Kinco FD5 Series - Page 121

Kinco FD5P AC series servo driver
Chapter 10 Communication
121
 Indexes The address of the sending object，18 bits
 Subindexes Subaddress of the sending object, 8 bits

Reverse Bit 4
…
7 are not used
Slave receive data
Byte0
Byte1
Byte2
Byte3
Byte4
Byte 5
Byte6
Byte7
Function code
Indexes
Subindexes
Data

Function code Display Slave response
43(0x16) Byte 4
…
7 include 32 bits data
4B(0x16) Byte 4
…
5 include 16 bits data
4F(0x16) Byte 4 include 8 bits data
80(0x16) Error frombyte 4…7
 Indexes The address of the sending object, 16bits, same as master’s.
 Subindexes Subaddress of the sending object, 8bits, same as master’s
 Data Data from slave
If there is no error in the data,byte 4…7 hold the value of the slave object, with the low order first and the high order last. If there
is an error in the data, the data of these four bits is not equal to the value of the slave object
 For example:
The master sends an "upload" command to the slave:
01 40 F0 2F 09 58 02 00 00 3D
（
This command is to read the target speed of the slave 2FF00910
）
Slave response
：
01 4B F0 2F 09 58 02 00 00 32
Direction：
01 Slave number is 1
4B Received 2 bytes, saved by byte4 and byte5 in the 10 bytes of the response
F0 2F The object index address is 2FF0
09 The object subindex address is 09
58 02 00 00 Data is 00 00 02 58(hex)= 600 rpm
Table 10-1 Set homing mode/position mode/speed mode via RS232 communication
Homing mode
Address
Name
Value
Message(ID=1)
Remark
60400010
Control word
F
Send→01 2B 40 60 00 0F 00 00 00 25
Origin turning signal speed and
origin
The signal speed is expressed in
decimal DEC by default,
DEC=[(RPM*512*[641003])/1875]
60600008
Operation mode
6
Receive←01 60 40 60 00 0F 00 00 00 F0
60980008
Homing mode
33
Send→01 2F 60 60 00 06 00 00 00 0A
Receive←01 60 60 60 00 06 00 00 00 D9
60990120
Origin turning
signal speed
200RPM
Send→01 2F 98 60 00 21 00 00 00 B7
Receive←01 60 98 60 00 21 00 00 00 86
60990220
Origin signal
speed
100RPM
Send→01 23 99 60 01 03 9D 36 00 0C
Receive←01 60 99 60 01 03 9D 36 00 CF
60400010
Control word
1F
Send→01 2B 40 60 00 1F 00 00 00 15
Receive←01 60 40 60 00 1F 00 00 00 E0
Send 01 40 41 60 00 00 00 00 00 1E Read control bits，Drive response 01 4B 41 60 00 31
C0 FF FF 24 ，bit15=1 indicates home is found