Kollmorgen S300

4.5.2 Objects for position calculation ....................................................... 63
4.5.2.1 Object 6089h: position notation index (DS402) ........................................ 63
4.5.2.2 Object 608Ah: position dimension index (DS402) ...................................... 63
4.5.2.3 Object 608Fh: Position encoder resolution (DS402) .................................... 64
4.5.2.4 Object 6091h: Gear ratio (DS402).................................................. 65
4.5.2.5 Object 6092h: Feed constant (DS402) .............................................. 66
4.5.2.6 Object 6093h: Position factor (DS402) .............................................. 67
4.5.2.7 Object 6094h: Velocity encoder factor (DS402) ....................................... 68
4.5.3 Objects for velocity calculations ....................................................... 69
4.5.3.1 Object 608Bh: velocity notation index (DS402) ........................................ 69
4.5.3.2 Object 608Ch: velocity dimension index (DS402) ...................................... 69
4.5.4 Objects for acceleration calculations ................................................... 70
4.5.4.1 Object 608Dh: acceleration notation index (DS402) .................................... 70
4.5.4.2 Object 608Eh: acceleration dimension index (DS402) .................................. 70
4.5.4.3 Object 6097h: Acceleration factor (DS402) .......................................... 71
4.6 Profile Velocity Mode (pv) (DS402) ......................................................... 72
4.6.1 General Information ................................................................ 72
4.6.2 Objects that are defined in this section ................................................. 72
4.6.3 Objects that are defined in other sections ............................................... 72
4.6.4 Object Description ................................................................. 72
4.6.4.1 Object 606Ch: velocity actual value (DS402) ......................................... 72
4.6.4.2 Object 60FFh: target velocity (DS402) .............................................. 72
4.7 Profile Torque Mode (tq) (DS402) .......................................................... 73
4.7.1 General Information ................................................................ 73
4.7.2 Objects that are defined in this section ................................................. 73
4.7.3 Object description ................................................................. 73
4.7.3.1 Object 6071h: Target torque (DS402) ............................................... 73
4.7.3.2 Object 6073h: Max current (DS402) ................................................ 73
4.7.3.3 Object 6077h: Torque actual value (DS402) .......................................... 73
4.8 Position Control Function (pc) (DS402) ...................................................... 74
4.8.1 General Information ................................................................ 74
4.8.2 Objects that are defined in this section ................................................. 74
4.8.3 Objects that are defined in other sections ............................................... 74
4.8.4 Object Description ................................................................. 74
4.8.4.1 Object 6063h: position actual value* (DS402)......................................... 74
4.8.4.2 Object 6064h: position actual value (DS402) ......................................... 75
4.8.4.3 Object 6065h: Following error window............................................... 75
4.8.4.4 Object 6067h: Position window (DS402)............................................. 75
4.8.4.5 Object 6068h: Position window time (DS402) ......................................... 76
4.8.4.6 Object 60F4h: Following error actual value (DS402).................................... 76
4.9 Interpolated Position Mode (ip) (DS402) ..................................................... 77
4.9.1 General information ................................................................ 77
4.9.2 Objects defined in this section ........................................................ 77
4.9.3 Object description ................................................................. 77
4.9.3.1 Object 60C0h: Interpolation sub mode select ......................................... 77
4.9.3.2 Object 60C1h: Interpolation data record ............................................. 78
4.9.3.3 Object 60C2h: Interpolation time period ............................................. 79
4.9.3.4 Object 60C3h: Interpolation sync definition ........................................... 79
4.9.3.5 Object 60C4h: Interpolation data configuration ........................................ 80
4.10 Homing Mode (hm) (DS402) .............................................................. 81
4.10.1 General information
................................................................ 81
4.10.2 Objects that are defined in this section ................................................. 81
4.10.3 Objects that are defined in other sections ............................................... 81
4.10.4 Object Description ................................................................. 81
4.10.4.1 Object 607Ch: homing offset (DS402)............................................... 81
4.10.4.2 Object 6098h: homing method (DS402) ............................................. 82
4.10.4.2.1 Description of the homing methods ............................................ 83
4.10.4.3 Object 6099h: homing speeds (DS402) ............................................. 83
4.10.4.4 Object 609Ah: homing acceleration (DS402) ......................................... 83
4.10.5 Homing Mode Sequence ............................................................ 84
CANopen for S300/S700 5
Kollmorgen 11/2018 Contents
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