Kinco FD5 Series - Page 7

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9.5 F005 ................................................................................................................................................................................... 152
Chapter 10 Communication .................................................................................................................................................. 154
10.1 RS232 wiring .......................................................................................................................................................... 154
10.1.1 RS232 Hardware port ...................................................................................................................................... 154
10.1.2 RS232 communication cable ......................................................................................................................... 154
10.1.3 RS232 Transfer protocol ................................................................................................................................. 154
10.1.4 RS232 Data protocol ........................................................................................................................................ 155
10.2 RS485 Communication....................................................................................................................................... 160
10.2.1 RS485 Hardware wiring................................................................................................................................... 160
10.2.2 RS485 communication parameters ............................................................................................................. 161
10.2.3 MODBUS RTU communication protocol .................................................................................................. 162
10.2.4 Communication troubleshooting measures ............................................................................................ 163
10.3 CANopen Bus communication ........................................................................................................................ 165
10.3.1 CANopen bus communication hardware description .......................................................................... 165
10.3.2 CANopen bus communication software description ........................................................................... 166
10.3.3 CANopen Bus communication settings .................................................................................................... 180
10.3.4 Interpolation mode based on CANopen .................................................................................................. 182
Appendix 1: Braking Resistor Selection ............................................................................................................................ 184
Appendix II: List of Common Object Parameters .......................................................................................................... 185
Mode and control（0x6040） ......................................................................................................................................... 185
Measurement data .............................................................................................................................................................. 187
Target（0x607A） ................................................................................................................................................................ 187
Multi-segment position/multi-segment velocity（0x2020） .............................................................................. 189
performance object（0x6065） ...................................................................................................................................... 191
Homing control（0x6098） ............................................................................................................................................. 192
Velocity loop parameters（0x60F9） ........................................................................................................................... 192
Position loop（0x60FB） ................................................................................................................................................... 194
Input/output port parameter（0x2010） ................................................................................................................... 195
Pulse input parameters（0x2508） ............................................................................................................................... 198
parameters for storage（0x2FF0） ................................................................................................................................ 198
Error code（0x2601） ........................................................................................................................................................ 200
Stop mode.............................................................................................................................................................................. 201
Other parameter .................................................................................................................................................................. 202