Kinco FD5 Series - Page 173

Kinco FD5 系列伺服驱动器使用手册
第十章 通讯连接
170
Table 10-15 Set the origin mode by SDO message
Parameters
address
Name
Value
Message(ID=1)
60400010
Control
word
F
Send→601 2B 40 60 00 0F 00 00 00
Receive←581 60 40 60 00 0F 00 00
00
60600008
Operation
mode
6
Send→601 2F 60 60 00 06 00 00 00
Receive←581 60 60 60 00 06 00 00
00
60980008
Origin
mode
33
Send→601 2F 98 60 00 21 00 00 00
Receive←581 60 98 60 00 21 00 00
00
60990120
Origin
turning
signal
speed
200RPM
Send→601 23 99 60 01 03 9D 36 00
Receive←581 60 99 60 01 03 9D 36
00
60990220
Origin
signal
speed
100RPM
Send→601 23 99 60 02 82 4E 1B 00
Receive←581 60 99 60 02 82 4E 1B
00
60400010
Congrol
word
1F
Send→601 2B 40 60 00 1F 00 00 00
Receive←581 60 40 60 00 1F 00 00
00
Send 601 40 41 60 00 00 00 00 00 read status word，Drive response 581
4B 41 60 00 31 C0
FF FF ，bit15=1 indicate origin found