Kinco FD5 Series - Page 174

Kinco FD5 系列伺服驱动器使用手册
第十章 通讯连接
171
Table 10-16 Setting position mode through SDO message
Paramete
r address
name
Value
Message(ID=1)
60400010
Control word
2F
Send→601 2B 40 60 00 2F 00 00 00
Receive←581 60 40 60 00 2F 00 00
00
Send→601 2B 40 60 00 4F 00 00 00
Receive←581 60 40 60 00 4F 00 00
00
4F
60600008
Operation
mode
1
Send→601 2F 60 60 00 01 00 00 00
Receive←581 60 60 60 00 01 00 00
00
607A0020
Target
position
50000inc
Send→601 23 7A 60 00 50 C3 00 00
Receive←581 60 7A 60 00 50 C3 00
00
60810020
trapezoidal
speed
200RPM
Send→601 23 81 60 00 03 9D 36 00
Receive←581 60 81 60 00 03 9D 36
00
60830020
trapezoidal
acceleration
100rps/s
Send→6 01 23 83 60 00 6E A3 01 00
Receive←581 60 83 60 00 6E A3 01
00
60840020
trapezoidal
acceleration
100rps/s
Send→6 01 23 84 60 00 6E A3 01 00
Receive←581 60 84 60 00 6E A3 01
00
60400010
Control word
3F
Send→601 2B 40 60 00 3F 00 00 00
Receive←581 60 40 60 00 3F 00 00
00
5F
Send→601 2B 40 60 00 5F 00 00 00
Receive←581 60 40 60 00 5F 00 00
00
Send 601 40 41 60 00 00 00 00 00 read status word，Drive response 581
4B 41 60 00 37 C4
FF FF,bit10 indicates target position reached
Table 10-17 Setting Velocity mode through SDO message
Parameter
address
Name
value
message(ID=1)
60600008
Operation
mode
3
Send→601 2F 60 60 00 03 00 00 00
Receive←581 60 60 60 00 03 00 00
00
60FF0020
Target speed
-100RPM
Send→601 23 FF 60 00 7E B1 E4 FF
Receive←581 60 FF 60 00 7E B1 E4
FF