Kinco FD5 Series - Homing Control（0 X6098; Velocity Loop Parameters（0 X60 F9

Kinco FD5 系列伺服驱动器使用手册
附录二 常用对象参数列表
192
Homing control（0x6098）
Name
CANopen
Modbu
s
Commend
type
Data type
Description
Homing
mode
60980008
4D00
RWSM
Integer8
Homing function
Refer origin control chapter
Origin
turning
signal speed
60990120
5010
RWSM
Unsigned32
After touching the trigger
event, the speed of homing
process (rpm)
Origin signal
speed
60990220
5020
RWSM
Speed when starting to find
the origin
Homing
acceleration
609A0020
5200
RWS
Unsigned32
Acceleration when homing
process unit: rps/s
Origin offset
607C0020
4100
RWSM
Integer32
Offset value after homing unit:
inc
Origin
Offset
Mode
60990508
5050
RWS
Unsigned8
Origin Offset Mode Control
0: run to the origin offset
position, the actual position is
displayed as 0
1: Run to the event trigger
point, after the end the actual
position will become: - Origin
offset
Velocity loop parameters（0x60F9）
Name
CANopen
Modbus
Comm
end
type
Data type
Description
Kvp
60F90110
6310
RW
Unsigned16
The larger the value, the
stronger the gain, but it may
cause the motor howling
Kvi
60F90210
6320
RW
Unsigned16
The larger the value, the
stronger the gain, but it may
cause the motor howling
Kvi/32
60F90710
6370
RW
SL
Unsigned16
Kvi ’ s 1/32