Kollmorgen S300

CAN
Object number
ASCII
Command
ASCII
Type
Description
3591 (hex) MJOG Command Start Jog Mode
3592 (hex) MVANGLP Variable rw Velocity-dependent Lead (Commutation Angle)
3593 (hex) MKT Variable rw Motor KT
3595 (hex) MLGC Variable rw
Current Control loop Adaptive Gain (Q-component at rated
current)
3596 (hex) MLGD Variable rw Adaptive Gain for Current Control loop, D-component
3597 (hex) MLGP Variable rw
Current Control loop Adaptive Gain (Q-component at peak
current)
3598 (hex) MLGQ Variable rw Absolute Gain of Current Control loop
3599 (hex) MNUMBER Variable rw Motor Number
359C (hex) MPHASE Variable rw Motor Phase, Feedback Offset
359D (hex) MPOLES Variable rw Number of Motor Poles
35A0 (hex) MRESBW Variable rw Resolver Bandwidth
35A1 (hex) MRESPOLES Variable rw Number of Resolver Poles (Multispeed)
35A2 (hex) MSG Variable rw Enable / Disable All Messages via RS232
35A3 (hex) MSPEED Variable rw Maximum Rated Motor Velocity
35A5 (hex) MTANGLP Variable rw Current Lead
35A6 (hex) MTYPE Variable rw Motor Type
35A7 (hex) MVANGLB Variable rw Velocity-dependent Lead (Start Phi)
35A8 (hex) MVANGLF Variable rw Velocity-dependent Lead (Limit Phi)
35A9 (hex) M_RESET Command Recompile Macro Programs
35AA (hex) NONBTB Variable rw Mains-BTB Check On/Off
35AD (hex) NREF Variable rw Homing Mode
35AE (hex) O1 Variable rw State of Digital Output 1
35AE (hex) O3_18 Variable rw State of Digital Output 1
35AF (hex) O1MODE Variable rw Function of Digital Output 1
35AF (hex) O3_18MODE Variable rw Function of Digital Output 1
35B0 (hex) O1TRIG Variable rw Auxiliary Variable for O1MODE
35B0 (hex) O3_18TRIG Variable rw Auxiliary Variable for O1MODE
35B1 (hex) O2 Variable rw State of Digital Output 2
35B2 (hex) O2MODE Variable rw Function of Digital Output 2
35B3 (hex) O2TRIG Variable rw Auxiliary Variable for O2MODE
35B4 (hex) OPMODE Variable rw Operating Mode
35B5 (hex) OPTION Variable ro Option Slot ID
35B6 (hex) OVRIDE Variable rw Override Function for Motion Tasks
35B7 (hex) O_ACC Variable rw Acceleration Time 1 for Motion Task 0
35B9 (hex) O_C Variable rw Control Variable for Motion Task 0
35BA (hex) O_DEC Variable rw Braking Time 1 for Motion Task 0
35BC (hex) O_FN Variable rw Next Task Number for Motion Task 0
35BD (hex) O_FT Variable rw Delay before Next Motion Task
35BE (hex) O_P Variable rw Target Position/Path for Motion Task 0
35BF (hex) O_V Variable rw Target Speed for Motion Task 0
35C0 (hex) PBAL Variable ro Actual Regen Power
35C1 (hex) PBALMAX Variable rw Maximum Regen Power
35C2 (hex) PBALRES Variable rw Select Regen Resistor
35C3 (hex) PBAUD Variable ro Profibus Baud Rate
35C5 (hex) PE Variable ro Actual Following Error
35C6 (hex) PEINPOS Variable rw In-Position Window
35C7 (hex) PEMAX Variable rw Max. Following Error
35C8 (hex) PFB Variable ro Actual Position from Feedback Device
35C9 (hex) PFB0 Variable ro Position from External Encoder
35CA (hex) PGEARI Variable rw Position Resolution (Numerator)
35CB (hex) PGEARO Variable rw Position Resolution (Denominator)
35CC (hex) PIOBUF Variable rw Profibus data
35CD (hex) PMODE Variable rw Line Phase Mode
35CE (hex) PNOID Variable ro PROFIBUS ID
35CF (hex) POSCNFG Variable rw Axes Type
35D0 (hex) PPOTYP Variable rw Profibus PPO Type
35D1 (hex) PRBASE Variable rw Position Resolution
35D2 (hex) PRD Variable ro 20-bit Position Feedback
CANopen for S300/S700 95
Kollmorgen 11/2018 Appendix