Kollmorgen S300

Finish homing with Controlword 1_RPDO
COB-ID Data Comment
203 0F 00
Switch to Profile Position Mode and set ramps for positioning
COB-ID
Control
byte
Index
Sub-
index
Data Comment
Low byte High byte
603 2F 60 60 00
h
01 00 00 00
Profile Positioning Mode
583 60 60 60 00
h
00 00 00 00
603 23 83 60 00
h
32 00 00 00
50ms acceleration time
583 60 83 60 00
h
00 00 00 00
603 23 84 60 00
h
32 00 00 00
50ms deceleration time
583 60 84 60 00
h
00 00 00 00
Setpoint
COB-ID Data Comment
303 20 4E 00 00
Pos 8CA0 =36000µm ;
V= 20000 µm/s
080
send a SYNC
283 BB F8 FF FF
Set controlword with „new setpoint“ by bit (bit 4)
COB-ID Data Comment
203 1F 00
Wait
COB-ID Data Comment
183 37 12 setpoint acknowledge
Reset controlword with „new setpoint“ by bit (bit 4) reset
COB-ID Data Comment
203 0F 00
183 37 02 reset Setpoint acknowledge
Wait
COB-ID Data Comment
183 37 06 response: target reached
080 SYNC
283 92 FC FF FF
response:
92 FC position
FF FF speed
124 CANopen for S300/S700
Appendix 11/2018 Kollmorgen