Kollmorgen S300

6.3.6 Example: Torque Mode via PDO
It is useful to disable unused PDOs. The first TX_PDO shall transmit the actual current value with
every SYNC.
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 2F 00 16 00h 00 00 00 00
delete entry for the first RXPDO
583 60 00 16 00h 00 00 00 00
603 23 00 16 01h 10 00 71 60
mapping RXPDO1, Object6071,Sub-
Index 0 current setpoint, data length
16bit
583 60 00 16 01h 00 00 00 00
603 2F 00 16 00h 01 00 00 00
check number of mapped objects
583 60 00 16 00h 00 00 00 00
603 2F 00 1A 00h 00 00 00 00
delete entry for TXPDO1
583 60 00 1A 00h 00 00 00 00
603 23 00 1A 01h 10 00 77 60
mapping TXPDO1, Object6077,Sub-
Index 0 actual current value, Data
length16bit
583 60 00 1A 01h 00 00 00 00
603 2F 00 1A 00h 01 00 00 00
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 12 02 setpoint 530 mA
080 send SYNC
183 19 02 actual value 537 mA
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 121