Kollmorgen S300

4.2.1.8 Object 1009h: Manufacturer Hardware Version ....................................... 31
4.2.1.9 Object 100Ah: Manufacturer Software Version (DS301)................................. 31
4.2.1.10 Object 100Ch: Guard Time (DS301) ................................................ 31
4.2.1.11 Object 100Dh: Lifetime Factor (DS301) ............................................. 32
4.2.1.12 Object 1010h: Store Parameters (DS301)............................................ 32
4.2.1.13 Object 1011h: Restore default parameters ........................................... 33
4.2.1.14 Object 1014h: COB-ID for Emergency Message (DS301) ............................... 33
4.2.1.15 Object 1016h: Consumer Heartbeat Time............................................ 34
4.2.1.16 Object 1017h: Producer Heartbeat Time............................................. 34
4.2.1.17 Object 1018h: Identity Object (DS301) .............................................. 35
4.2.1.18 Object 1026h: OS Prompt ....................................................... 36
4.2.1.19 Object 2000h: Manufacturer Warnings .............................................. 37
4.2.1.20 Object 2014-2017h: 1st-4th Mask 1 to 4 for Transmit-PDO .............................. 38
4.2.1.21 Object 2030h: DP-RAM Variables (write only)......................................... 38
4.2.1.22 Object 2040h: Gearing factor for electronic gearing .................................... 39
4.2.1.23 Object 2041h: Electric gearing actual value .......................................... 40
4.2.1.24 Object 2051h: Configuration of Position Registers ..................................... 41
4.2.1.25 Object 2052h: Position Registers, absolute........................................... 42
4.2.1.26 Object 2053h: Positions Registers, relative........................................... 42
4.2.1.27 Object 2061h: Current limitation for velocity mode ..................................... 43
4.2.1.28 Object 2080h: Motion task for profile position mode .................................... 43
4.2.1.29 Object 2081h: Active motion task display ............................................ 43
4.2.1.30 Object 2082h: Copy motion tasks .................................................. 44
4.2.1.31 Object 2083h: Delete Motion tasks ................................................. 44
4.2.1.32 Object 2090h: DP-RAM Variables (read only)......................................... 44
4.2.1.33 Object 20A0h: Latch position 1, positive edge......................................... 45
4.2.1.34 Object 20A1h: Latch position 1, negative edge ....................................... 45
4.2.1.35 Object 20A2h: Latch position 2, positive edge ........................................ 45
4.2.1.36 Object 20A3h: Latch position 2, negative edge ....................................... 46
4.2.1.37 Object 20A4h: Latch Control Register .............................................. 46
4.2.1.38 Object 20B0h: Trigger Variable Digital Input 20 ....................................... 47
4.2.1.39 Object 20B1h: Control Word Digital Inputs 5...20...................................... 47
4.2.1.40 Object 20B2h: Analog Inputs...................................................... 48
4.2.1.41 Object 2100h: Write Dummy ...................................................... 49
4.2.1.42 Object 2101h: Read Dummy ...................................................... 49
4.2.1.43 Object 60FDh: Digital inputs (DS402) ............................................... 49
4.2.1.44 Object 6502h: Supported drive modes (DS402) ....................................... 50
4.3 PDO Configuration...................................................................... 50
4.3.1 Receive PDOs (RXPDO) ............................................................ 51
4.3.1.1 Objects 1400-1403h: 1st - 4th RXPDO communication parameter (DS301)..................51
4.3.1.2 Objects 1600-1603h: 1st - 4th RXPDO mapping parameter (DS301) .......................52
4.3.1.3 Default RXPDO definition ........................................................ 52
4.3.2 Transmit PDOs (TXPDO)............................................................ 53
4.3.2.1 Objects 1800-1803h: 1st - 4th TXPDO communication parameter (DS301) ..................53
4.3.2.2 Objects 1A00-1A03h: 1st - 4th TXPDO mapping parameter (DS301).......................54
4.3.2.3 Default TXPDO definition ........................................................ 55
4.4 Device control (dc) ...................................................................... 56
4.4.1 Status Machine (DS402) ............................................................ 56
4.4.1.1 States of the Status Machine ..................................................... 56
4.4.1.2 Transitions of the status machine .................................................. 57
4.4.2 Object Description
................................................................. 58
4.4.2.1 Object 6040h: Controlword (DS402) ................................................ 58
4.4.2.2 Object 6041h: Statusword (DS402)................................................. 60
4.4.2.3 Object 6060h: Modes of Operation (DS402) .......................................... 61
4.4.2.4 Object 6061h: Modes of Operation Display (DS402).................................... 62
4.5 Factor Groups (fg) (DS402) ............................................................... 62
4.5.1 General Information ................................................................ 62
4.5.1.1 Factors ...................................................................... 62
4.5.1.2 Relationship between Physical and Internal Units...................................... 62
4 CANopen for S300/S700
Contents 11/2018 Kollmorgen
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