Kollmorgen S300

4.3.2 Transmit PDOs (TXPDO)
Four Transmit PDOs can be configured in the servo amplifier:
- configuration of the communication (Objects 1800-1803
h
)
- configuration of the PDO-contents (mapping, Objects 1A00-1A03
h
)
4.3.2.1 Objects 1800-1803h: 1st - 4th TXPDO communication parameter (DS301)
Index 1800
h
... 1803
h
for TXPDO 1 ... 4
Name
transmit PDO parameter
Object code
RECORD
Data type
PDO CommPar
Category
mandatory
Subindex 0
Name
number of entries
Data type
UNSIGNED8
Category
mandatory
Access
ro
PDO Mapping
not possible
Value Range
5
Default Value
5
Subindex 1
Name
COB-ID used by PDO
Category
mandatory
Access
rw
PDO Mapping
not possible
Value Range
UNSIGNED32
Default Value
Index 1800
h
: 40000180
h
+ Node-ID Index 1801
h
: 40000280
h
+ Node-ID
Index 1802
h
: 40000380
h
+ Node-ID Index 1803
h
: 40000480
h
+ Node-ID
Subindex 2
Name
transmission type
Category
mandatory
Access
rw
PDO Mapping
not possible
Value Range
UNSIGNED8
Default Value
FF
h
Subindex 3
Name
inhibit time
Category
optional
Access
rw
PDO Mapping
not possible
Value Range
UNSIGNED16 (n*1/10ms)
Default Value
0
h
Subindex 4
Name
reserved
Category
optional
Access
rw
PDO Mapping
not possible
Value Range
0
Default Value
0
Subindex 5
Name
event timer
Category
optional
Access
rw
PDO Mapping
not possible
Value Range
UNSIGNED16 (0=not used, n*1/10ms)
Default Value
0
h
CANopen for S300/S700 53
Kollmorgen 11/2018 CANopen Drive Profile