Kinco FD5 Series - Page 135

Kinco FD5 AC series servo driver user manual
Chatper 10 Communication
135
Table 10-29 CANopen communication parameters
LED panel
display
Internal address
Parameter’s name
Description
Default value
d5.00
2FF00108
Store control loop parameters
1
：
Stores all set parameters except the motor
10
：
Initialize all saveable parameters except motor
0
d5.01
100B0008
Device Station No.
Drive station No.
Note ： To change this parameter, you need to use
d5.00 to save and restart.
1
CAN baud rate setting
Value Baud rate
100 1M
d5.17
2F810008
CAN baud rate
50 500k
25 250k
50
12 125k
5 50k
1 10k
Note: need to save and restart
60070010
Communication interruption
mode
CAN Communication interruption mode
0
：
do not handle
1
：
report an error
0
10050020
Sync ID
Synchronous message COB-ID, the transmission
type is 1-240. It is valid in synchronous mode and
does not need to be set in asynchronous mode.
80
100C0010
Node guard time
Through node guarding, the master station can
monitor the current status of each node. The master
station sends a remote frame to inquire about the
node status with the node guard time as a period.
The node needs to respond within the node guard
time * node guard time coefficient, otherwise the
master station Judging that the slave station is
offline, when the communication interruption mode
is 1, the drive alarms.
1000
100D0008
Node guard time factor
3
100E0020
Node guard ID
700+Divice station No.(0x100B00)
701
10140020
Emergency message station
number
80+ Divice station No.(0x100B00)
81
10170010
Heartbeat message generation
time
The slave station periodically sends a message to the
master station based on the "heartbeat message
generation time". If the master station does not
receive the message within a certain period of time,
it judges that the slave station is offline and the
master station alarms. The heartbeat message
generation time data will not be saved when power
off. It is configured by the master station when it is
powered on (unit: ms). It should be noted that the
data format is DEC.
0
10160120
Slave heartbeat message
Data length The first bit of the 4 bits is invalid data,
the second bit is the station ID, and the last two bits
represent the heartbeat message interval, in ms. If the
value is 7F03E8, it means that the ID of the master
station is 127, and the heartbeat message interval is
1000ms. The heartbeat message data of the slave
station will not be saved when power off. It is
configured by the master station when it is powered
on. Note that the data format is HEX
7F0000