Kinco FD5P Series User Manual

Kinco FD5P AC series servo
Chapter 10 Communication
139
0x06070013
Data type mismatch, service parameter length is too short
0x06090011
invalid subindex
0x06090030
Invalid data, beyond the object parameter setting range
0x06090031
The write data value is too large
0x06090032
Write data value is too small
0x08000022
Data cannot be transferred or saved to the app due to the current device state
Table 10-15 Set the origin mode by SDO message
Table 10-16 Setting position mode through SDO message
Parameter
address
Name
Value
Message(ID=1)
60400010
Control word
2F
Send→601 2B 40 60 00 2F 00 00 00
Receive←581 60 40 60 00 2F 00 00 00
Send→601 2B 40 60 00 4F 00 00 00
Receive←581 60 40 60 00 4F 00 00 00
4F
60600008
Operation mode
1
Send→601 2F 60 60 00 01 00 00 00
Receive←581 60 60 60 00 01 00 00 00
607A0020
Target position
50000inc
Send→601 23 7A 60 00 50 C3 00 00
Receive←581 60 7A 60 00 50 C3 00 00
60810020
trapezoidal speed
200RPM
Send→601 23 81 60 00 03 9D 36 00
Receive←581 60 81 60 00 03 9D 36 00
60830020
trapezoidal
acceleration
100rps/s
Send→601 23 83 60 00 6E A3 01 00
Receive←581 60 83 60 00 6E A3 01 00
Parameters address
Name
Value
Message(ID=1)
60400010
Control word
F
Send→601 2B 40 60 00 0F 00 00 00
Receive←581 60 40 60 00 0F 00 00 00
60600008
Operation
mode
6
Send→601 2F 60 60 00 06 00 00 00
Receive←581 60 60 60 00 06 00 00 00
60980008
Origin mode
33
Send→601 2F 98 60 00 21 00 00 00
Receive←581 60 98 60 00 21 00 00 00
60990120
Origin turning
signal speed
200RPM
Send→601 23 99 60 01 03 9D 36 00
Receive←581 60 99 60 01 03 9D 36 00
60990220
Origin signal
speed
100RPM
Send→601 23 99 60 02 82 4E 1B 00
Receive←581 60 99 60 02 82 4E 1B 00
60400010
Control word
1F
Send→601 2B 40 60 00 1F 00 00 00
Receive←581 60 40 60 00 1F 00 00 00
Send 601 40 41 60 00 00 00 00 00 read status word，Drive response 581 4B 41 60 00 31 C0
FF FF ，bit15=1 indicate origin found

Kinco FD5P Series Specifications

General

Brand	Kinco
Model	FD5P Series
Category	Controller
Language	English