Kinco FD5 Series - Appendix II: List of Common Object Parameters; Mode and Control（0 X6040

Kinco FD5 系列伺服驱动器使用手册
附录二 常用对象参数列表
185
Appendix II: List of Common Object Parameters
Mode and control（0x6040）
Name
CANopen
Modb
us
Commend
properties
Type of data
Description
Control
word
60400010
3100
RWM
Unsigned16
0x06 ：Motor power off
0x0F ：Motor power on
0x0B ：Quick stop, load stop -
voltage disconnect
0x2F → 3F ：absolute positioning
mode
0x4F → 5F ：relativepositioning
mode
0x103F：absolute
positioning based on target
position changes
0x0F → 1F ：Origin positioning
0X86 ：clear internal fault
⚫ Attention
⚫ CANopen address and 232 communication address are the same
⚫ Express register addressing in the form of Index (16-bit address) and Subindex
(8-bit sub-address)
⚫ The digit 0x08 indicates that the length of the data stored in this register is 1
Byte, the digit 0x10 indicates that the length of the data stored is 2 Bytes, and
the digit 0x20 indicates that the length of the data stored is 4 Bytes
⚫ R: readable，W: writable，S: savable，M: mappable；
⚫ The complete CANopen address format is main index + sub index + data
length, such as 60400010 (control word)
⚫ The complete Modbus address format is a 4-digit hexadecimal number, such
as 3100 (control word)