Kollmorgen S300

Action
Do the RPDO2-mapping for both axis:
Axis 1:
COB-ID
Control
byte
Index
Sub-
index
Data Comment
Low byte High byte
601 2F 01 16 00
h
00 00 00 00
RPDO2: delete mapping
581 60 01 16 00
h
00 00 00 00
601 23 01 16 01
h
20 01 C1 60
RPDO2, entry 1:
IP setpoint axis 1
581 60 01 16 01
h
00 00 00 00
601 23 01 16 02
h
20 00 00 21
RPDO2, entry 2:
Dummy entry 4 bytes
581 60 01 16 02
h
00 00 00 00
601 2F 01 16 00
h
02 00 00 00
RPDO2, enter number of
mapped objects
581 60 01 16 00
h
00 00 00 00
Axis 2:
COB-ID
Control
byte
Index
Sub-
index
Data Comment
Low byte High byte
602 2F 01 16 00
h
00 00 00 00
RPDO2: delete mapping
582 60 01 16 00
h
00 00 00 00
602 23 01 16 01
h
20 00 00 21
RPDO2, entry 1:
Dummy entry 4 bytes
582 60 01 16 01
h
00 00 00 00
602 23 01 16 02
h
20 01 C1 60
RPDO2, entry 2:
IP setpoint axis 2
582 60 01 16 02
h
00 00 00 00
602 2F 01 16 00
h
02 00 00 00
RPDO2, enter number of
mapped objects
582 60 01 16 00
h
00 00 00 00
602 23 01 14 01h 01 03 00 00
RPDO2: Set COB-ID
identical to axis 1
582 60 01 14 01h 00 00 00 00
Now both axis react to the same COB-identifier 0x301, axis 1 takes byte 0 to 3 as IP setpoint, axis 2
takes byte 4 to 7.
The second TPDOs shall contain the actual position in increments and the manufacturer status.
Mapping configuration for axis 1:
COB-ID
Control
byte
Index
Sub-
index
Data Comment
Low byte High byte
601 2F 01 1A 00
h
00 00 00 00
TPDO2: delete mapping
581 60 01 1A 00
h
00 00 00 00
601 23 01 1A 01
h
20 00 63 60 TPDO2, entry 1:
actual position in incre
-
ments
581 60 01 1A
01
h
00 00 00 00
601 23 01 1A 02
h
20 00 02 10
TPDO2, entry 2:
Dummy entry 4 bytes
581 60 01 1A 02
h
00 00 00 00
601 2F 01 1A 00
h
02 00 00 00
TPDO2, enter number of
mapped objects
581 60 01 1A 00
h
00 00 00 00
The same has to be done for axis 2.
CANopen for S300/S700 129
Kollmorgen 11/2018 Appendix