Kollmorgen S300

Homing type (6098)
COB-ID
Control
byte
Index
Sub-
index
Data Comment
Low byte High byte
603 2F 60 60 00
h
06 00 00 00
mode of operation = homing
583 60 60 60 00
h
00 00 00 00
603 40 41 60 00
h
00 00 00 00
read profile status, response:
0250h Voltage Enabled
583 4B 41 60 00
h
40 02 00 00
603 2B 40 60 00
h
06 00 00 00
Controlword Transition_2,"ready to
switch on". Shutdown
583 60 40 60 00
h
00 00 00 00
603 2B 40 60 00
h
07 00 00 00
Transition_3, "switch on". switch on
583 60 40 60 00
h
00 00 00 00
603 2B 40 60 00
h
0F 00 00 00
Transition_4,"operation enable"
583 60 40 60 00
h
00 00 00 00
603 40 41 60 00
h
00 00 00 00
read profile status
583 4B 41 60 00
h
37 02 00 00
603 2B 40 60 00
h
1F 00 00 00
Homing_operation_start
583 60 40 60 00
h
00 00 00 00
603 40 41 60 00
h
00 00 00 00
read profile status, response: hom
-
ing not finished
583 4B 41 60 00
h
37 02 00 00
603 40 41 60 00
h
00 00 00 00
read profile status, response: hom
-
ing finished
583 4B 41 60 00
h
37 16 00 00
Bit 12 in SDO 6041 indicates, whether homing is finished. Reading of the profile status isn't neces
-
sary.
5.3.8 Example: Start Motion Task from the internal memory of S300/S700 via SDO
This example needs a defined motion task (can be done with the setup software) saved in the ser-
voamplifier and homing must be done before starting absolute motion tasks.
COB-ID
Control
byte
Index
Sub-
index
Data Comment
Low byte High byte
603 2F 60 60 00
h
01 00 00 00
mode of operation= position
583 60 60 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 00h 0F 00 00 00
Enable Operation
583 60 40 60 00h 00 00 00 00
603 2B 80 20 00h 03 00 00 00
Select motion task 3
583 60 80 20 00h 00 00 00 00
603 2B 40 60 00h 3F 00 00 00
Start with new SETPOINT and
CHANGE_SET_IMMEDIATELY
583 60 40 60 00h 00 00 00 00
603 40 81 20 00h 00 00 00 00 Read active motion task
response: Motion task 3 in opera
-
tion
583 4B 81 20 00h 03 00 00 00
CANopen for S300/S700 121
Kollmorgen 11/2018 Appendix