Kinco FD425-CA-000, Руководство пользователя, Страница: 177 / 206

Kinco FD5 系列伺服驱动器使用手册 第十章 通讯连接
174
Note ：
1
、
The smaller the COB-ID, the higher the priority;
2
、 The function code in front of each level of COB-ID is in a fixed format ；
3
、
COB-IDs are 00H, 80H, 100H, 701H-77FH, and 081H-0FFH, which are all system management formats.
COB-IDs supported by FD5 series servo drives
⚫
Send
PDO
（
TXPDO
）
TXBDO refers to the data sent by the servo relative to the servo, and these data are
received by the PLC. The function code (COB-ID) for sending PDO is:
1 、 0x180+ Servo station NO.
2
、
0x280+
Servo station NO.
3
、
0x380+
Servo station NO.
4 、 0x480+ Servo station NO.
⚫
Receive PDO （ RXPDO ）
Compared with the servo, the receiving PADO refers to the data received by the servo. These data are
sent by the PLC. The function code (COB-ID) of the sending PDO is:
1 、 0x200+ Servo station NO.
2 、 0x300+ Servo station NO.
3 、 0x400+ Servo station NO.
4 、 0x500+ Servo station NO.
⚫
PDO Transmission type
PDO has two different transmission type ：
Synchronize （ SYNC ）—— Transmission triggered by synchronization messages （ Transmission
type ： 0-240 ）
In this transmission mode, the controller must have the ability to send synchronization
messages (messages sent periodically with a frequency of up to 1KHZ), and the servo will send the
synchronization message after receiving the message.
Period - The transfer type is 1-240. Delivery is triggered after every 1 to 240 SYNC
messages. In this mode, the data in the PDO is sent once every time the servo drive receives n
synchronization messages.
Asynchronous (Transmission Type: 254/255)
The message is sent after the slave message data has changed, regardless of whether the
master asks it or not. And can define the time interval between two transmissions of the same
message to avoid high priority messages occupying the bus all the time (the lower the PDO value,
the higher the priority).