Kinco FD5P Series - Page 136

Kinco FD5P AC series servo
Chapter 10 Communication
129
 Example：
The master sends an "upload" command to the slave:
01 40 F0 2F 09 58 02 00 00 3D（This command is to read the target
speed of the slave
2FF00910
）
Slave response：
01 4B F0 2F 09 58 02 00 00 32
Direction：
01
Slave number is
1
4B Received 2 bits, saved by byte4 and byte5 in the 10 bits of the response
F0 2F
The object index address is 2FF0
09 The object subindex address is 09
58 02 00 00
Data is
00 00 02 58(hex)= 600 rpm
Table 10-1 Set origin mode/position mode/speed mode via RS232 communication
Homing mode
Address
Name
Value
Message(ID=1)
Remark
60400010
Control bit
F
Send→01 2B 40 60 00 0F 00 00 00 25
Receive←01 60 40 60 00 0F 00 00 00 F0
60600008
Operation mode
6
Send→01 2F 60 60 00 06 00 00 00 0A
Receive←01 60 60 60 00 06 00 00 00 D9
60980008
Homing mode
33
Send→01 2F 98 60 00 21 00 00 00 B7
Receive←01 60 98 60 00 21 00 00 00 86
Origin turning signal speed and
origin
60990120
Origin turning
signal speed
200RPM
Send→01 23 99 60 01 03 9D 36 00 0C
Receive←01 60 99 60 01 03 9D 36 00 CF
The signal speed is expressed in
decimal DEC by default,
DEC=[(RPM*512*[641003]
)/1875]
60990220
Origin signal speed
100RPM
Send→01 23 99 60 02 82 4E 1B 00 F6
Receive←01 60 99 60 02 82 4E 1B 00 B9
60400010
control bit
1F
Send→01 2B 40 60 00 1F 00 00 00 15
Receive←01 60 40 60 00 1F 00 00 00 E0
Send 01 40 41 60 00 00 00 00 00 1E Read control bits
，
Drive response 01 4B 41 60 00 31
C0 FF FF 24 ，bit15=1 indicates home is found