Kollmorgen S300

Disable unused TPDOs
COB-ID
Control
byte
Index
Sub-
index
Data Comment
Low byte High byte
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
disable TPDO4
583 60 03 18 01
h
00 00 00 00
Disable unused RPDOs
COB-ID
Control
byte
Index
Sub-
index
Data Comment
Low byte High byte
603 23 02 14 01
h
03 04 00 80
disable RPDO3
583 60 02 14 01
h
00 00 00 00
603 23 03 14 01
h
03 05 00 80
disable RPDO4
583 60 03 14 01
h
00 00 00 00
Define mechanical resolution via Object 6092h, Sub-Index 01h and 02h. Default values are the
motion specific factors PGEARI and PGEARO:
COB-ID
Control
byte
Index
Sub-
index
Data Comment
Low byte High byte
603 23 93 60 01
h
00 00 10 00
2E20 increments
583 60 93 60 01
h
00 00 00 00
603 23 93 60 02
h
A0 8C 00 00
3600 user units
583 60 93 60 02
h
00 00 00 00
After defining the PDOs they can be released with the NMT:
COB-ID Data Comment
000 01 03 enable NMT
183 40 02 profile status
Now the homing can be set and started.
COB-ID
Control
byte
Index
Sub-
index
Data Comment
Low byte High byte
603 2F 60 60 00
h
06 00 00 00
Operation mode = homing
583 60 60 60 00
h
00 00 00 00
603 2F 98 60 00
h
0C 00 00 00
homing type 12, negative direc
-
tion (DS402)
583 60 98 60 00
h
00 00 00 00
603 23 99 60 01
h
40 19 01 00
homing speed
72000 units/s=2s-1
583 80 99 60 01
h
31 00 09 06
603 2B 40 60 00
h
06 00 00 00
Transition_2,"ready to switch
on".Shutdown
583 60 40 60 00
h
00 00 00 00
183 21 02
603 2B 40 60 00
h
07 00 00 00
Transition_3,"switch on".Switch
on
583 60 40 60 00h 00 00 00 00
183 33 02
603 2B 40 60 00
h
0F 00 00 00
Controlword: Operation Enable583 60 40 60 00
h
00 00 00 00
183 37 02
603 2B 40 60 00h 1F 00 00 00
start homing
response telegram
response: target reached
response: homing attained
583 60 40 60 00h 00 00 00 00
183 37 06
183 37 16
CANopen for S300/S700 123
Kollmorgen 11/2018 Appendix