Kollmorgen S300

S300-S700 CANopen | 6 Appendix
6.3.5 Example: Jog Mode via PDO
It is useful to disable unused PDOs. In Operation Mode "Digital Velocity" a digital speed setpoint is
transmitted via RXPDO. Actual position and speed are read via a TXPDO triggered by SYNC.
COB-
ID
Control
byte
Index
Sub-
index
Data Comment
Low High
603 2F 60 60 00h 03 00 00 00
mode of operation “Profile Velocity”
583 60 60 60 00h 00 00 00 00
603 2F 00 16 00h 00 00 00 00
delete entries for the first RXPDO
583 60 00 16 00h 00 00 00 00
603 23 00 16 01h 20 00 FF 60
mapping RXPDO1, Object 60FF, Sub-
Index 0 speed setpoint, data length 32bit
583 60 00 16 01h 00 00 00 00
603 2F 00 16 00h 01 00 00 00
confirm number of mapped objects
583 60 00 16 00h 00 00 00 00
603 2F 00 1A 00h 00 00 00 00
delete entries for the first TXPDO
583 60 00 1A 00h 00 00 00 00
603 23 00 1A 01h 20 00 64 60
mapping TXPDO1/1, Object6064, Sub-
Index 0 current position value in SI units,
data length 32bit
583 60 00 1A 01h 00 00 00 00
603 23 00 1A 02h 20 00 6C 60
mapping TXPDO1/2, Object606C, Sub-
Index 0 current speed value, data length
32bit
583 60 00 1A 02h 00 00 00 00
603 2F 00 1A 00h 02 00 00 00
check number of mapped objects
583 60 00 1A 00h 00 00 00 00
603 2F 00 18 02h 01 00 00 00
set TXPDO1 to synchronous, trans-
mission with every SYNC
583 60 00 18 02h 00 00 00 00
603 23 01 18 01h 83 02 00 C0
disable TPDO2, set bit 31 (80h)
583 60 01 18 01h 00 00 00 00
603 23 02 18 01h 83 03 00 C0
disable TPDO3
583 60 02 18 01h 00 00 00 00
603 23 03 18 01h 83 04 00 C0
disabled TPDO4
583 60 03 18 01h 00 00 00 00
603 23 01 14 01h 03 03 00 80
disabled RPDO2
583 60 01 14 01h 00 00 00 00
603 23 02 14 01h 03 04 00 80
disabled RPDO3
583 60 02 14 01h 00 00 00 00
603 23 03 14 01h 03 05 00 80
disabled RPDO4
583 60 03 14 01h 00 00 00 00
000 01 03 enable NMT
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
203 00 40
setpoint V= 98.3 rpm Calculation:
4000h=16384dec=Ncmd;
10000=PGEARI;
(Ncmd/60)xPGEARI=V=98.3 rpm
080 send SYNC
183
FE 45 01 00
A6 AB 1A 00
response, position and Nact
Pos.= 00 01 45 FE = 83454 [Si units];
Nact = (001A AB A6) / 17894.4dec =
97.7 rpm, 17894.4 is the const. factor.
603 2B 40 60 00h 0F 01 00 00
intermediate stop
583 60 40 60 00h 00 00 00 00
120 Kollmorgen | kdn.kollmorgen.com | December 2019