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Kinco FD5 系列伺服驱动器使用手册 第十章 通讯连接
172
60400010
Control word
2F
S end→ 6
01 2B 40 60 00 2F 00 00 00
R eceive←
581 60 40 60 00 2F 00 00
00
60830020
Trapezoidal
acceleration
100rps/s
S end→ 6
01 23 83 60 00 6E A3 01 00
R eceive← 5
81 60 83 60 00 6E A3 01
00
60840020
Trapezoidal
deceleration
100rps/s
S end→ 6
01 23 84 60 00 6E A3 01 00
R eceive← 58
1 60 84 60 00 6E A3 01
00
Attention
:
The message is expressed in hexadecimal, and the resolution of the motor used in this
case is 65536
D
escription 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
(CANopen 2.0B protocol COB-ID is 27 bits), including a 4-bit function code part and a 7-bit
node ID (Node-ID) section, as shown in Figure 10-4.
Figure
10-6 default ID explanation diagram
Node-ID
—— Defined by the system integrator, for example, set by the DIP switch on the
device (that is, the station number of the servo), the Node-ID range is 1~127 (0 is not allowed to
be used)
；
Function Code —— The function code of data transmission defines the transmission level of
various PDOs, SDOs, and management messages. The smaller the function code, the higher the
priority.