Kinco FD5P Series User Manual

Kinco FD5P AC series servo
Chapter 10 Communication
127
Note
 There is an independent CHKS for every ten Bits.
 If the host sends an address that does not exist in the network to the servo
drive, the servo drive will not respond .
 When the master sends a correct data, the slave will look for the slave data of
the corresponding address and check the check value. If the check value does
not match, the slave will not respond 。
RS232
The transport protocol used is in a fixed ten-byte packet format：
Bit 0
bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9
Drive ID
Data
CHKS
CHKS = -SUM(byte0……byte8)
，
CHKS
are the last two digits of the calculation result
Host sending：
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9
Drive ID
Host sends data
CHKS
Servo sending or host recieving：
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Bit 8
Bit 9
Drive ID
Host receive
CHKS
10.1.4 RS232 Data protocol
The data protocol is different from the transmission protocol, and its content refers to 8 data bytes
out of the 10 bytes above. The internal data definition of FD5P series servo drives conforms to the
CANopen international standard. Values and functions are expressed by indices and sub-indexes.
A：Downloading（From master to slave）
Download means that the master sends a command to write a value to the slave object. If
downloaded to a non-existent object, the master will generate an error.
Data format from the master
 Function data Specifies the direction and size of the data transfer
23(0x16)
Sending
4
Bits of data
(bytes 4...7
include
32 bits)
2B(0x16) Sending 2 Bits of data (bytes 4...5 include
16 bits)
2F(0x16) sending 1 Bit of data (bytes 4 include 8
bits)
 Indexes The address of the sending object, 16 bits
 Subindexes Subaddress of the sending object, 8 bits
 Data Sending data
The order of the four bits in the data is that the high bit is in the back and the low bit is in the front.
 example：
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Function code
Indexes
Subindexes
Data

Kinco FD5P Series Specifications

General

Brand	Kinco
Model	FD5P Series
Category	Controller
Language	English