Kollmorgen S300 User Manual

6.3.3 Example: Jog Mode via SDO
The motor shall work with constant velocity.
COB-
ID
Control
byte
Index
Sub-
index
Data Comment
Low
byte
High
byte
603 2F 60 60 00h 03 00 00 00
Mode of operation “Profile Velocity”
583 60 60 60 00h 00 00 00 00
603 23 FF 60 00h 00 00 00 00
setpoint=0
583 60 FF 60 00h 00 00 00 00
603 2B 40 60 00h 06 00 00 00
shutdown
583 60 40 60 00h 00 00 00 00
603 2B 40 60 00h 07 00 00 00
switch on
583 60 40 60 00h 00 00 00 00
603 2B 40 60 00h 0F 00 00 00
enable operation
583 60 40 60 00h 00 00 00 00
603 23 FF 60 00h 00 41 00 00
setpoint=16640dec / PGEARI=Turns/s
for PGEARI=10000, setpoint=1.664 s
-1
99.84 rpm
583 60 FF 60 00h 00 00 00 00
603 2B 40 60 00h 0F 01 00 00
Intermediate Stop
583 60 40 60 00h 00 00 00 00
6.3.4 Example: Torque Mode via SDO
The motor shall work with constant torque. In this mode it is useful to limit the maximum speed
with the parameter ICMDVLIM with the terminal function of the setup software.
Example:
ICMDVLIM 300 (= limit of max. speed to 300 rpm)
SAVE
COLDSTART
CAN data:
COB-
ID
Control
byte
Index
Sub-
index
Data Comment
Low
byte
High
byte
603 2F 60 60 00h 04 00 00 00
Mode of operation “Torque”
583 60 60 60 00h 00 00 00 00
603 2B 71 60 00h 00 00 00 00
setpoint=0
583 60 71 60 00h 00 00 00 00
603 2B 40 60 00h 06 00 00 00
shutdown
583 60 40 60 00h 00 00 00 00
603 2B 40 60 00h 07 00 00 00
switch on
583 60 40 60 00h 00 00 00 00
603 2B 40 60 00h 0F 00 00 00
enable operation
583 60 40 60 00h 00 00 00 00
603 2B 71 60 00h 90 01 00 00
setpoint 400 mA
583 60 71 60 00h 00 00 00 00
603 2B 40 60 00h 0F 01 00 00
intermediate Stop
583 60 40 60 00h 00 00 00 00
S300-S700 CANopen | 6 Appendix
Kollmorgen | kdn.kollmorgen.com | December 2019 119

Kollmorgen S300 Specifications

General

Brand	Kollmorgen
Model	S300
Category	Amplifier
Language	English