Kinco FD5 Series - Page 161

Kinco FD5 系列伺服驱动器使用手册
第十章 通讯连接
158
6098000
8
Homing
mode
33
Send→01 2F 98 60 00 21 00 00 00
B7
Receive←01 60 98 60 00 21 00 00
00 86
Origin turning signal
speed and origin
6099012
0
Origin
turning signal
speed
200RPM
Send→01 23 99 60 01 03 9D 36
00 0C
Receive←01 60 99 60 01 03 9D 36
00 CF
The signal speed is
expressed in decimal
DEC by default,
DEC=[(RPM*512*[64100
3]
)/1875]
6099022
0
Origin signal
speed
100RPM
Send→01 23 99 60 02 82 4E 1B 00
F6
Receive←01 60 99 60 02 82 4E 1B
00 B9
6040001
0
control bit
1F
Send→01 2B 40 60 00 1F 00 00 00
15
Receive←01 60 40 60 00 1F 00 00
00 E0
Send 01 40 41 60 00 00 00 00 00 1E Read control bits，Drive response
01 4B 41 60 00 31 C0 FF FF 24 ，bit15=1 indicates home is found
Position mode
Address
Name
Value
Message(ID=1)
Remark
2F
Send→01 2B 40 60 00 2F 00 00 00 05
60400010
Control word
receive←01 60 40 60 00 2F 00 00 00
D0
Send→01 2B 40 60 00 4F 00 00 00 E5
4F
receive←01 60 40 60 00 4F 00 00 00
B0
The trapezoidal speed is
in decimal by default
60600008
Operation
mode
1
Send→01 2F 60 60 00 01 00 00 00 0F
receive←01 60 60 60 00 01 00 00 00
DE
DEC indicates
DEC=[(RPM*512*[641003]
607A0020
Target
position
50000inc
Send→ 01 23 7A 60 00 50 C3 00 00 EF
)/1875]
receive←01 60 7A 60 00 50 C3 00 00
B2
60810020
trapezoidal
speed
200RPM
Send→01 23 81 60 00 03 9D 36 00 25
receive←01 60 81 60 00 03 9D 36 00
E8
60830020
trapezoidal
acceleration
100rps/s
Send→01 23 83 60 00 6E A3 01 00 E7
Trapezoidal
acceleration and
trapezoidal
acceleration are
expressed in decimal
DEC by default.，
DEC=[(RPS/S*65536*[641
003])/ 4000000]
receive←01 60 83 60 00 6E A3 01 00
AA
60840020
trapezoidal
acceleration
100rps/s
Send→01 23 84 60 00 6E A3 01 00 E6
receive←01 60 84 60 00 6E A3 01 00
A9
3F
Send→01 2B 40 60 00 3F 00 00 00 F5
60400010
Control word
receive←01 60 40 60 00 3F 00 00 00
C0