Kinco FD425-CA-000, Руководство пользователя, Страница: 190 / 206

Kinco FD5 系列伺服驱动器使用手册
附录二 常用对象参数列表
187
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
Target （
0x607A
）
Name CANopen
modb
us
Commen
d 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 5000
rpm
trapezoidal
acceleration
60830020 4B00 RWSM
Unsigned3
2
Default ： 610.352rps/s
Trapezoidal
deceleration
60840020 4C00 RWSM
Unsigned3
2
Default ：
610.352rps/s
target torque 60710010 3C00 RW Integer16
Torque command in torque mode,
the percentage of target torque to
Attention
0x606C0020 ， The unit conversion method is DEC=[(RPM*512* Encoder
resolution
)/1875]