Kollmorgen S300

5.3.6 Example: Torque Mode via PDO
It is useful to disable unused PDOs. The first TX_PDO shall transmit the actual current value with
every SYNC.
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 2F 00 16 00
h
00 00 00 00
delete entry for the first RXPDO
583 60 00 16 00
h
00 00 00 00
603 23 00 16 01
h
10 00 71 60 mapping RXPDO1,
Object6071,Sub-Index 0 current
setpoint, data length 16bit
583 60 00 16
01
h
00 00 00 00
603 2F 00 16 00
h
01 00 00 00
check number of mapped objects
583 60 00 16 00
h
00 00 00 00
603 2F 00 1A 00
h
00 00 00 00
delete entry for TXPDO1
583 60 00 1A 00
h
00 00 00 00
603 23 00 1A 01
h
10 00 77 60 mapping TXPDO1,
Object6077,Sub-Index 0 actual
current value, Data length16bit
583 60 00 1A
01
h
00 00 00 00
603 2F 00 1A 00
h
01 00 00 00
number of mapped objects
583 60 00 1A 00
h
00 00 00 00
603 2F 00 18 02
h
01 00 00 00
set TXPDO1 to synchronous,
transmission with every SYNC
583 60 00 18 02
h
00 00 00 00
603 23 01 18 01
h
83 02 00 C0
disable TPDO2, set bit 31 (80h)
583 60 01 18 01h 00 00 00 00
603 23 02 18 01
h
83 03 00 C0
disable TPDO3
583 60 02 18 01
h
00 00 00 00
603 23 03 18 01
h
83 04 00 C0
disabled TPDO4
583 60 03 18 01
h
00 00 00 00
603 23 01 14 01
h
03 03 00 80
disabled RPDO2
583 60 01 14 01
h
00 00 00 00
603 23 02 14 01
h
03 04 00 80
disabled RPDO3
583 60 02 14 01
h
00 00 00 00
603 23 03 14 01
h
03 05 00 80
disabled RPDO4
583 60 03 14 01
h
00 00 00 00
000 01 03 enable NMT
603 2B 40 60 00
h
06 00 00 00
shutdown
583 60 40 60 00h 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
203 12 02 setpoint 530 mA
080 send SYNC
183 19 02 actual value 537 mA
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 119
Kollmorgen 11/2018 Appendix