel 1 AIN12 2502 07 08 0x1670 RW HEX 0x10 Oxlf AINI Control inside speed control section x 10 Table 9 19 Motor parameters Canopen Bits Modbus Command Unit Description address address type 6410 01 10 0x7010 RW HEX Select Motor type formatting of the value is ASCII motor type select ASCI HEX TYPE 00 3030 no motor select MC 434d self detect motor parameter XX 5
89. r Driver Station No Figure 9 15 communication parameters settings 2 c Address Setting At the first we have to set up the data length of object as below picture to write HMI program The address types are O8 8bits 10 16bits and 20 32 bits The formatting of address is Index Sub index following figure is an example for using object 6 0FF0020 target speed Number Input Component Attribute Graphics Basic Attributes Numeric Data Priori v Read Address Same As Write Address Normal Read Address HMI HMIO No 0 Port COMO Change a Station Num 1 Addr Type 20 Address System Register Code Word Type BIN pe 2 Format Range HHHH HH 0 00 fff ff Figure 9 16 Address settings f Write Address HMI HM RC No Port COMO Change Station Num 1 Addr Type LW Address 0 System Register Code Word Type BIN 1 Format Range DDDDD 010255 9 3 2 The Free Protocol Communication between FM860 and Adjustment tool of Serial port RS232 communication protocol of FM drive is customized User can control the drive by VB and VC Following is the case for your reference 1 Wiring diagram PC RS232 terminal RXD 2 FM Drive RS232 RJ45 TXD 3 94 Kincos Kinco FM Series Field bus Control Stepping Motor Drive TXD 3 RXD 6 GND6 GND 4 2 Please refer series communication
90. rameters Table 7 1 Communication parameters CANopen Modbus Name Value Meaning address address drive ID set by DIP switch or PC software ID_Com 0x 100B0008 0x0600 1 E Yt 1 ID switch SW6 SWI select 1 63 or Ox2FEA00 select 1 127 2 Store and reboot the parameters if updated ID node is from 1 to127 Note the setting is valid when SW6 SWI is on node id offset Ox2FE40008 0x2800 127 OFF And Store and reboot the parameters if updated 53 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver For RS232 Baud rate setting Value Baud rate 2082 4800 1041 9600 520 19200 259 38400 86 115200 Need to reboot RS232_Baud rate Ox2FE00010 0x2400 520 Store the parameter 1 Store the parameter which changed Ox2FF00108 0x2910 1 of control loop 10 Initialize the parameters which updated 7 1 3 Free transfer protocol RS232 follow up the protocol both for master and slave PC can send any message to Stepping Motor drive and the drive which set address will return a message after calculated these data The formatting of RS232 transfer protocol is 10bytes byte 0 byte 9 ES 8 byte data CHKS ID Com Slave address CHKS SUM byte0 byte8 CHK The last 2bit PC sending byte 0 byte 9 EF 8 byte host data CHKS PC receive returned from FM860 byte 0 byte 9 EH 8 byte slave data CHKS Note Each 10bytes has a CHKS There isn t any return from
91. s bytes 4 5 involves 16bits 0x43 is the data to upload 4 bytes bytes 4 5 6 7 includes 32bits Ox4lis the start frame to upload over 4bytes and segmented uploading data Table 7 19 Upload Domain Segment Upload Domain Segment ByteO Bytel 7 Bit 7 5 4 3 2 1 0 Client ccs 3 t Server scs 0 t n c data Explanation n c t Same to download domain segment 0x60 0x70 is ask to upload segmented data 0x00 0x10 is the data to upload segmented data includes 8bytes data bytes 1 7 0x19 is the last piece of data involves 3 bytes data bytes 1 2 3 Table 7 20 Abort Domain Transfer Abort Domain Transfer ByteO Bytel 3 Byte4 7 Bit 7 5 4 3 2 10 Subject index Error code Client lt Server cs 1 and sub index Example 1 Read control word parameters table 7 21 Send SDO message Daten Identifier DLC 0 1 2 3 4 5 6 7 0x600 Node_ID 8 40 40 60 00 00 Table 22 Return SDO message Daten Identifier DLC 0 1 2 3 4 5 6 7 0x580 Node_ID 8 4b 40 60 00 0006 Notes The command word is 0x40 when SDO send message If the data is 1 byte will return Ox4F If the data is 2 bytes will return Ox4B If the data is 4 bytes will return 0x43 If there is any wrong will return a wrong code ad 0x80 Example 2 Modify control word parameters Table 7 23 Sen
92. s stop bit 1 value No parity 7 2 3 MODBUS RTU Communication Protocol The RS485 of Stepping Motor Drive FM860 support MODBUS RTU communication protocol Each 8 bit data consists of two 4 bit hexadecimal data The data structure of the number which consist of hex is 11 bit character format as for 8bit the verification mode is CRC the internal object is not continuous data register mapped as 4X when read by PC Modbus Message RTU framing A MODBUS message is placed by the transmitting device into a frame that has a known beginning and ending point This allows devices that receive a new frame to begin at the start of the message and to know when the message is completed Partial messages must be detected and errors must be set as a result In RTU mode message frames are separated by a silent interval of at least 3 5 character times In the following sections this time interval is required 3 5 58 Kincos Kinco FM Series Field bus Control Stepping Motor Drive Frame 1 Frame 2 Frame 3 to gm mmm a ny I L laa gt de de 35char at least 3 5 char at least 3 5 char F i 4 5 char Figure 7 3 Frame formatting 1 MODBUS message Figure 7 4 MODBUS communication formatting The entire message frame must be transmitted as a continuous stream of characters If a silent interval of more than 1 5 character times occurs between two characters the message frame is declared incomplete and should be dis
93. sage of Speed control mode with station number 1 Speed Control Mode Canopen Name Setting value Message ID 1 Note address PUER Operation m 01 2F 60 60 00 03 00 00 00 0D X mode 01 60 60 60 00 03 00 00 00 DC DEERD 0123 FF 60 00 00 80 25 00 D8 60909 1873 60FF0020 Target speed 150RPM 01 60 FF 60 00 00 80 25 00 9B 60830020 Profile_Acce 10rps s Default value BEC HIRES 02770 60000 1000 4000 60840020 Profile Dece 10rps s Default value 96 Kincos Kinco FM Series Field bus Control Stepping Motor Drive 01 2B 40 60 00 OF 00 00 00 25 01 60 40 60 00 OF 00 00 00 FO 60400010 Conrtrol word OxF Note All the data are hexadecimal formatting when using communication mode 9 3 3 Console wire Console wire is the patch cord from Drive to PC the end terminal is RS232 as DB9 port others end is RJ45 port The picture is as below Figure 9 18 RS232 Patch cord 1 Figure 9 19 RS232 Patch code 2 The connecting of the pins of wire is as bellows DB9 port female RJ45 port RXD 2 TXD 3 TXD 3 tent RXD 6 DTR 4 DSR 7 GND 5 GND 4 amp 5 DSR 6 DTR 2 RTS 7 CTS 8 CTS 8 RTS 1 97 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver
94. selected controller as KINCOstep PC software to communicate to control drive in the field as uniaxial and multiaxial system replaced the old operation as pulse direction mode And good at the points as reduce noise cost down and so on Please pay attention as below if you selected FM860 1 The I O port DINI is defaulted as pulse input DIN2 as direction input DIN3 is motor free Cancel the I O settings by software if use communication control 2 The index involves 2 types unit both for National standards and customized which can define by user s habit Do not forget convert the unit to DEC when you write and read And refer appendix VII to know more 3 Take care command interval when use CANopen SDO to read write and RS232 and RS485 to control Make sure that only 1pcs drive send message at the same time and do the best for communication error avoid the endless loop 4 Some of index bit are out of size In fact you can do not use it in real running The index has the defaulted value for out of size part For example the motor don t accept the high speed duo to the target speed is 32bit So the drive is limited the max value as 24576000 1500rpm be the default value 7 1 RS232 7 1 1 RS232 Hardware How to connect from FM860 to PC HMI PC Desub FM860 X2 RJ45 connector RxD 2 TXD 3 TXD 3 RXD 6 GND 5 GND 4 7 1 2 RS232 Pa
95. t voltage wiring diagram 42 Kinco Kinco FM Series Field bus Control Stepping Motor Drive Chapter 6 Operating Mode 6 1 Profile position mode 1 Now make an example to explain this mode Coordinate system as shown below the red arrow is defined as the current position 450 if we make the absolute position movement when the target position is set to 700 the motor will run to coordinate position of 700 if we make a relative position movement when the target position is set to 700 the motor will run to the coordinate position of 1150 Now make a example to explain this mode The Coordinate system as to the red arrow is defined as the current position is 450 if we make the absolute position movement when the target position is set to 700 the motor will run to Coordinate the position of 700 If we make a relative position movement when the target position is set to 700 the motor will run to the coordinate position of 1150 Current Position Negative Homing Positive 100 0 100 200 300 400 500 600 TOO 800 9300 1000 1100 Figure 6 1 Absolute Relative position Table 6 1 Objects in Mode 1 Name nn d Value Meaning address address To set up operation mode as absolute position mode Operation Mode 60600008 0x3500 1 and relative position Profile_Speed 60810020 Ox4A00 User Setting speed of trapezoidal curve Profile Acce 60830020 Ox4B00 User Setting Profile Acce Profile Dece 60840020 0x4C00 User
96. te2 Byte3 Byte4 Byte5 Byte6 Byte7 RES INDEX SUB INDEX RESERVED RES Show the return of slave 0x60 Message send out successful 0x80 Error figure out from the byte as 4 7 INDEX 16bytes address same to master SUBINDEX 8bytes address same to master RESERVED Backup For example Master send download order to slave 0123 7A 6000 E2 1D 00 0003 The order written to the target position of slave as 607A0020 Slave return 01 60 7A 60 00 E2 1D 00 00 C6 Meaning 01 Slave address 60 the data bytes of transfer is 2bytes saved by save byte4 byte5 byte4 E2 byte5 1D byte6 00 byte7 00 So DATA byte7 byte6 byte5 byte4 IDE2 hex 7650 DEC B Upload means master read the object address of slave and will be error if upload on the target position which do not in the list 55 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver Master send message ByteO Bytel Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 CMD INDEX SUB INDEX RESERVED CMD Specified the data transfer direction 0x40 INDEX 16bytes address SUBINDEX 8bytes address RESERVED 4 7 bytes is useless Slave received ByteO Bytel Byte2 Byte3 Byte4 Byte5 Byte6 Byte7 RES INDEX SUB INDEX DATA RES Show the return of slave 0x43 Bytes as 4 7 involves 32bytes data Ox4B Bytes 4 5 involves 16bytes Ox4F Bytes 4 includes 8 bytes data 0
97. tep step reu Gear Haster Speed kHz Gear Slave Speed kHz Gear Haster Num DEC Pulse Slaue Num DEC Pulse Filter DEC Frequency Limit kHz The setting of microstep in pulse mode 4 mode The microstep settings Microstep equal to the number of pulses per revolution 360 Step angle Note The number of pulses per revolution must lager than or equal to 200 for 2 phase motor setting As for 3phase motor the number of pulses per revolution must larger than or equal to 300 Example 4 1 How to create your password via Kincostep PC software 1 In the window of Drive Configuration write the password as 1234 the password range is from 1 to 65535 2 Click Save control parameters in the Initialize save of Drive on the toolbar And need to click save motor parameters if the motor has changed also then click Reboot drive to save your change 3 The password is effective after Reboot drive So you can t do anything for the drive have to return to Drive Configuration dialog and write the password first 4 If you want to cancel the password need to write the old first then change it to 0 and click Reboot drive Note Please set up the motor parameters at the first time otherwise it can t be running normally due to the default value with motors 4 4 5 Basic Setting It can know the basic information as following window So we can do some basic setting for drive As for related mode operation please refer to chapter 6 By the way
98. the window also can monitor the running status of the drive 25 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver Li ox Operation Mode Display Status Word Position Actual internal Real Speed RPM Current Actual Real DCBUS Uoltage Operation Hode Target Position Target Uelocity Control Word Target Current Profile Speed Profile ficceleration Profile Deceleration Example 4 2 How to operate the Speed Demand via Kincostep PC software 1 Follow example 4 3 and open I O port Set DIN1 as Drive enable DIN2 as Fault reset DIN3 as Operation mode 2 Refer to chapter 6 2 profile velocity mode to set up the parameters as the window shown us the speed is 100RPM And change the value of speed as negative if you want to run it reverse 4 4 6 I O Port Settings As following window defaulted by system it allow to change the I O function polarity More details please refer to example 4 3 ovorort M nisl Function SimulatePolarity Real Uirtual pini drive enable E e e pIN2 fault reset IE e 9 pIN3 operation mode IE e pinufpositive limit El e e pins negetive limit El e e DIN6 homing signal E e e Function Simulate Polarity Real DOUTA ready pouT2 error poura NULL sc E IRI Bee e 9 Example 4 3 How to configure I O via Kincostep PC software 26 Kincos Kinco FM Series Field bus Control Stepping Motor Drive Set DINI as Drive e
99. tion 7 Din_Speed7 20201820 0x0D80 460 Multi speed 7 Multi speed Position switching Multi speed Effective input 20203810 0x0F80 10 delay delay after changed position Input control Mode low level Din_Mode0 20203108 OxOF10 1 mode Input control Mode low level Din Mode 1 20203208 OxOF20 1 mode Input enable signal as Din_Control_Word 20203310 0x0F30 2F control_Word Profile Acce 60830020 Ox4B00 50 set the acceleration rps s Profile Dece 60840020 0x4CO00 50 set the deceleration rps s 50 Kinco Kinco FM Series Field bus Control Stepping Motor Drive l save the parameterss without Motor Store_Data 2FF00108 0x2910 1 10 initialize the parameterss without motor Note the unit of multi position is step and for multi speed and acceleration is rpm and rps s all of them changed to the unit of DEC with communication The steps of operation are as following 1 Input enable to the drive 2 Select the line position you want to move And changed DIN4 DIN5 DING level 3 Set the active point and run the program 6 7 Multi speed 3 In generally selected input signal to active target speed to control motor There are 3 item about it 1 Multi position control running is in 1 mode only 2 The index to simulate speed control is 0 and the speed control channel is invalid 3 At least there is one input signal channel which defined multi speed control 0 1 2 3 Please input 0 1 2 3
100. to be downloaded For example Ox2f means the data to download Ibyte bytes 4 involves 8 bits Ox2b means the data to download 2bytes bytes 4 5 included 16bits 0x23 is the data to download 4bytes bytes 4 5 6 7 included 32bits 0x21 is the Start frame to download over 4 bytes data segmented downloading data 0x60 is download data successful Table 7 17 Download Domain Segment Download Domain Segment ByteO Bytel 7 Bit 7 5 4 3 2 1 0 Client ccs 0 t n C Data Server scs 1 t Explanation n Meaningless data bytes The value will be 0 if do not specified data length c 0 Subsequent segment requires download t Toggle bit each segment is cleared and set alternately For example 0x00 0x10 is segmented downloading data involves 8bytes data bytes 1 7 OxObmeans the last piece of data involves 2 bytes data bytes 1 2 0x20 0x30 is segmented downloading successful Table 7 18 Initiate Domain Upload Initiate Domain Upload ByteO Bytel 3 Byte4 7 Bit 7 5 4 3 2 1 0 Subject index and Client ccs 2 sub index E Server scs 2 n e S data Explanation n e s Same to download of Domain starting 65 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver For example 0x40 is the data to ask upload subject Ox4f is the data to upload 1 byte bytes 4 involves 8 bits Ox4b is the data to upload 2byte
101. tor Drive 00014 PROGRAM JD2 m1 BOOL m2 BOOL spv DINT m3 BOOL m4 BOOL m5 BOOL actual pos DINT m6 BOOL OO25 END IF k If the objects are not in the EDS file or not commonly use we can use SDO to read and write these objects as shown in following figure 81 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver 0001 PROGRAM sdo sdo1 CanOpenSendSDO m9 BOOL m10 BOOL sdo2 CanOpenSendSDO vw ARRAY 0 7 OF BYTE val DWORD 0 2 sdo1 Enable m9 CE wDrvNr 0 2820S CANT BEA 0004 ucNodeld 2 CM EE windex 16 60FF OD INDEX bySubindex 1 6 00 subINDEX ucModus 16 23 use 16 23 FOR 4 BYTE write request use 16 27 FOR 3 BYTE 0009 use 16 26 for 2 byte 0010 use 16 2F for 1 byte 0011 use 16 21 FOR downloading more than 4 bytes using the segmented transfer 10012 ucByte0 16 10 ucByte1 16 A8 0014 ucByte2 16 29 ucByte3 00 0016 SDC ESEE 0018 windex 16 606C OD INDEX bySublndex 16 00 subINDEX 0020 ucModus 16 40 SDO mode use 16 40 for read request 0022 val SHL BYTE TO DWORD sdo2 ucAnswerBytes 7 24 val val SHL BYTE TO DWORD sdo2 ucAnswerBytes B 1 5 9 1 2 CANopen Communication between FM860 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 FM860 1 Please refer PCAN USB hardware manual to install 2
102. tware As following picture click button to show us a list and find the item we want and click OK to finish it 35 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver Function motor free drive enable DIN1 drive enable pina Fault reset ping operation mode pinufpositive limit pins negetive limit pIN6 homing signal Function poutifready pouT2 error poura NULL KL quick stop reverse speed demand positive limit negetive limit homing signal start homing multi speed 6 multi speed 1 multi speed 2 multi speed 3 multi position 8 multi position 1 multi position 2 multi position 3 set point active operation mode p0000000000000000 Figure 5 3 T O function setting Example 5 3 How to set up pulse input As for the pulse input function it is supported both for DIN1 and DIN2 support only If DINI is pulse input DIN2 will be as direction input if DINI have the signal as pulse input and DIN2 can not be as NULL Otherwise it will not work E Function S doli El pind purse input fg Biter pulse input Bit62 direction input p1N2 direction input Ed Bit63 clockwise pulse input Bit 64 counterclockwise pulse input DIN3 motor free a Bit85 quadrature encoder phase fi input Bit 66 quadrature encoder phase B input DIN4 NULL m Bit 67 quadrature encoder index input Bit 68 motor free pins NULL ed Bit drive enable Bit16 fault reset DIN
103. ue DEC RPM 512 Real velocity rpm 606C 00 10 0x3B00 RO 60000 1875 Internal sampling time as 200mS DEC 6078 00 10 Ox3E00 RO 1Arms 1 414 Ap Real current value 1Arms 79dec Input status bit0 Negative limit signal status 60FD 00 20 0x6D00 RO Bit bit1 Positive limit signal status bit2 Homing signal status 6078 00 10 Ox3bE00 RO number Real current value 108 Kinco Kinco FM Series Field bus Control Stepping Motor Drive 6079 00 10 Ox3F00 RO V The actual bus voltage Table 9 12 Target object Canopen Modbus Command Bits Unit Description address address type Target position in operation mode 1 shift 607A 00 20 0x4000 RW DEC demand position if control word starts motion DEC RPM 512 6081 00 20 0x4A00 RW Max velocity of trapezium profile in model 60000 1875 Acceleration of the trapezium profile DEC RPS S 65536 Default value 10rps s 60000 4000000 Profile Dece 6083 00 20 0x4B00 RW 6084 00 20 0x4C00 RW Default value 1Orps s DEC RPM 512 60FF 00 20 0x6F00 RW Target speed in mode 3 60000 1875 6071 00 10 0x3CO0 RO 1Ap 1 414Arms Target current 6073 00 10 0x3D00 RW 1 Arms 79dec Target current limit 6080 00 10 0x4900 RW RPM Max speed limit Table 9 13 Multiple position multiple speed DEC RPM 512
104. us Control Stepping Motor Driver 9 2 Appendix II RS485 Communication Case 9 2 1 Modbus Communication between FM860 and KINCO HMI 1 HMI control single FM Drive a Wiring diagram HMI Terminal Controller Terminal 9pin D SUB female male RJ45 B RX Figure 9 2 RS485 communication b Parameters setting It need choose Modbus RTU in HMI software The communication parameters are as following figure The PLC station No must be set same as the ID of FM drive muwu Figure 9 3 communication parameters settings c Address setting It need use address type 4X in HMI program all the objects of FM 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 following figure 86 Kinco Kinco FM Series Field bus Control Stepping Motor Drive ARR E215 RRT RR MRR Res APSE PRES bmp HERE SOR PORE Boete FREES BAE RS485 2 PLCE SRUESRT ANE 3 IEEE 13200 s PEAT Rial 1 Set 3 BEL 8 HEAT 2 SERI 3 BEER Ki e aa 255 Bft 1 z MHRA SF ia 8 dig EMEAT ST Fae Th 16 THS s MEE KLE ae DE 64 RERURE Pnonty Norma V Read Address Same Ae Wite Address Write Address HMI HMID Part COMO Change r Station Num 3 I inim Addr Type 4
105. x0600 2FE4 00 08 0x2800 RW RW number number Station No of drive Note 1 ID station can be selected from SW6 SW1 as 1 16 or Ox2FE400 as 1 127 2 it need to reboot after updated Drive station No 1 127 Note your setting is valid when SW6 SW1 on OFF Then reboot it when you updated the parameters 116 Kinco Kinco FM Series Field bus Control Stepping Motor Drive 2F81 00 08 0x2300 RW number CAN baud rate setting default value is 50 Value baud rate 100 IM 50 500k 25 250k 12 125k 5 50k Need to save and reboot 2FE0 00 10 0x2400 RW number RS232 baud rate setting default value is 259 Value baud rate 2082 4800 1041 9600 520 19200 259 38400 86 115200 Need to save and reboot 2FE2 00 10 0x2600 RW number RS485 baud rate setting default value is 520 value baud rate 1041 9600 520 19200 259 38400 86 115200 Need to save and reboot 117 Kincos Kinco FMSeries Field bus Control Stepping Motor Driver Kinco To be the partner of your success 118 Kincos Kinco FM Series Field bus Control Stepping Motor Drive Kinco Electric Shenzhen Ltd Addess 7 F Bldg 9th Software Park Keji Central Road 2nd Nanshan District Shenzhen China 518057 Tel 86 755 26585555 Fax 86 755 26616372 http www kinco cn Email sales kinco cn 119
106. x80 Error bytes 4 7 with error INDEX 16 bytes address same to master SUBINDEX 8bytes address same to master If data is correct the byte4 byte7 is total of 4 bytes stored the object of slave the order is frome low to high And the correct value is byte7 byte6 byte5 byte4 if there is any error The 4bytes is different For example 0140 7A 60 00 00 00 0000 E5 The target position is 607A0020 Slave return 01 43 7A 60 00 E2 1D 00 00 E3 Meaning 01 Slave address is 1 43 Received data is 4bytes saved by the byte4 byte5 middle of the 10bytes of the 4bytes of received data byte4 E2 byte5 1D byte6 00 byte7 00 So DATA byte7 byte6 byte5 byte4 IDE2 hex 7650 DEC 7 1 5 RS232 Communication address Please refer chapter 6 to know more about each mode operation As for object address visit appendix VII All of communication address is on appendix VII 56 Kincos Kinco FM Series Field bus Control Stepping Motor Drive RS232 Communication case see RS232 Appendix III 7 2 RS485 7 2 1 RS485 Communication port X1 interface of FM860 support both for RS485 and RS422 Can modify the drive parameter and monitor the status Please refer the picture as following How to connecting RS485 RS485 RJ45 Figure7 1 RS485 connecting How to connecting RS422 RS485 RJ45 Figure7 2 RS422 connecting PC Desub FM860 RJ45 X2 RX 2 RX 1 TX 3
107. y function used to set communication parameters as shown in following figure 91 Kinco EZ Kinco FMSeries Field bus Control Stepping Motor Driver pom PET Eas Ga TERES Ga SUL ABET Ga FR FE RE RED RET RET E Modbus Master Port 0 v1 Z3 Modbus Master Port 1 v1 MBUS_CTRL_P1 Modbus Slave Port 0 v1 0 Donef M10 0 USS Protocol Port 0 v2 3 i Errore MB10 USS Protocol Port 1 v2 3 i AAS v Figure 9 11 S7 200 PLC communication parameters 3 Program It use Modbus function MODBUS_MSG to send and receive data The descriptions of Modbus function are shown in following figure 10 0 is used to execute Modbus function This command is to write 1 into address 4X13569 HEX is 3500 operation mode Slave Stantion No RW 0 Read 1 Wnite Count Number of words Addrregister address DataPtr Buffer for sending or receiving data Pointer 10 0 MBUS_MSG_P1 1 Donef MO 0 14Rw MBO 4135694 Addr amp VB1000 D ataPtr Figure 9 12 Modbus function definition 4 Example descriptions Table 9 6 Case for program S7200 PLC input port Function Explanation 10 0 Write 60600008 1 Set position mode 10 1 Write 607A0020 10000 Set the target position 10 2 Write 608 10020 1000rpm Set the profile velocity 10 3 Write 60400010 0x4F ri Ox5F Control command relative motion 10 4 Read 60630020 Read motor position 10 5 Read 60410010 Read driver status word 92 Kincos Kinco FM Seri

FM860 User Manual - Zapp Automation Ltd

Contents

Download Pdf Manuals

Related Search

Related Contents