Kinco CD2S Series, Руководство пользователя

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106
60980008
Homing_Metho
d
33 01 2F 98 60 00 21 00 00 00 B7
Homing_Speed_Zero
fault unit is DEC
，
DEC=[(RPM*512*E
ncoder
resolution)/1875]
60990120
Homing_Speed_
Switch
200RPM 01 23 99 60 01 55 55 08 00 30
60990220
Homing_Speed_
Zero
150RPM 01 23 99 60 02 00 40 06 00 9B
60400010 Controlword 1F 01 2B 40 60 00 1F 00 00 00 15
01 40 41 60 00 00 00 00 00 1ERead state word
，
C037means home found
Position mode
（
Controlword Absolute positioning 2F to 3F Relative positioning 4F to 5F
，
103F Start absolute
positioning)
CANOpen Name Value Message
（
ID=1
）
Meaning

60400010

Controlword

F

01 2B 40 60 00 0F 00
00 00 25

DEC=[(RPM*512*Enco
der resolution)/1875]

60600008

Operation_mode

1

01 2F 60 60 00 01 00
00 00 0F

607A0020

Target_Position

50000inc

01 23 7A 60 00 50 C3
00 00 EF

60810020

Profile_Speed

200RPM

01 23 81 60 00 55 55
08 00 49

60830020

Profile_Acc

610.352rps/s

Default

DEC=[(RPS/S*

65536*Encoder
resolution)/1000/4000]

60840020

Profile_Dec

610.352rps/s

Default

60400010

Controlword

2F

01 2B 40 60 00 2F 00
00 00 05

3F(Absolute
positioning)

01 2B 40 60 00 3F 00
00 00 F5

4F

01 2B 40 60 00 4F 00
00 00 E5

5F(Relative
positioning)

01 2B 40 60 00 5F 00
00 00 D5

01 40 41 60 00 00 00 00 00 1E Read state word
，
D437 means position to

Speed mode

CANOpen

Name

Value

Message
（
ID=1
）

Meaning

60600008

Operation_Mode

3

01 2F 60 60 00 03 00 00 00 0D

Default unit of Target
speed

DEC
，
DEC=[(RPM*512*Enc

60FF0020

Target_Speed

150RPM

01 23 FF 60 00 00 40 06 00 37

60400010

Controlword

F

01 2B 40 60 00 0F 00 00 00 25

60830020

Profile_Acc

610.352

rps/s

Default