Kinco FD5 Series - Page 160

Kinco FD5 系列伺服驱动器使用手册
第十章 通讯连接
157
⚫ Indexes The address of the sending object， 18 bits
⚫ Subindexes Subaddress of the sending object, 8 bits
⚫ Keeping Bit 4…7 are not
used
Receiving data of Slave
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Function
code
Indexes
Subindexes
data
⚫ Function code Display Slave response
43(0x16) Bit 4…7 include 32 bits data
4B(0x16) Bit 4…5 include 16 bits data
4F(0x16) Bit 4 include 8 bits data
80(0x16) Error ，Producted bt Bit 4..7
⚫ Indexes The address of the sending object, 16bits, same as master’s .
⚫ Subindexes Subaddress of the sending object, 8bits, same as master’s
⚫ Data Data from Slave
If there is no error in the data, Bits 4…7 hold the value of the slave
object, with the low order first and the high order last. If there is an error
in the data, the data of these four bits is not equal to the value of the
slave object
⚫ Example：
The master sends an "upload" command to the slave:
01 40 F0 2F 09 58 02 00 00 3D（This command is to read the target
speed of the slave 2FF00910）
Slave response：
01 4B F0 2F 09 58 02 00 00 32
Direction： 01 Slave number is 1
4B Received 2 bits, saved by byte4 and byte5 in the 10 bits of the response
F0 2F The object index address is 2FF0
09 The object subindex address is 09
58 02 00 00 Data is 00 00 02 58(hex)= 600 rpm
Table 9-1 Set origin mode/position mode/speed mode via
Homing mode
Address
Name
Value
Message(ID=1)
Remark
6040001
0
Control word
F
Send→01 2B 40 60 00 0F 00 00 00
25
Receive←01 60 40 60 00 0F 00 00
00 F0
6060000
8
Operation
mode
6
Send→01 2F 60 60 00 06 00 00 00
0A
Receive←01 60 60 60 00 06 00 00
00 D9