Kollmorgen S300

5.3.11 Test for SYNC telegrams
Configuration
Aims:
a) Assign Target Position and Profile Velocity to a PDO (2nd receive-PDO)
b) Assign Actual Position to a PDO (1st transmit-PDO), generated with every 2nd SYNC.
c) Assign Statusword and Manufacturer Status to a PDO (2nd transmit-PDO), generated with every
3rd SYNC.
Telegrams with the corresponding responses:
COB-ID
Control
Byte
Index
Sub-
index
Data Comment
Low byte High byte
603 2F 01 16 00
h
00 00 00 00
RPDO2: delete mapping
583 60 01 16 00
h
00 00 00 00
603 23 01 16 01
h
20 00 7A 60
RPDO2, entry 1:
target position
583 60 01 16 01
h
00 00 00 00
603 23 01 16 02
h
20 00 81 60
RPDO2, entry 2:
profile velocity
583 60 01 16 02
h
00 00 00 00
603 2F 01 16 00
h
02 00 00 00
RPDO2: enter number of
mapped objects
583 60 01 16 00
h
00 00 00 00
603 2F 00 1A 00
h
00 00 00 00
TPDO1: delete mapping
583 60 00 1A 00
h
00 00 00 00
603 23 00 1A 01
h
20 00 64 60
TPDO1: entry 1:
Actual Position
583 60 00 1A 01
h
00 00 00 00
603 2F 00 1A 00
h
01 00 00 00
TPDO1: enter number of
mapped objects
583 60 00 1A 00
h
00 00 00 00
603 2F 00 18 02
h
02 00 00 00
TPDO1: send with every 2nd
SYNC
583 60 00 18 02
h
00 00 00 00
603 2F 01 1A 00
h
00 00 00 00
TPDO2: delete mapping
583 60 01 1A 00
h
00 00 00 00
603 23 01 1A 01
h
10 00 41 60
TPDO2: entry 1:
Statusword
583 60 01 1A 01
h
00 00 00 00
603 23 01 1A 02
h
20 00 02 10
TPDO2: entry 2:
Manufacturer Status
583 60 01 1A 02
h
00 00 00 00
603 2F 01 16 00
h
02 00 00 00
TPDO2: enter number of
mapped objects
583 60 01 16 00
h
00 00 00 00
603 2F 01 18 02
h
03 00 00 00
TPDO2: send with every 3rd
SYNC
583 60 01 18 02
h
00 00 00 00
SYNC-Object
COB-ID Comment
080
Object 181 (TPDO 1) appears at every 2
nd
SYNC,
Object 281 (TPDO 2) appears at every 3
rd
SYNC.
Emergency-Object
If, for instance, the resolver connector is disconnected, a serious error will be caused in the control
-
ler. This results in an Emergency telegram.
COB-ID
Emergency error
Error register
Low High
081 10 43 08 00 00 00 00
motor temperature, temperature, man
-
ufacturer specific
081 00 00 88 00 00 00 00
126 CANopen for S300/S700
Appendix 11/2018 Kollmorgen