Kinco FD5 Series - Page 131

Kinco FD5 AC series servo driver user manual
Chatper 10 Communication
131
Emergency
0001
081H-0FFH
1024H，1015H
PDO1（Send）
0011
181H-1FFH
1800H
PDO1
（
Receive
）
0100
201H-27FH
1400H
PDO2
（
Send
）
0101
281H-2FFH
1801H
PDO2
（
Receive
）
0110
301H-37FH
1401H
PDO3（Send）
0111
381H-3FFH
1802H
PDO3
（
Receive
）
1000
401H-47FH
1402H
PDO4
（
Send
）
1001
481H-4FFH
1803H
PDO4（Receive）
1010
501H-57FH
1403H
SDO（Send/Server）
1011
581H-5FFH
1200H
SDO
（
Receive/Client
）
1100
601H-67FH
1200H
NMT Error Control
1110
701H-77FH
1016H-1017H
Note：
1.The smaller the COB-ID, the higher the priority;
2.The function code in front of each level of COB-ID is in a fixed format；
3.COB-IDs are 00H, 80H, 100H, 701H-77FH, and 081H-0FFH, which are all system management formats.
FD5 series servo drive supports COB-ID

Send PDO
（
TXPDO
）
TXBDO refers to the data sent by the servo relative to the servo, and these data are received by the PLC. The function code
(COB-ID) for sending PDO is:
1
、
0x180+Servo station NO.
2、0x280+ Servo station NO.
3、0x380+ Servo station NO.
4、0x480+ Servo station NO.

Receive PDO
（
RXPDO
）
Compared with the servo, the receiving PADO refers to the data received by the servo. These data are sent by the PLC. The
function code (COB-ID) of the sending PDO is:
1、0x200+ Servo station NO.
2
、
0x300+ Servo station NO.
3
、
0x400+ Servo station NO.
4
、
0x500+ Servo station NO.
 PDO transmission type
PDO has two different transmission type
：
Synchronize
（
SYNC
）——
Transmission triggered by synchronization messages
（
Transmission type
：
0-240
）
In this transmission mode, the controller must have the ability to send synchronization messages (messages sent periodically
with a frequency of up to 1KHZ), and the servo will send the synchronization message after receiving the message.
Period - The transfer type is 1-240. Delivery is triggered after every 1 to 240 SYNC messages. In this mode, the data in the
PDO is sent once every time the servo drive receives n synchronization messages.
Asynchronous (Transmission Type: 254/255)
The message is sent after the slave message data has changed, regardless of whether the master asks it or not. And can define
the time interval between two transmissions of the same message to avoid high priority messages occupying the bus all the time
(the lower the PDO value, the higher the priority).
The transmission PDO(TPDO) of the FD5 series servo drive supports synchronous and asynchronous transmission modes,
and the corresponding transmission type can be selected according to the transmission mode. For receiving PDO(RPDO), when
the driver node is enabled in non-interpolation mode, the object data will be received in real time as long as the RPDO packets
from the bus are detected, regardless of the transmission type setting. In interpolation mode, the driver receives data after