Kollmorgen S300

Mode-dependent bits in the control word
The following table shows the mode-dependent bits in the control word. Only manufacturer-specific
modes are supported at present. The individual modes are set by Object 6060
h
Modes of operation.
Operation mode No. Bit 4 Bit 5 Bit 6
Position 88
h
reserved reserved reserved
Digital speed 80
h
reserved reserved reserved
Digital current 82
h
reserved reserved reserved
Analog speed 81
h
reserved reserved reserved
Analog current 83
h
reserved reserved reserved
Profile Position Mode (pp) 01
h
new_set_point change_set_immediately absolute / relative
Profile Velocity Mode (pv) 03
h
reserved reserved reserved
Profile Torque Mode (tq) 04h
reserved reserved reserved
Homing Mode (hm) 06
h
homing_operation_start reserved reserved
Interpolated Position
Mode (ip)
07h
reserved reserved
Description of the remaining bits in the control word
The remaining bits in the control word are described below.
Bit 8 Pause If Bit 8 is set, then the drive halts (pauses) in all modes. The setpoints (speed for hom
-
ing or jogging, motion task number, setpoints for digital mode) for the individual modes are retained.
Bit 9,10 These bits are reserved for the drive profile (DS402).
Bit 13, 14, 15 These bits are manufacturer-specific, and reserved at present.
CANopen for S300/S700 59
Kollmorgen 11/2018 CANopen Drive Profile