Kollmorgen S300

Index
Sub-
Index
Data Type Access
PDO
mapp.
Description
ASCII
object
3500h
RECORD ASCII Command MAXCMD MAXCMD
0 UNSIGNED8 ro — Number of entries —
1 UNSIGNED32 ro — Value —
2 UNSIGNED32 ro — Lower limit value —
3 UNSIGNED32 ro — Upper limit value —
4 UNSIGNED32 ro — Default value —
5 UNSIGNED32 ro — Parameter format —
6 UNSIGNED32 ro — Parameter control data —
7 UNSIGNED32 ro — reserved —
8 UNSIGNED32 ro — reserved —
3500h+MAXCMD RECORD Last entry of the ASCII Object Chanel —
6040h 0 UNSIGNED16 w yes control word —
6041h 0 UNSIGNED16 ro yes status word —
6060h 0 INTEGER8 rw yes Modes of Operation —
6061h 0 INTEGER8 ro yes Modes of Operation Display —
6063h 0 INTEGER32 ro yes Position actual value (increments) —
6064h 0 INTEGER32 ro yes Position actual value (position units) PFB
6065h 0 UNSIGNED32 rw — Following error window PEMAX
6067h 0 UNSIGNED32 rw — Position window PEINPOS
6068h 0 UNSIGNED16 rw — Position window time INPT1
606Ch 0 INTEGER32 ro yes Velocity actual value —
6071h 0 INTEGER16 rw yes Target torque —
6073h 0 UNSIGNED16 rw — Max current MIPEAK
6077h 0 INTEGER16 ro yes Torque actual value —
607Ah 0 INTEGER32 rw yes Target position O_P
607Ch 0 INTEGER32 rw — Reference offset ROFFS
607Dh
ARRAY Software position limit
0 UNSIGNED8 ro — Number of entries
1 INTEGER32 rw — Software position limit 1 SWE1
2 INTEGER32 rw — Software position limit 2 SWE2
607Fh 0 UNSIGNED32 rw — Max profile velocity PVMAX
6080h 0 UNSIGNED32 rw — Max motor speed VLIM
6081h 0 UNSIGNED32 rw yes Profile Velocity O_V
6083h 0 UNSIGNED32 rw yes Profile Acceleration
O_ACC (pp)
/ACC (pv)
6084h 0 UNSIGNED32 rw yes Profile Deceleration
O_DEC (pp) /
DEC (pv)
6085h 0 UNSIGNED32 rw — Quick stop deceleration DECSTOP
6086h 0 INTEGER16 Rww yes Motion profile type O_C
6089h 0 INTEGER8 rw — Position Notation index —
608Ah 0 UNSIGNED8 rw — Position Dimension index —
608Bh 0 INTEGER8 rw — Velocity Notation index —
608Ch 0 UNSIGNED8 rw — Velocity Dimension index —
608Dh 0 INTEGER8 rw — Acceleration Notation index —
608Eh 0 UNSIGNED8 rw — Acceleration Dimension index —
608Fh
ARRAY Position encoder resolution —
0 UNSIGNED8 ro — Number of entries —
1 UNSIGNED32 rw — Encoder increments PGEARO
2 UNSIGNED32 rw — Motor revolutions BUSP7
6090h
ARRAY Velocity encoder resolution —
0 UNSIGNED8 ro — Number of entries —
1 UNSIGNED32 rw — Encoder increments per second —
2 UNSIGNED32 rw — Motor revolutions per second —
6091h
ARRAY Gear ratio —
0 UNSIGNED8 ro — Number of entries —
1 UNSIGNED32 rw — Motor revolutions —
2 UNSIGNED32 rw — Shaft revolutions —
6092h
ARRAY Feed constant —
0 UNSIGNED8 ro — Number of entries —
1 UNSIGNED32 rw — Feed PGEARI
2 UNSIGNED32 rw — Shaft revolutions —
CANopen for S300/S700 105
Kollmorgen 11/2018 Appendix