Kinco FD5 Series - Appendix II: List of Common Object Parameters; Mode and control（0 x6040）

Kinco FD5 AC series servo driver user manual Appendix II: List of Common Object Parameters
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Appendix II: List of Common Object Parameters
Note
 CANopen address and 232 communication address are the same
 Express register addressing in the form of Index (16-bit address) and Subindex (8-bit sub-address)

The digit 0x08 indicates that the length of the data stored in this register is 1 Byte, the digit 0x10
indicates that the length of the data stored is 2 Bytes, and the digit 0x20 indicates that the length of the
data stored is 4 Bytes
 R: readable，W: writable，S: savable，M: mappable；

The complete CANopen address format is main index + sub index + data length, such as 60400010
(control word)
 The complete Modbus address format is a 4-digit hexadecimal number, such as 3100 (control word)
Mode and control
（
0x6040
）
Name
CANopen
Modbus
Commend
properties
Type of data
Description
Control word
60400010
3100
RWM
Unsigned16
0x06：Motor power off
0x0F：Motor power on
0x0B
：
Quick stop, load stop - voltage
disconnect
0x2F→3F：absolute positioning mode
0x4F→5F
：
relative positioning mode
0x103F：absolute positioning based on
target position changes
0x0F→1F
：
Origin positioning
0X86：clear internal fault
Status word
60410010
3200
RM
Unsigned16
Status Bit shows the status of the drive
bit0: ready to power on
bit1: powered on
bit2: enable
bit3: fault
bit4: Disable output voltage
bit5: Quick stop
bit6: Power-on prohibition
bit7: warning
bit8: reserved internally
bit9: remote control
bit10: target position to
bit11: Internal limit activation
bit12: Impulse response
bit13: Following error/Origin error
bit14: Find motor excitation
bit15: Origin found
,
Operation mode
60600008
3500
RWM
Integer8
Operating mode:
1: Positioning mode with position loop
3: Speed mode with position loop
4: Torque Mode
-3: Speed loop (immediate speed mode)
-4: Pulse mode
6: Homing mode
7: Motion interpolation based on CANopen