Kollmorgen S300

Disable unused TPDOs
COB-
ID
Control
byte
Index
Sub-
index
Data Comment
Low
byte
High
byte
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
disable TPDO4
583 60 03 18 01h 00 00 00 00
Disable unused RPDOs
COB-
ID
Control
byte
Index
Sub-
index
Data Comment
Low
byte
High
byte
603 23 02 14 01h 03 04 00 80
disable RPDO3
583 60 02 14 01h 00 00 00 00
603 23 03 14 01h 03 05 00 80
disable RPDO4
583 60 03 14 01h 00 00 00 00
Define mechanical resolution via Object 6092h, Sub-Index 01h and 02h. Default values are the
motion specific factors PGEARI and PGEARO:
COB-
ID
Control
byte
Index
Sub-
index
Data Comment
Low
byte
High
byte
603 23 93 60 01h 00 00 10 00
2E20 increments
583 60 93 60 01h 00 00 00 00
603 23 93 60 02h A0 8C 00 00
3600 user units
583 60 93 60 02h 00 00 00 00
After defining the PDOs they can be released with the NMT:
COB-ID Data Comment
000 01 03 enable NMT
183 40 02 profile status
Now the homing can be set and started.
COB-
ID
Control
byte
Index
Sub-
index
Data Comment
Low
byte
High
byte
603 2F 60 60 00h 06 00 00 00 Operation mode = homing
583 60 60 60 00h 00 00 00 00
603 2F 98 60 00h 0C 00 00 00
homing type 12, negative direction
(DS402)
583 60 98 60 00h 00 00 00 00
603 23 99 60 01h 40 19 01 00
homing speed 72000 units/s = 2s-1
583 80 99 60 01h 31 00 09 06
603 2B 40 60 00h 06 00 00 00
Transition_2,"ready to switch on".
Shutdown
583 60 40 60 00h 00 00 00 00
183 21 02
603 2B 40 60 00h 07 00 00 00
Transition_3,"switch on".
Switch on
583 60 40 60 00h 00 00 00 00
183 33 02
603 2B 40 60 00h 0F 00 00 00
Controlword: Operation Enable583 60 40 60 00h 00 00 00 00
183 37 02
603 2B 40 60 00h 1F 00 00 00 start homing
583 60 40 60 00h 00 00 00 00 response telegram
183 37 06 response: target reached
183 37 16 response: homing attained
S300-S700 CANopen | 6 Appendix
Kollmorgen | kdn.kollmorgen.com | December 2019 125