RPDO 2 can now be used to supply trajectory data for both axes, e.g.:
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7
301 F4 01 00 00 E8 03 00 00
In this example, the first axis receives a trajectory value of 500 increments (Bytes 0 ... 3) and the
second axis receives a trajectory value of 1000 increments.
The axes accept these values, and the positioning is made when the next SYNC telegram is recei
-
ved.
SYNC telegram
COB-ID
080
Afterwards, both axes send back their incremental positions and the contents of their status regis
-
ters when the SYNC Object with the COB-ID for the 2
nd
TPDO is received:
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Comment
181 23 01 00 00 00 00 03 44
position + manufacturer
status register for axis1
182 A5 02 00 00 00 00 03 44
position + manufacturer
status register for axis2
If an error occurs during operation, the axis concerned transmits an Emergency message, which
could appear like this:
Emergency Object
COB-ID
Emergency error
Error
register
Category
Low High
081 10 43 08 01 00 00 00 00
motor temperature, temperature,
manufacturer-specific
081 00 00 08 00 00 00 00 00
132 CANopen for S300/S700
Appendix 11/2018 Kollmorgen
To Next Page
Loading...
