Setpoint
COB-ID Data Comment
303 20 4E 00 00 Pos 8CA0 =36000µm ; V= 20000 µm/s
080 send a SYNC
283 BB F8 FF FF response telegram
Set controlword with „new setpoint“by bit (bit 4)
COB-ID Data Comment
203 1F 00
Wait
COB-ID Data Comment
183 37 12 setpoint acknowledge
Reset controlword with „new setpoint“by bit (bit 4) reset
COB-ID Data Comment
203 0F 00
183 37 02 reset Setpoint acknowledge
Wait
COB-ID Data Comment
183 37 06 response: target reached
080 SYNC
283 92 FC FF FF response: 92 FC position , FF FF speed
8.2.1.9 Example: ASCII Communication
The following example reads the active faults from the drive (ASCII command DRV.FAULTS).
COB-ID Control Index Sub- Data Comment
byte Low byte High byte index
601 23 26 20 01h 44 52 56 2E send ASCII code "DRV."
581 60 26 20 01h 00 00 00 00 response telegram
601 23 26 20 01h 46 41 55 4C send ASCII code "FAUL"
581 60 26 20 01h 00 00 00 00 response telegram
601 23 26 20 01h 54 53 0D 0A send ASCII code "TS\r\n"
581 60 26 20 01h 00 00 00 00 response telegram
601 40 26 20 02h 00 00 00 00 read response
581 43 26 20 02h 3E 4E 6F 20 read ASCII code ">No"
601 40 26 20 02h 00 00 00 00 read response
581 43 26 20 02h 66 61 75 6C read ASCII code "FAUL"
601 40 26 20 02h 00 00 00 00 read response
581 43 26 20 02h 74 73 20 61 read ASCII code "ts a"
601 40 26 20 02h 00 00 00 00 read response
581 43 26 20 02h 63 64 69 76 read ASCII code "ctiv"
601 40 26 20 02h 00 00 00 00 read response
581 43 26 20 02h 66 0A 0D 0A read ASCII code "e\n\r\n"
AKD CANopen | 8 Appendix
Kollmorgen™ | November 2012 149
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