Kollmorgen S300

S300-S700 CANopen | 6 Appendix
Finish homing with Controlword 1_RPDO
COB-
ID
Data Comment
203 0F 00
Switch to Profile Position Mode and set ramps for positioning
COB-
ID
Control
byte
Index
Sub-
index
Data Comment
Low
byte
High
byte
603 2F 60 60 00h 01 00 00 00 Profile Positioning Mode
583 60 60 60 00h 00 00 00 00
603 23 83 60 00h 32 00 00 00 50ms acceleration time
583 60 83 60 00h 00 00 00 00
603 23 84 60 00h 32 00 00 00 50ms deceleration time
583 60 84 60 00h 00 00 00 00
Setpoint
COB
-ID
Data Comment
303 20 4E 00 00 Pos 8CA0 =36000µm ;
V= 20000 µm/s
080 send a SYNC
283 BB F8 FF FF
Set controlword with „new setpoint“by bit (bit 4)
COB-
ID
Data Comment
203 1F 00
Wait
COB-
ID
Data Comment
183 37 12 setpoint acknowledge
Reset controlword with „new setpoint“by bit (bit 4) reset
COB
-ID
Data Comment
203 0F 00
183 37 02 reset Setpoint acknowledge
Wait
COB
-ID
Data Comment
183 37 06 response: target reached
080 SYNC
283 92 FC FF FF response:
92 FC position
FF FF speed
126 Kollmorgen | kdn.kollmorgen.com | December 2019