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Kollmorgen S300

Kollmorgen S300
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Action
Do the RPDO2-mapping for both axis:
Axis 1:
COB-
ID
Control
byte
Index
Sub-
index
Data Comment
Low
byte
High
byte
601 2F 01 16 00h 00 00 00 00
RPDO2: delete mapping
581 60 01 16 00h 00 00 00 00
601 23 01 16 01h 20 01 C1 60
RPDO2, entry 1: IP setpoint axis 1
581 60 01 16 01h 00 00 00 00
601 23 01 16 02h 20 00 00 21
RPDO2, entry 2: Dummy entry 4 bytes
581 60 01 16 02h 00 00 00 00
601 2F 01 16 00h 02 00 00 00
RPDO2, enter number of mapped
objects
581 60 01 16 00h 00 00 00 00
Axis 2:
COB-
ID
Control
byte
Index
Sub-
index
Data Comment
Low
byte
High
byte
602 2F 01 16 00h 00 00 00 00
RPDO2: delete mapping
582 60 01 16 00h 00 00 00 00
602 23 01 16 01h 20 00 00 21
RPDO2, entry 1: Dummy entry 4 bytes
582 60 01 16 01h 00 00 00 00
602 23 01 16 02h 20 01 C1 60
RPDO2, entry 2: IP setpoint axis 2
582 60 01 16 02h 00 00 00 00
602 2F 01 16 00h 02 00 00 00
RPDO2, enter number of mapped
objects
582 60 01 16 00h 00 00 00 00
602 23 01 14 01h 01 03 00 00 RPDO2: Set COB-ID
identical to axis 1582 60 01 14 01h 00 00 00 00
Now both axis react to the same COB-identifier 0x301, axis 1 takes byte 0 to 3 as IP setpoint, axis
2 takes byte 4 to 7.
The second TPDOs shall contain the actual position in increments and the manufacturer status.
Mapping configuration for axis 1:
COB-
ID
Control
byte
Index
Sub-
index
Data Comment
Low
byte
High
byte
601 2F 01 1A 00h 00 00 00 00
TPDO2: delete mapping
581 60 01 1A 00h 00 00 00 00
601 23 01 1A 01h 20 00 63 60 TPDO2, entry 1:
actual position in increments581 60 01 1A 01h 00 00 00 00
601 23 01 1A 02h 20 00 02 10
TPDO2, entry 2: Dummy entry 4 bytes
581 60 01 1A 02h 00 00 00 00
601 2F 01 1A 00h 02 00 00 00
TPDO2, enter number of mapped
objects
581 60 01 1A 00h 00 00 00 00
The same has to be done for axis 2.
S300-S700 CANopen | 6 Appendix
Kollmorgen | kdn.kollmorgen.com | December 2019 131

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