Kinco FD5 Series - 10.3.3 CANopen Bus communication settings

Kinco FD5 AC series servo driver user manual
Chatper 10 Communication
134
0x80
Enter pre-operational state
0x81
Enter pre-operational state
0x82
Reset communication
Emergency message description
When a fatal error occurs inside the device, the application device sends an emergency packet with the highest priority to other
devices. An emergency message consists of eight bytes.
Table 10-26 Emergency message format
COB-ID
Byte 0-1
Byte2
Byte4-5
Byte6-7
Emergency message
station number
0x101400
Emergency Error code
0x603F00
Error register (0x100100)
Error state
0x260100
Error state
0x260200
Table 10-27 Emergency error code 0x603F00
Alarm content
Emergency error code
(Hex)
Alarm content
Emergency error code
(Hex)
Communication encoder is not connected
0x7331
Current sensor failure
0x5210
Communication encoder multi-turn error
0x7320
Software watchdog reset
0x6010
Communication encoder check error
0x7330
abort
0x6011
Drive temperature is too high
0x4210
MCU failure
0x7400
Drive bus voltage too high
0x3210
Motor model configuration
error
0x6320
Drive bus voltage too low
0x3220
Phase loss of motor power
line
0x6321
Drive power section short circuit or motor
short circuit
0x2320
Pre-enable alarm
0x5443
Current sampling saturation
0x2321
Positive limit error
0x5442
Abnormal braking resistor of drive
0x7110
Negative limit error
0x5441
The actual following error exceeds the
allowable
0x8611
SPI failure
0x6012
low logic voltage
0x5112
bus communication error
0x8100
Motor or drive overloaded
0x2350
Bus communication timeout
0x81FF
Input pulse frequency is too high
0x8A80
Full closed loop check error
0x8A81
Motor temperature is too high
0x4310
Main encoder ABZ fault
0x7382
Communication encoder does not respond
0x7331
Main encoder count error
0x7306
EEPROM data error
0x6310
Table 10-28 Error registor
Bit
Error type
0
General error
1
Current
2
Voltage
3
Temperature
4
Communication error
5
Device Profile Specific
6
Encoder
7
Reserve
10.3.3 CANopen Bus communication settings
This chapter will introduce the settings of CAN bus communication parameters. In the host computer software interface, click
Drive->ECAN Configuration->Other to enter the parameter setting interface. When the master station with network management
function is powered on, it will initialize the parameters of the slave station by sending SDO. In general, parameters such as
synchronization ID, node protection time, node protection time coefficient, node protection station number, emergency message
station number, and heartbeat message generation time do not need to be set by the user.