Kinco FD5 Series - Page 171

Kinco FD5 系列伺服驱动器使用手册
第十章 通讯连接
168
n ——Indicates the number of bits of meaningless data in the message data [from (8-n) Bit to the 7th Bit
data is meaningless] (n is valid when e=1 and s=1, otherwise n is 0)
e —— Normal transmission when e=0, accelerated transmission when e=1 ；
s ——Indicates whether the data length is specified, 0 means the data
length is not specified, 1 means the data length is specified
e=0 ， s=0 ——Keep by CiA ；
e=0 ， s=1 ——Data Bit is the Bit counter, byte4 is LSB， byte7 is MSB
e=1——Data Bit is the data to be downloaded.
Table 10-10 and 10-11 show the format of sending and receiving SDO message when reading
parameters.
Table 10-10 Send SDO message when reading parameters
Identifier
DLC
Daten
0
1
2
3
4
5
6
7
0x600+Node_ID
8
send command word
object index
object subindex
00
Table 10-11 receive SDO message when reading parameters
Identifier
DLC
Daten
0
1
2
3
4
5
6
7
0x580+Node_ID
8
receive command word
object index
object subindex
Maximum 4 Bit data
Note ： When the SDO message is sent, the command word is 0x40;
If the received data is 1 bit, the received command word is 0x4F; if the received data is 2 bits, the received command
word is 0x4B; if the received data is 4 bits, the received command word is 0x43; if there is an error in the received
data , the received command word is 0x80.
Table 10-12 and 10-13 show the format of sending and receiving SDO message when modifying
parameters.
Table 10-12 Send SDO message when edit parameters
Identifier
DLC
Daten
0
1
2
3
4
5
6
7
0x600+Node_ID
8
Send command word
object index
object subindex
Maximum 4 Bit data
Table 10-13 Receive SDO message when edit parameters
Identifier
DLC
Daten
0
1
2
3
4
5
6
7
0x580+Node_ID
8
Receive command word
object index
object subindex
Maximum 4 Bit data
Note ： If the SDO message is sent successfully, the received command word is 0x60; if the
SDO message fails to be sent, the received command word is 0x80.
If the data to be sent is 1 Bit, the command word to send is 0x2F;
If the data to be sent is 2 bits, the command word to send is 0x2B;
If the data to be sent is 4 bits, the sending command word is 0x23.
When the SDO message fails to be sent, you can troubleshoot the problem