Kollmorgen S300

S300-S700 CANopen | 6 Appendix
Index Sub-
Index
Data Type Access PDO
mapp.
Description ASCII
object
2053h ARRAY Position registers, relative -
0 UNSIGNED8 ro - Number of entries -
1 INTEGER32 rw yes Position register 1, relative P1
2 INTEGER32 rw yes Position register 2, relative P2
3 INTEGER32 rw yes Position register 3, relative P3
4 INTEGER32 rw yes Position register 4, relative P4
5 INTEGER32 rw yes Position register 5, relative P5
6 INTEGER32 rw yes Position register 6, relative P6
7 INTEGER32 rw yes Position register 7, relative P7
8 INTEGER32 rw yes Position register 8, relative P8
9 INTEGER32 rw yes Position register 9, relative P9
10 INTEGER32 rw yes Position register 10, relative P10
11 INTEGER32 rw yes Position register 11, relative P11
12 INTEGER32 rw yes Position register 12, relative P12
13 INTEGER32 rw yes Position register 13, relative P13
14 INTEGER32 rw yes Position register 14, relative P14
15 INTEGER32 rw yes Position register 15, relative P15
16 INTEGER32 rw yes Position register 16, relative P16
2061h 0 UNSIGNED16 rw yes Current limitation for velocity mode DPRILIMIT
2080h 0 UNSIGNED16 rw yes Motion task for profile position mode —
2081h 0 UNSIGNED16 rw yes Active motion task display MOVE
2082h 0 UNSIGNED32 wo — Copy motion task OCOPY
2083h 0 UNSIGNED32 wo — Erase flash motion tasks —
2090h ARRAY DP-Ram Variables, read only -
0 UNSIGNED8 ro - Number of entries -
1 INTEGER32 ro yes DP-Ram Variable 1 DPRVAR1
2 INTEGER32 ro yes DP-Ram Variable 2 DPRVAR2
3 INTEGER32 ro yes DP-Ram Variable 3 DPRVAR3
4 INTEGER32 ro yes DP-Ram Variable 4 DPRVAR4
5 INTEGER32 ro yes DP-Ram Variable 5 DPRVAR5
6 INTEGER32 ro yes DP-Ram Variable 6 DPRVAR6
7 INTEGER32 ro yes DP-Ram Variable 7 DPRVAR7
8 INTEGER32 ro yes DP-Ram Variable 8 DPRVAR8
20A0h 0 INTEGER32 ro yes Latch position 1, positive edge LATCH1P32
20A1h 0 INTEGER32 ro yes Latch position 1, negative edge LATCH1N32
20A2h 0 INTEGER32 ro yes Latch position 2, positive edge LATCH2P32
20A3h 0 INTEGER32 ro yes Latch position 2, negative edge LATCH2N32
20A4h 0 UNSIGNED8 rw yes Latch control register -
20B0h 0 INTEGER32 rw yes Trigger variable digital input 20 IN20TRIG
20B1h 0 UNSIGNED32 rw yes Controlword digital inputs 5 .. 20 IN5 .. IN20
20B2h ARRAY Analog Inputs -
0 UNSIGNED8 ro — Number of entries -
1 INTEGER16 ro yes Voltage analog input 1 ANIN1
2 INTEGER16 ro yes Voltage analog input 2 ANIN2
2100h 0 UNSIGNED32 rw yes Write Dummy -
2101h 0 UNSIGNED32 ro yes Read Dummy -
2400h RECORD Safety card serial number —
0 UNSIGNED8 ro — Number of entries —
1-6 UNSIGNED32 ro — Safety card serial number part 1-6 —
2401h 0 UNSIGNED32 ro yes Safety card status CSSTAT
2402h 0 UNSIGNED32 ro yes Safety card I/O status CSIOSTAT
2403h 0 UNSIGNED32 ro yes Safety card error register CSERR
106 Kollmorgen | kdn.kollmorgen.com | December 2019