Kinco FD5P Series User Manual

Kinco FD5P AC series servo
Chapter 10 Communication
140
60840020
trapezoidal
acceleration
100rps/s
Send→601 23 84 60 00 6E A3 01 00
Receive←581 60 84 60 00 6E A3 01 00
60400010
Control word
3F
Send→601 2B 40 60 00 3F 00 00 00
Receive←581 60 40 60 00 3F 00 00 00
5F
Send→601 2B 40 60 00 5F 00 00 00
Receive←581 60 40 60 00 5F 00 00 00
Send 601 40 41 60 00 00 00 00 00 read status word，Drive response 581 4B 41 60 00 37 C4
FF FF,bit10 indicates target position reached
Table 10-17 Setting Velocity mode through SDO message
Parameter address
Name
value
message(ID=1)
60600008
Operation mode
3
Send→601 2F 60 60 00 03 00 00 00
Receive←581 60 60 60 00 03 00 00 00
60FF0020
Target speed
-100RPM
Send→601 23 FF 60 00 7E B1 E4 FF
Receive←581 60 FF 60 00 7E B1 E4 FF
60400010
Control word
2F
Send→601 2B 40 60 00 2F 00 00 00
Receive←581 60 40 60 00 2F 00 00 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
60840020
Trapezoidal
deceleration
100rps/s
Send→601 23 84 60 00 6E A3 01 00
Receive←581 60 84 60 00 6E A3 01 00
Note: The message is expressed in hexadecimal, and the resolution of the motor used in this case is
65536
Description of PDO
PDO can transmit 8 bits of data at one time, and there is no other protocol preset (meaning
that the data content has been predefined), and it is mainly used to transmit data that requires
high-frequency exchange. The transmission method of PDO breaks the existing data question-
and-answer transmission concept, and adopts a new data exchange mode. The two sides of
the device define the data receiving and sending areas in each device before transmission, and
directly send the relevant data to the data receiving area of the other party during data
exchange. This method reduces the question-and-answer query time, thereby greatly
improving the efficiency of bus communication, thereby achieving extremely high bus
utilization.
Description of PDO’s COB-ID
COB-ID is a unique method of CANopen communication protocol, its full name is
Communication Object Identifier-communication object-ID, These COB-IDs define the
corresponding transmission levels for the PDO. With these transmission levels, the controller
and the servo can define the same transmission level and the transmission content in their
respective software configurations. In this way, after both the controller and the servo use the
same transmission level and transmission content, the data transmission is transparent, that is,
both parties know the content of the data to be transmitted, and there is no need for the
other party to reply data when transmitting data.
The default ID allocation table is based on the 11-bit CAN-ID defined by CANopen 2.0A

Kinco FD5P Series Specifications

General

Brand	Kinco
Model	FD5P Series
Category	Controller
Language	English