Kinco FD5 AC series servo driver user manual
Chatper 10 Communication
detecting the RPDO signal, but only updates the object data at a specific point in time. Detailed interpolation mode controls are
described in section 10.3.4.
PDO inhibit time
A PDO can specify a prohibition time, that is to define the minimum interval between two consecutive PDO transmissions, to
avoid the problem that the data volume of high-priority information will always occupy the bus and make other data with lower
priority unable to compete for the bus. The disable time is defined by a 16-bit unsigned integer, the unit is 100ms.
PDO event time
The interval (in ms) for the driver to send PDO packets to the controller in asynchronous transmission mode. Notice When using
event time, disable time should be set to 0.
Protection mode/Monitoring Type Description
Supervision type refers to which inspection method the master station chooses to check the slave station during the running
process, judge whether the slave station is faulty or not by these two methods, and make corresponding treatment according to
these faults.
1. Master heartbeat message
The slave station periodically uploads messages to the master station with the "supervision time". If the master station has not
received the next heartbeat message from the slave station after the "heartbeat client time", the master station judges that the
communication is wrong and generates an alarm!
Table 10-19 Format of heartbeat message uploaded by slave station
Case message (Slave ID=1)
：
701 05
2. Slave heartbeat message
The master station periodically sends packets to the slave station according to the "monitor time". If the slave station does not
receive the next heartbeat packet from the master station after the "Heartbeat Producer time", the slave station determines that
the communication is wrong! When the communication interrupt mode (0x600700 set) is 1, the driver will alarm and stop when
the CAN communication fails.
Table 10-20 Format of the heartbeat message sent by the master station
Case message (Slave ID=127)
：
77F 05
Table 10-21 Status value
When a Heartbeat node starts up, its Boot-up message is its first Heartbeat message.
Note
The generation time of the heartbeat message and the heartbeat message of the slave station are
configured by the power-on of the master station, and are not saved by default.
3. Node guard
The master station periodically sends a remote request message to the slave station with the "supervision time", and the slave
station responds after receiving it. If the master station has not received the response message from the slave station after the
time of "supervision time * life factor", the master station judges that the slave station has an error. At the same time, the slave
station can also monitor the remote request status of the master station, and start communication protection from the first remote
frame received. If the remote frame of the master station is not received after the time of "node protection time * node
protection coefficient", the slave station will judge the communication error. You need to set the communication interruption
mode (0x600700) to 1, the drive will alarm and stop when there is an error in CAN communication.
Master request message format—— (0x700+node number) (this message has no data)
Station response message format——(0x700+node number)+status
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