Kinco FD5P Series - Interpolation Mode Based on Canopen

Kinco FD5P AC series servo
Chapter 10 Communication
148
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10.3.4 Interpolation mode based on CANopen
The interpolation mode is suitable for single-axis operation control and multi-axis synchronous
control. The master station performs the motion contour planning, and the target position is
periodically updated in the synchronous mode. In the host computer software interface, click
Drive->ECAN Configuration->Other to enter the interpolation mode parameter setting
interface
figure 10-8 Position interpolation curve
Figure 10-6 Position interpolation curve
10170010
Heartbeat message generation
time
The slave station periodically sends a message to
the master station based on the "heartbeat
message generation time". If the master station
does not receive the message within a certain
period of time, it judges that the slave station is
offline and the master station alarms. The heartbeat
message generation time data will not be saved
when power off. It is configured by the master
station when it is powered on (unit: ms). It should
be noted that the data format is DEC.
0
10160120
Slave heartbeat message
Data length The first bit of the 4 bits is invalid data, the
second bit is the station ID, and the last two bits represent
the heartbeat message interval, in ms. If the value is
7F03E8, it means that the ID of the master station is 127,
and the heartbeat message interval is 1000ms. The
heartbeat message data of the slave station will not be
saved when power off. It is configured by the master
station when it is powered on. Note that the data format
is HEX
7F0000
Position interpolation curve
Target Location
Period time