USER’S MANUAL · , -./(010(2!034!!!!! !!!! "#$%% & ’% "()+ #),() "-(.,/,.01,+2!!!!! !!!$ "#$%% & ’% "()+ #),() 0--(0)02.( #,3(2",+2!!!!! $ 5 04-!2662!034 247 80904

SD200 SERVO DRIVER

USER’S MANUAL

Beijing KND CNC Technique Co., Ltd.

F03B-W00N-0101 ©KND CO., LTD.

!!!

!"#$% &’ (&)*%)*+

, -./(010(2!034 !!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

!!! "#$%% & ’% "()*+ #),*() "-(.,/,.01,+2 !!!!!!!!!!!!!!!!!!!!!

!!$ "#$%% & ’% "()*+ #),*() 0--(0)02.( #,3(2",+2 $!!!!!!!!!!!!!!!

5 04-!2662!034 247 80904: ’!!!!!!!!!!!!!!!!!!!!!!!!!

$!! ,2"104401,+2 "5))+52#,26 ’!!!!!!!!!!!!!!!!!!!!!!!!!!

$!$ ,2"104401,+2 3(17+# 8!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

$!’ "102#0)# 9,),26 :!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!$!’!! -;=;? .;?>@;A ">B?CB@C 9=@=?D #=BD@BE :!!!!!!!!!!!!!!!!!!!$!’!$ "FGH=I=HB>=;? ;I .BJAG :!!!!!!!!!!!!!!!!!!!!!!!!!!!!

$!8 .051,+5" K!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

; 04!/912(/ L!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

’!! -+9() 1()3,204 1M L!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

’!$ .+21)+4 ",6204 ,2-51N+51-51 ,21()/0.( .2! O!!!!!!!!!!!!!!!!

’!’ (2.+#() ",6204 ,2-51 ,21()/0.( .2$ !!!!!!!!!!!!!!!!!!!!!!

’!8 ,21()/0.( 1()3,204 0))026(3(21 #,06)03 !$!!!!!!!!!!!!!!!!

’!: ,2-51N+51-51 ,21()/0.( 1P-( !$!!!!!!!!!!!!!!!!!!!!!!!!’!:!! #=D=>BA QJ=?B@RS ,?FT> ,?>G@IBHG !$!!!!!!!!!!!!!!!!!!!!!!!!’!:!$ #=D=>BA QJ=?B@RS +T>FT> ,?>G@IBHG !’!!!!!!!!!!!!!!!!!!!!!!!’!:!’ -TA ,?>G@IBHG !’!!!!!!!!!!!!!!!!!!!!!!!!!!!!’!:!8 (?H;CG@ "=D?BA #=IIG@G?HG +T>FT> ,?>G@IBHG !8!!!!!!!!!!!!!!!!!!’!:!: (?H;CG@ U & FVB;@ -V;>; GAGH>@=H=>R (?H;CG@ ,?FT> ,?>G@IBHG !8!!!!!!!!!!!!!!

< .292=/!/9 !:!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

8!! -0)03(1() /52.1,+2 !:!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

> .93!/(!034 1?4(!034 $:!!!!!!!!!!!!!!!!!!!!!!!!!!

:!! 040)3 4,"1 $:!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

@ 70-.62A 247 B/AC3297 3./92!034 ’’!!!!!!!!!!!!!!!!!

K!! /,)"1 40P() ’8!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!

K!$ "(.+2# 40P() ’:!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!K!$!! 3;?=>;@ E;CG ’:!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!K!$!$ -B@BEG>G@ "G>>=?D 3;CG ’K!!!!!!!!!!!!!!!!!!!!!!!!!!K!$!’ -B@BEG>G@ 3B?BDGEG?> 3;CG ’L!!!!!!!!!!!!!!!!!!!!!!!!K!$!8 "FGGC .;EE= 8K!!!!!!!!!!!!!!!!!!!!!!!!!!L!8!8 ">B@> & ">;F .VB@BH>G@==H 0C]TEG?> 8K!!!!!!!!!!!!!!!!!!!!

L!: /0X 8L!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!L!:!! )G;@G >VG #GIBTA> -B@BEG>G@ 8L!!!!!!!!!!!!!!!!!!!!!!!L!:!$ (@@ & ’%"(@@ & ’!"(@@ & ’$ 0AB@E /@GZTG?>AR +HHT@ 8O!!!!!!!!!!!!!!!L!:!’ -;YG@ 4(# ( >̂=?DT=@;?=H 6GB@ )B>=; "G>>=?D 8‘!!!!!!!!!!!!!L!K!$ 4BD -TA@;A 8‘!!!!!!!!!!!!!!!!!!!!!!!!

E (344/(! 80!F B47 (4( :!!!!!!!!!!!!!!!!!!!!!!!!!!

O!! "#$%% & ’% .+22(.1 9,17 _!%% 02# _!%%% .2. :!!!!!!!!!!!!!!!!!

O!$ "#$%% & ’% .+22(.1 9,17 _!%3 .2. :!!!!!!!!!!!!!!!!!!!!!!

O!’ "#$%% & ’% .+22(.1 9,17 _! .2. :$!!!!!!!!!!!!!!!!!!!!!!!

O!8 "#$%% & ’% .+22(.1 9,17 "10) "(),(" 3+1+) :$!!!!!!!!!!!!!!!!!"!

!!!

!"#$!!"#$ %&’($& )*+$& ’, - . )#/,$ *& ,’012$ )#/,$ 34 5567 8- . )#/,$ ’,*2/9’*0 9&/0,:*&;$& ’,

!!%&’()*)(+,)-!

. %&’()*)(+,)-!

.!. %/011 2 31 %’45- /4)5’4 %&’()*)(+,)-!

"/E! . !",)$7>#C H6T RP *& 2$,, 8:&$$ :&*; %$+=

5>D=A#>"96!O1 8U!H ;N,5 = *& 2$,,"!6 %I6PQ 8K*9 ’0 9#$ #C 5A=>A#>"9L()6!6-" 82*/% (/&’/9’*0 6 %!66$=!()6!65" 8)*+$& (/&’/9’*0 . !O$%S!6$=8(/2D$ #>"9 ("9#="8

’0)D9 ;*%$! )D2,$ S ,’10 8:*&+/&% /0% E/#C ("9#="8 )/&/;$9$& X35! ,$9 ;*9*& &D0 ,)$$%

+JJ$8$=A#$M/$J$8$=A#$("9#="8 *;9J#>"9

)/&/;$9$& ,$99’01"! %!6666;,N!666&N;’0

+) !"#$%&%$’(%)*"#+ ,!-.// 0 1/ !#23) -2%3#2 !"#$%&%$’(%)*4

6"9>#"= *;9J#>"9

&*9/9’*0 ,)$$%" "9 *;9J#>"9*($& . ,)$$%";/’0

"!)!%,+NN+,)-! +!/ O)4)!P

0 )!%,+NN+,)-! +!/ O)4)!P

0!. )!%,+NN+,)-! %Q44-Q!/)!P

OE$9 >9L#A88>9? #E$ L$=F"7=>F$= >9 A $8$J#=>JA8 D"R

""3, 9#$ &$,D29 *: $2$9? A=";97 #E$L$=F" 7=>F$=

""]0 *&%$& 9* )&*9$

0!0 )!%,+NN+,)-! 6’,B-/

/>=$J#>"9 "I )9L#A88A#>"9 ""7$&9’ ]0,9/22 9#$ ,$&(* %&’($&@

&"L>#>"9 "I )9L#A88A#>"9""Z’[ 9#$ %&’($& E> 9’1#9$0’01 _O ,

0!3 %,+!/+4/ O)4)!P

0!3!. &"L>#>"9 ("9#="8 %#A97A=7 O>=>9? />A?=A@

4K! /%*)9 AFUU . - ,*JA#>"9 "I (AD8$

.!&"9A8 ,G

8!= R"L"""B"7"C"Z‘ /))2’

85= "$&;’0/2 9>)$ ’, aB" . !!O . U ’0,D2/9’*0 ,2$$($ . $VD’))$% E/& 9$&;’0/2" ’9 ;D,9 E$ )*+$&bM9#$&+’,$">*D ;/> E$ ,9&D $2$ :&*; %&’($& /0% ;*9*& /:9$& )*+$& *0@8O= ^0,D&$ 9*

#!)!,’4*+(’

3 )!,’4*+(’

3!. &-O’4 ,’46)!+N ,G

"/E2$ - . !")*+$& 9$&;’0/2 "F *: LA566 . -6

K* "$&;’0/2

I B

W 7

? C

,$&(* ;*9*& *D9)D9,$&(* ;*9*& *D9)D9 9$&;’0/2 ;D,9

3!0 (-!,4-N %)P!+N )!&Q,M-Q,&Q, )!,’4*+(’ (!.

"/E2$ - . 5")$! L$&(* M0

L$&(* *0 ’0)D9 ,’10/2LMK MK# $0/E2$, 9#$ %&’($&LMK MZZ#%&’($& ,9*) +*&G’01 /0% ;*9*& ’, ’0

:&$$ ,9/9D,KM"^!#;*9*& ;D,9 E$ ’0 :&$$ ,9/9D, E$:*&$

,’10/2 LMK MZZ 9D&0 ’09* LMK MK@KM"^5#+/’9’01 :*& 0* 2$,, 9#/0 O6;, 9* ’0)D9

)$! 44C A&’($ A’,/E2$

44C %&’($ %’,/E2$ ’0)D9 ,’10/244Cc MK#44C %&’($ $0/E2$44Cc MZZ#44C %&’($ %’,/E2$KM"^!#;/)$!4C A&’($ A’,/E2$]0)D9

4C %&’($ %’,/E2$ ’0)D9 ,’10/24Cc MK#4C %&’($ $0/E2$4Cc MZZ#4C %&’($ %’,/E2$KM"^!#;/

K*"$&;’0/2 4*%$

)$!4*;;/0% XD2,$A’,/E2$

X*,’9’*0 )$5 L$&(* /2/&; MD9)D9

L$&(* /2/&; *D9)D9 ,’10/23c_ MK# 9#$ %&’($& ’, ’0 ,9/9D, *: +*&G’01"

/2/&; %* 0*9 *)$5X*,’9’*0’01Z’0’,# MD9)D9

X*,’9’*0’01 :’0’,# *D9)D9 ,’10/24M]K MK#)*,’9’*0’01 :’0’,# *D9)D9 ,’10/2 +’22 9D&0

*0 +#$0 9#$ (/2D$ *: 9#$ )*,’9’*0*::,$9 )$-

4*;;/0% XD2,$XBcL ]0)D9

$[9$&0/2

K*"$&;’0/2 4*%$

)$O

^0)$O

^0)$I^0

3!3 ’!(-/’4 %)P!+N )!&Q, )!,’4*+(’ (!0

"/E2$ - . -"$0*D ,#*D2%)/&/22$2 )$W

)$W

)$W

3!S )!,’4*+(’ ,’46)!+N +44+!P’6’!, /)+P4+6

LA566 . -6 34 ,$&(* %&’($& ’09$&:/= ’0)D9 ’09$&:/

3!T!0 />?>#A8 VD>9A=CW -;#:;# )9#$=IAJ$

8/= &$2/> ,%*"9(=)9("9( %*(#2&’$# (?"#4

3!T!S ’9J"7$= %>?9A8 />II$=$9J$ -;#:;# )9#$=IAJ$

Z’1@ -!I")#*9* $2$?9A8 ("88$J#"= -:$9 J>=J;># -;#:;# )9#$=IAJ$

Z’1@ -!W"$0

$!&+4+6’,’4

S &+4+6’,’4

S!. &+4+6’,’4 *Q!(,)-!

"/E2$ U . ! $[)2/0/9’*0 *: )/&/;$9$&

K* K/;$ ZD0 9#$ *9#$&, )/&/;$9$&

5!L$99’01 ’9 ’, $VD/2 9* -?O 9*;*%’:> /%/)9$% ;*9*& ;*%$2)/&/;$9$&

6 %HHHH -!O

!3%/)9$%_*9*& _*%$2#

!!_6WW56 8!-66WW56=5!_656-6 8!!6656-6=-!_6U6-6 8!!66U6-6=U!_6O6-6 8!!66O6-6=O!_6I656 8!!66I656=I!_6I6-6 8!!66I6-6=W!_6U65O 8!-66U65O=?!_6O65O 8!-66O65O=H!_6I65O 8!-66I65O=!6!_6WW-6 8!-66WW-6=!!!_!66!O 8!-6!66!O=!5!_!665O 8!-6!665O=!-!_!O6!O 8!-6!O6!O=

!- 9>)$,

K*9$!!L$99’01 X36 ’, $VD/2 9*

-?O 9* ;*%’:> /%/)9$%;*9*& ;*%$2 )/&/;$9$&@

5!A’::$&$09 ;*9*& ;*%$2 ’,

K* K/;$ ZD0_*%$

U# %’,)2/> #’1# . O . E’9 *:)*,’9’*0 ;*9*& B . )#/,$

;*9*& 7 . )#/,$

,)$$% &*9*& /E,*2D9$

)*,’9’*0 N &$(@!-#%’,)2/> ’0)D9 ,’10/2 ,9/9D,!U#%’,)2/> *D9)D9 ,’10/2 ,9/9D,!O#%’,)2/> $0 &D0 ,9/9D,!W#%’,)2/> /2/&;

K* K/;$ ZD0

K* K/;$ ZD0 $[)&$,,"6’0%’

%!&4-,’(,)-! *Q!(,)-!

T &4-,’(,)-! *Q!(,)-!

T!. +N+46 N)%,

"/E2$O . ! 32/&; c’,9

32/&;4*%$

32/&; K/;$ A$,

^&& 6!M($&7,)$$%

32/&;

;*9*&,)$$%$[

32/&;4*%$

32/&; K/;$ A$,

^&& 65_/’0 4’&

32/&;4*%$

32/&; K/;$ A$,

^&& 6UX*,’9’*0

M($&7*::,$9

)*,’9’*0*::,$9

32/&;4*%$

32/&; K/;$ A$,

^&& 6W

A&’($A’,/E2$3E0*&;/232/&;

44C /0%4C %&’($%’,/E2$’0)D9 MZZ

44C /0% 4C %&’($%’,/E2$ ’0)D9 ,’10/2E&$/G

32/&;4*%$

32/&; K/;$ A$,

^&& !5M($& .

32/&;4*%$

32/&; K/;$ A$,

^&& !UF&/G$Z/D29

F&/G$

32/&;4*%$

32/&; K/;$ A$,

^&& -6^0

&!/)%&N+U +!/ Z’UG-+4/-&’4+,)-!

Y /)%&N+U +!/ Z’UG-+4/ -&’4+,)-!

A’,)2/> /0% *)$&/9’*0 )/0$2 ’, /0% " "

" :*D& *)$&/9’*0 G$>,@ A’,)2/> /0% *)$&/9’*0 )/0$2 ,#*+ /, Z’1I!!!"#$ ,$&(* %&’($&

,9/9D, /0% ,$99’01 )/&/;$9$& /&$ %’,)2/>$% E> ,’[ . ,$1;$09 c^A@ "#$ *)$&/9’*0 ’, 2/>$&$%@ "#$ :*D&*)$&/9’*0 G$>, :D0#’0 /0% *)$&/9’*0 )/0$2

../ -%!"6’? ’*- @#?

Y!. *)4%, N+U’4

X&$,, ’0 ;/’0 ;$0D 9* $09$& 9#$ *)$&/9’*0 ;*%$ ,DE;$0D 8:’&,9 2/>$&=Y )&$,, *&

9* ,$2$$&")&$,, *& 9*

Y!0 %’(-!/ N+U’4

Y!0!. 6"9>#"= @"7$

L$2$

Z’1@ I!U"’0)D9 ,’10/2 %’,)2/>

!"#$!!X*,’9’*0 $% /1/’0@O!_*9*& U!

8-= X&$,, *& 9* ;*%’:> 9#$ )/&/;$9$& (/2D$@

8U= 3, ,**0 /, )&$,, *& *0 9#$ *9#$&, )/&/;$9$& 9#$ )/,,+*&% X36 ’, $VD/2 9*

h -!O /0% )&$,, 9* /0%

^^XRM_@ L$2$

39 :’&,9" (’/ )&$,, *& 9* ,$2$

(/2D$ /:9$& )*+$& *0 /1/’0@ ]: >*D +/09 9* ;*%’:> 9#$ )/&/;$9$& :*& $($&" 2 %’# 9* 9#$ ^^XRM_ )/&/;$9$& /&$/@ 3, )*+$& *0 /1/’0";*%’:’$% )/&/;$9$& ’,

/(/’2/E2$@

85= 2 =% V =$L#"=$ DAJH;: W#X/&/;$9$& ’0 ^^XRM_ E/@2 =% ’, /E2$ 9* $[$,9$; )*+$& *0"

&$/% )/&/;$9$& ;/G$ D,$ *: )/&/;$9$& /&$/@ R$,9*&$ E/’01 )/&/;$9$&"ED9 *)$&/9*&+/09 9* 9&> ;*&$ ,/9’,:>’01 / ,$9 *: )/&/;$9$&" 2 D+ 9* ^^XRM_ E/’01 )/&/;$9$&," 2 %’# *)$&/9’*0 /0% E3 *)$&/9’*0 /0%h ^^XRM_ )/&/;$9$& /&$/"9#$ )/&/;$9$& %$:/D29 (/2D$ +’22 )2/> / &*2$ +#$0 %&’($& &D0@

]: )/&/;$9$&, #/% E$$0 %’,*&%$&$% /0% ’0:2D$0

""]9 ’, 0$ 9* :’&,92> $[$’01 9#$ %&’($& /%/)9$% ;*9*& ;*%$2)/&/;$9$&"9#$0 *)$&/9*& 9#$ *9#$&, )/&/;$9$&":’0/22> $[$9?

L$2$

’!4Q!

[ 4Q!

[!. P4-Q!/)!P

F*9# ,$&(* %&’($& /0% ;*9*& ,#*D2% 1&*D0%’01 &$2’/E2>@ ]0 *&%$& 9* /(*’% 1$9 /0 $2$

Z’1@ W!!")*+$& *0 ,$VD$0

Z’1W!-"E&/G$ ,$VD$09?

.!("@@>LL>"9>9? 6"7$

8!= 4*09&*2

"/E W . !")/&/;$9$& (/2D$ *: %$,9&*>,;$

[!S +/]Q%,6’!, +!/ %’,,)!P

[!S!. %$8$J# @"#"= @"7$8

LA566 . -6 %&’($& ;/> ;/9$ /22 G’0%, *: ;*9*&"ED9 %’::$&$09 ,$&(* ;*9*& #/($ %’::$&$09 ’0"ED9 9#$ (/2D$ ’, ,*E’1 9#/9 1$0$&/9$ ;*9*& ,D&1$@

8-= 7’/ X3OI 8;*;$09 *: ’0$&9’/ &/9’*= ,$99’01 &/9’* *: ,$&(* ;*9*& ’0$&9’/ 9* +#*2$ %&’($ 2*/%’0$&9’/"’: ;/

J P$A= 4A#>" %$#

"#$ ;*9*& $0L#>J +7^;L#@$9#

2*/% ’0$&9’/",9/&9 :&$VD$0",9*) :&$VD$0Y %&’($& /0% ;*9*& %$)$"

L$9 / )/,,+*&% 8X36 = ’, $VD/2 9* -?O8-= _*%’:> /%/)9$% ;*9*& ;*%$2 )/&/;$9$& 8X3!= 9* 9#$ ,$2$)$8U= ^[$ 9* $09$& )/&/;$9$& ;/0/1$;$09

;*%$@ L$2$

%’,)2/> %. . . . . . &$[)&$,, )/&/;$9$& ’, +&’9’01 9* ^^XRM_@ +/’9’01 :*& ! %5,$ %̂ &&*&&"+#’ /,:*22*+’01#

8!= 4#$

[!Y 4’N+,)5’ Z!-ON’/P’

[!Y!. &"L>#>"9 4$L"8;#>"9 A97 ’8$J#="9>J P$A= 4A#>" %$##>9?

X*,’9’*0 &$,*2D9’*0 8*0$ )D2,$ 9&/($2 $% ’, %$9$&;’0$% E> ,$&(* ;*9*& 9&/($2 *: )$& &$(*2D9’*0 /0%$0#>"9 ("9#="8

C#$0 9#$ )D2,$,

(!(-!!’(, O),B Z!/ (!(

_ (-!!’(, O),B Z!/ (!(

_!. %/011 2 31 (-!!’(, O),B Z.11 +!/ Z.111 (!(

_!0 %/011 2 31 (-!!’(, O),B Z.16 (!(

+02 $)**#$( 7%(: @*- $*$"#+ ,!-.// 0 1/ $)**#$( 7%(: @+// ’*- @+/// $*$=

_!3 %/011 2 31 (-!!’(, O),B Z. (!(

_!S %/011 2 31 (-!!’(, O),B %,+4 %’4)’% 6-,-4

!"#$LA566 . -6 ,$&(* %&’($&

Beijing KND CNC Technique Co.,Ltd.

Address: No.3-5 Building, 11th Block, ABP, 188 West Road, South 4th Ring, Beijing China (Postal Code:100070)

Phone: +86-10-63701999 Fax: +86-10-63701998 Http: //www.knd.com.cn E-mail: [email protected]

______________________________________________________ The content may be modified due to product improvement. Printed in Jul.2009

mailto:[email protected]

KND SD200 Servo Driver User's ManualContentsNote1 Specification1.1 SD200 Servo Driver Specification1.2 SD200 Servo Driver Appearance Dimension

2 Installation and Wiring2.1 Installation Surrounding2.2 Installation Method2.3 Standard Wiring2.4 Cautious

3 Interface3.1 Power Terminal TB3.2 Control Signal Input/Output Interface CN13.3 Encoder Signal Input Interface CN23.4 Interface Terminal Arrangement Diagram3.5 Input/Output Interface Type

4 Parameter4.1 Parameter Function

5 Protection Function5.1 Alarm List

6 Display and Keyboard Operation6.1 First Layer6.2 Second Layer

7 Run7.1 Grounding7.2 Word Sequence7.3 Commissioning7.4 Adjustment and Setting7.5 FAQ7.6 Relative Knowledge

8 Connect with KND CNC8.1 SD200 Connect with K100 and K1000 CNC8.2 SD200 Connect with K10M CNC8.3 SD200 Connect with K1 CNC8.4 SD200 Connect with Star Series Motor

Back Cover

StructureStructureStructureStructureStructureStructureStructureStructure

Documents

USER’S MANUAL · , -./(010(2!034!!!!! !!!! "#$%% & ’% "()*+ #),*() "-(.,/,.01,+2!!!!! !!!$ "#$%% & ’% "()*+ #),*() 0--(0)02.( #,3(2",+2!!!!! $ 5 04-!2662!034 247 80904

USER’S MANUAL · , -./(010(2!034!!!!! !!!! "#$%% & ’% "()+ #),() "-(.,/,.01,+2!!!!! !!!$ "#$%% & ’% "()+ #),() 0--(0)02.( #,3(2",+2!!!!! $ 5 04-!2662!034 247 80904