Kinco FD5 Series - Measurement data; Target（0 x607 A）

Kinco FD5 AC series servo driver user manual Appendix II: List of Common Object Parameters
139
Absolute/relative
position control
selection
20200F10
0CF0
RWS
Unsigned16
When the "drive enable" function is
configured to Din, and the corresponding
Din valid input is 1, the "control word"
(6040.00) will be set to this value;
0x2F: Absolute position control
0x4F: Relative position control
Measurement data
Target
（
0x607A
）
Name
CANopen
Modbus
Commend type
Data type
Description
Velocity
position
direction
control
607E0008
4700
RWS
Unsigned8
Run polarity reversal
0: Counterclockwise is the positive
direction
1: Clockwise is the positive
direction
Target
position
607A0020
4000
RWM
Integer32
The target position in position mode
1, if the control word is set to start
motion, transitions to the valid
command position inc
Trapezoidal
velocity
60810020
4A00
RWM
Unsigned3 2
Trapezoidal velocity (rpm) in
operating mode 1
Target speed
60FF0020
6F00
RWM
Integer32
Target speed in mode 3 and -3,
Max velocity
limit
60800010
4900
RW
Unsigned1 6
Default 5000rpm
Trapezoidal
acceleration
60830020
4B00
RWSM
Unsigned3 2
Default：610.352rps/s
Trapezoidal
deceleration
60840020
4C00
RWSM
Unsigned3 2
Default：610.352rps/s
Target torque
60710010
3C00
RW
Integer16
Torque command in torque mode,
the percentage of target torque to
rated torque
Target current
60F60810
5880
RWM
Integer16
Current command in torque mode
Target current
limit
60730010
3D00
RWSM
Unsigned1 6
The maximum value of the current
command, the unit is Arms
Name
CANopen
Modbus
Commend type
Data type
Description
Actual position
60630020
3700
RM
Integer32
Actual current
60780010
3E00
RM
Integer16
Input port status
60FD0020
6D00
RM
Unsigned32
bit0: Negative limit signal status
bit1: Positive limit signal status
bit2: Origin signal status
bit3: Hardware lock signal status
Actual velocity
606C0020
3B00
RM
Integer32
Note
0x606C0020
，
The unit conversion method is DEC=[(RPM*512* Encoder resolution)/1875]