Kollmorgen S300

4.11 Profile Position Mode (pp) ................................................................ 84
4.11.1 General Information ................................................................ 84
4.11.2 Objects that are defined in this section ................................................. 84
4.11.3 Objects that are defined in other sections ............................................... 84
4.11.4 Object description ................................................................. 85
4.11.4.1 Object 607Ah: target position (DS402) .............................................. 85
4.11.4.2 Object 607Dh: Software position limit (DS402) ........................................ 85
4.11.4.3 Object 607Fh: Max profile velocity (DS402) .......................................... 86
4.11.4.4 Object 6080h: Max motor speed (DS402)............................................ 86
4.11.4.5 Object 6081h: profile velocity (DS402) .............................................. 86
4.11.4.6 Object 6083h: profile acceleration (DS402)........................................... 87
4.11.4.7 Object 6084h: profile deceleration (DS402)........................................... 87
4.11.4.8 Object 6085h: Quick stop deceleration .............................................. 87
4.11.4.9 Object 6086h: motion profile type (DS402) ........................................... 88
4.11.4.10 Object 60C5h: Max acceleration ................................................... 88
4.11.5 Functional Description .............................................................. 89
5 Appendix
5.1 The Object Channel ..................................................................... 91
5.1.1 Objects >3500h Manufacturer specific object channel...................................... 91
5.1.2 ASCII command reference........................................................... 93
5.1.3 Object Dictionary ................................................................. 101
5.2 CANopen SDOs for Safety Expansion Card S1/S2/S1-2/S2-2.................................... 107
5.2.1 Object 2400h: Safety card serial number............................................... 107
5.2.2 Object 2401h: Safety card status ..................................................... 107
5.2.3 Object 2402h: Safety card I/O status .................................................. 108
5.2.4 Object 2403h: Safety card error register ............................................... 109
5.2.5 Object 2404h: Safety card error stack error number ...................................... 110
5.2.6 Object 2405h: Safety card error stack error time ......................................... 110
5.2.7 Object 2406h: Safety card error stack error index ........................................ 111
5.2.8 Object 2407h: Safety card error stack error info ......................................... 111
5.2.9 Object 2408h: Safety card error stack error parameter 1................................... 112
5.2.10 Object 2409h: Safety card error stack error parameter 2................................... 112
5.2.11 Object 240Ah: Safety card error stack error parameter 3................................... 113
5.2.12 Object 240Bh: Safety card error stack error parameter 4................................... 113
5.2.13 Object 240Ch: Actual speed ........................................................ 114
5.3 Examples ............................................................................ 115
5.3.1 Basic testing of the connection to the S300/S700 controls ................................. 115
5.3.2 Example: Operating the Status Machine ............................................... 116
5.3.3 Example: Jog Mode via SDO ....................................................... 117
5.3.4 Example: Torque Mode via SDO .................................................... 117
5.3.5 Example: Jog Mode via PDO ........................................................ 118
5.3.6 Example: Torque Mode via PDO ..................................................... 119
5.3.7 Example: Homing via SDO ......................................................... 120
5.3.8 Example: Start Motion Task from the internal memory of S300/S700 via SDO ..................121
5.3.9 Example: Using the Profile Position Mode .............................................. 122
5.3.10 Example: ASCII Communication ..................................................... 125
5.3.11 Test for SYNC telegrams ........................................................... 126
5.3.12 Application: Electric Gearing ........................................................ 127
5.3.13 Application: External Trajectory with Interpolated Position Mode.............................128
5.4 Index ............................................................................... 133
6 CANopen for S300/S700
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