Kinco FD5 Series - Measurement Data; Target（0 X607 A

Kinco FD5 系列伺服驱动器使用手册
附录二 常用对象参数列表
187
Measurement data
Name
CANopen
Modbus
Commend
type
Data type
Description
Actual position
60630020
3700
RM
Integer32
Actual current
60780010
3E00
RM
Integer16
Input port
status
60FD0020
6D00
RM
Unsigned32
bit0: Negative limit
signal status
bit1: Positive limit
signal status
bit2: Origin signal
status
bit3: Hardware lock signal
status
Actual velocity
606C0020
3B00
RM
Integer32
Target（0x607A）
Name
CANopen
modb
us
Commen
d type
Data type
description
Velocity
position
direction
control
607E0008
4700
RWS
Unsigned8
run polarity reversal
0: Counterclockwise is the positive
direction
1: Clockwise is the positive
direction
Target
position
607A0020
4000
RWM
Integer32
The target position in position
mode 1, if the control word is set
to start motion, transitions to the
valid command position inc
trapezoidal
velocity
60810020
4A00
RWM
Unsigned3
2
Trapezoidal velocity (rpm) in
operating mode 1
target speed
60FF0020
6F00
RWM
Integer32
Target speed in mode 3 and -3,
Max velocity
limit
60800010
4900
RW
Unsigned1
6
Default 5000rpm
trapezoidal
acceleration
60830020
4B00
RWSM
Unsigned3
2
Default：610.352rps/s
Trapezoidal
deceleration
60840020
4C00
RWSM
Unsigned3
2
Default：610.352rps/s
target torque
60710010
3C00
RW
Integer16
Torque command in torque mode,
the percentage of target torque to
Attention
0x606C0020 ，The unit conversion method is DEC=[(RPM*512* Encoder
resolution )/1875]