Kinco JD Series - Appendix 8：Common Objects List

Kinco JD 伺服系列使用手册
139
Kinco JD Series Servo User Manual
Appendix 8：Common Objects List
Based on the data communication protocols described in Chapter 10,all parameter values are transferred in
hexadecimal data. In the later sections of this document, we adopt the hexadecimal system and use Index
(16-bit index) and Subindex (8-bit subindex) to represent the register addressing. The digit 08 indicates the
register will store data up to 1 byte, and the digit 10 indicates that the register will store data up to 2 bytes,
and the digit 20 indicates the register will store data up to 4 bytes. It also covers the storage digits and
read/write property of the register, read or write flag (RW), read-only or write-only flag (RO, WO), and
mapping flag (M).
Modes and Control:
Index
Subindex
Bits
Modbus
Address
Command
Type
Unit
Descriptions
6040
00
10
0x3100
RW
bitcode
Use control word to change status of
drive =>machine state
0x06 Motor power off
0x0F Motor power on
0x0B Quick stop, load tops-voltage
switched off
0x2F-3F Start absolute positioning
immediately
0x4F-5F Start relative positioning
immediately
0x103F Start absolute positioning
while target position changes.
0x105F Start relative positioning
while target position changes
0x0F-1F Start homing
0X80 Clear internal error.
6041
00
10
0x3200
RO
bitcode
Status byte shows the status of drive
bit0：ready to switch on
bit1：switch on
bit2：operation enable
bit3：falt
bit4：Voltage Disable
bit5：Quick Stop
bit6：switch on disable
bit7：warning
bit8：internal reserved
bit9：reserved
bit10： target reach
bit11： internal limit active
bit12： Step.Ach./V=0/Hom.att.
bit13： Foll.Err/Res.Hom.Err.
bit14： Commutation Found
bit15： Referene Found
6060
00
08
0x3500
WO
number
Operation modes:
1 Positioning with position loop
3 Velocity with position loop
-3 Velocity loop (immediate velocity
mode)
-4 Master/slave or pulse/direction control
mode