Kinco FD5P Series - Measurement Data; Target（0 X607 A

Kinco FD5P AC series servo
Appendix II: List of Common Object Parameters
152
Measurement data
Name
CANopen
Modbus
Commend type
Data type
Description
Actual position
60630020
3700
RM
Integer32
Actual current
60780010
3E00
RM
Integer16
Input port status
60FD0020
6D00
RM
Unsigned32
bit0: Negative limit signal status
bit1: Positive limit signal status
bit2: Origin signal status
bit3: Hardware lock signal status
Actual velocity
606C0020
3B00
RM
Integer32
Note
0x606C0020，The unit conversion method is DEC=[(RPM*512* Encoder
resolution)/1875]
Target（
0x607A
）
Name
CANopen
Modbus
Commend type
Data type
description
Velocity position
direction control
607E0008
4700
RWS
Unsigned8
run polarity reversal
0: Counterclockwise is the positive direction
1: Clockwise is the positive direction
Target position
607A0020
4000
RWM
Integer32
The target position in position mode 1, if the
control word is set to start motion, transitions
to the valid command position inc
Trapezoidal velocity
60810020
4A00
RWM
Unsigned3 2
Trapezoidal velocity (rpm) in operating mode
1
Target speed
60FF0020
6F00
RWM
Integer32
Target speed in mode 3 and -3,
Max velocity limit
60800010
4900
RW
Unsigned1 6
Default 5000rpm
Trapezoidal
acceleration
60830020
4B00
RWSM
Unsigned3 2
Default：610.352rps/s
Trapezoidal
deceleration
60840020
4C00
RWSM
Unsigned3 2
Default
：
610.352rps/s
,
Operation mode
60600008
3500
RWM
Integer8
Operating mode:
1: Positioning mode with position loop
3: Speed mode with position loop
4: Torque Mode
-3: Speed loop (immediate speed mode)
-4: Pulse mode
6: Homing mode
7: Motion interpolation based on CANopen
Absolute/relative
position control
selection
20200F10
0CF0
RWS
Unsigned16
When the "drive enable" function is configured
to Din, and the corresponding Din valid input
is 1, the "control word" (6040.00) will be set to
this value;
0x2F: Absolute position control
0x4F: Relative position control