Kollmorgen S300

5.3.3 Example: Jog Mode via SDO
The motor shall work with constant velocity.
COB-ID
Control
byte
Index
Sub-
index
Data Comment
Low byte High byte
603 2F 60 60 00
h
03 00 00 00
Mode of operation “Profile Velocity”
583 60 60 60 00
h
00 00 00 00
603 23 FF 60 00
h
00 00 00 00
setpoint=0
583 60 FF 60 00
h
00 00 00 00
603 2B 40 60 00
h
06 00 00 00
shutdown
583 60 40 60 00
h
00 00 00 00
603 2B 40 60 00
h
07 00 00 00
switch on
583 60 40 60 00
h
00 00 00 00
603 2B 40 60 00
h
0F 00 00 00
enable operation
583 60 40 60 00
h
00 00 00 00
603 23 FF 60 00h 00 41 00 00 setpoint=16640
dec
/ PGEARI=Turns/sec
for PGEARI=10000, setpoint=1.664 sec
-1
99.84 rpm
583 60 FF 60 00h 00 00 00 00
603 2B 40 60 00
h
0F 01 00 00
Intermediate Stop
583 60 40 60 00
h
00 00 00 00
5.3.4 Example: Torque Mode via SDO
The motor shall work with constant torque. In this mode it is useful to limit the maximum speed with
the parameter ICMDVLIM with the terminal function of the setup software.
Example:
ICMDVLIM 300 ;limit of max. speed to 300 rpm.
SAVE
COLDSTART
CAN data:
COB-ID
Control
byte
Index
Sub-
index
Data Comment
Low byte High byte
603 2F 60 60 00
h
04 00 00 00
Mode of operation “Torque”
583 60 60 60 00
h
00 00 00 00
603 2B 71 60 00
h
00 00 00 00
setpoint=0
583 60 71 60 00
h
00 00 00 00
603 2B 40 60 00
h
06 00 00 00
shutdown
583 60 40 60 00
h
00 00 00 00
603 2B 40 60 00
h
07 00 00 00
switch on
583 60 40 60 00
h
00 00 00 00
603 2B 40 60 00
h
0F 00 00 00
enable operation
583 60 40 60 00
h
00 00 00 00
603 2B 71 60 00
h
90 01 00 00
setpoint 400 mA
583 60 71 60 00
h
00 00 00 00
603 2B 40 60 00
h
0F 01 00 00
intermediate Stop
583 60 40 60 00
h
00 00 00 00
CANopen for S300/S700 117
Kollmorgen 11/2018 Appendix