Kinco FD5 Series - Page 122

Kinco FD5P AC series servo driver
Chapter 10 Communication
122
Position mode
Address
Name
Value
Message(ID=1)
Remark
60400010
Control word
2F
Send→01 2B 40 60 00 2F 00 00 00 05
Receive←01 60 40 60 00 2F 00 00 00 D0
The trapezoidal speed is expressed in
decimal DEC by default
DEC=[(RPM*512*[641003])/1875]
4F
Send→01 2B 40 60 00 4F 00 00 00 E5
Receive←01 60 40 60 00 4F 00 00 00 B0
60600008
Operation
mode
1
Send→01 2F 60 60 00 01 00 00 00 0F
Receive←01 60 60 60 00 01 00 00 00 DE
607A0020
Target position
50000inc
Send→01 23 7A 60 00 50 C3 00 00 EF
Receive←01 60 7A 60 00 50 C3 00 00 B2
60810020
trapezoidal
speed
200RPM
Send→01 23 81 60 00 03 9D 36 00 25
Receive←01 60 81 60 00 03 9D 36 00 E8
60830020
trapezoidal
acceleration
100rps/s
Send→01 23 83 60 00 6E A3 01 00 E7
Receive←01 60 83 60 00 6E A3 01 00
AA
Trapezoidal acceleration and
trapezoidal acceleration are expressed
in decimal DEC by default.，
DEC=[(RPS/S*65536*[641003])/
4000000]
2F→3F: absolute positioning
4F→5F: relative positioning
60840020
trapezoidal
acceleration
100rps/s
Send→01 23 84 60 00 6E A3 01 00 E6
Receive←01 60 84 60 00 6E A3 01 00 A9
60400010
Control word
3F
Send→01 2B 40 60 00 3F 00 00 00 F5
Receive←01 60 40 60 00 3F 00 00 00 C0
5F
Send→01 2B 40 60 00 5F 00 00 00 D5
Receive←01 60 40 60 00 5F 00 00 00 A0
Send 01 40 41 60 00 00 00 00 00 1E read status word
，
Drive return 01 4B 41 60 00 37
C4 FF FF 1A,bit10 for target position reach
Velocity mode
Address
Name
Value
Message(ID=1)
Remark
60600008
Operation mode
3
Send→01 2F 60 60 00 03 00 00 00 0D
Receive←01 60 60 60 00 03 00 00 00 DC
The target speed is expressed in
decimal DEC by default
DEC=[(RPM*512*[641003])/1875]
Trapezoidal acceleration and
trapezoidal acceleration are
expressed in decimal DEC by
default:
DEC=[(RPS/S*65536*[641003])/
4000000]
60FF0020
Target speed
-100RPM
Send→01 23 FF 60 00 7E B1 E4 FF 6B
Receive←01 60 FF 60 00 7E B1 E4 FF 2E
60400010
Control word
2F
Send→01 2B 40 60 00 2F 00 00 00 05
Receive←01 60 40 60 00 2F 00 00 00 D0
60830020
Trapezoidal
acceleration
100rps/s
Send→01 23 83 60 00 6E A3 01 00 E7
Receive←01 60 83 60 00 6E A3 01 00 AA
60840020
Trapezoidal
deceleration
100rps/s
Send→01 23 84 60 00 6E A3 01 00 E6
Receive←01 60 84 60 00 6E A3 01 00 A9
Note: The message is expressed in hexadecimal, and the motor resolution used in this case is 65536