6.3.12 Application: Electric Gearing
When using the electric gearing mode via the CANopen interface, the following parameters are
relevant for setting the slave of the electric gearing:
GEARI Object 2040 sub 1
GEARO Object 2040 sub 2
GEARMODE Object 353F sub 1
EXTPOS Object 3539 sub 1
IN20MODE Object 3723 sub 1
IN20TRIG Object 3724 sub 1 or Object 20B0 sub 0 (also mappable)
ACCR Object 3502 sub 1
DECR Object 3524 sub 1
ACCR and DECR can also be set together via object 609A (also mappable).
The transmission of the electric gearing is set using gear factors GEARI and GEARO. The input of
the master impulse is defined using the parameters GEARMODE and EXTPOS.
The following bits have special meaning in the electrical gearing operating mode:
CANopen status word Bit 10 = 1:Slave axis is synchronised
CANopen control word Bit 13 = 1: Stop synchronised movement of the slave axis
The virtual input 20 can be used to change the type of synchronisation/de-synchronisation with
the master for the following input functions (IN20MODE):
IN20MODE 42: Slave axis synchronisation is enabled using the ramp ACCR and disabled
using DECR.
IN20MODE 43: When the slave axis is started, the master position is latched. The slave axis is
then brought up to master speed via the ramp ACCRand the travel distance to
the master is subsequently adjusted. Synchronisation is deactivated via
DECR. Using IN20TRIG, a position offset to the master position can also be
assigned.
IN20MODE 51: IN20TRIG can be used to specify a travel distance to which the slave should
be synchronised. Synchronisation is deactivated via DECR.
S300-S700 CANopen | 6 Appendix
Kollmorgen | kdn.kollmorgen.com | December 2019 129
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