Kollmorgen S300

S300-S700 CANopen | 6 Appendix
Here it is assumed that both drives accept new trajectory values with every SYNC command, and
have to return their incremen tal position and manufacturer status values. The communication
parameters must be set accordingly.
Axis 1:
COB-
ID
Control
byte
Index
Sub-
index
Data Comment
Low
byte
High
byte
601 2F 01 14 02h 01 00 00 00
RPDO2 axis 1, reaction on every sync
581 60 01 14 02h 00 00 00 00
602 2F 01 14 02h 01 00 00 00
RPDO2 axis 2, reaction on every sync
582 60 01 14 02h 00 00 00 00
601 2F 01 18 02h 01 00 00 00
TPDO2 axis 1, reaction on every sync
581 60 01 18 02h 00 00 00 00
602 2F 01 18 02h 01 00 00 00
TPDO2 axis 2, reaction on every sync
582 60 01 18 02h 00 00 00 00
The other Tx-PDOs 3 and 4 should be switched off to minimize bus-load:
COB-
ID
Control
byte
Index
Sub-
index
Data Comment
Low
byte
High
byte
601 23 02 18 01h 81 03 00 C0
Switch off TPDO3
581 60 02 18 01h 00 00 00 00
601 23 03 18 01h 81 04 00 C0
Switch off TPDO4
581 60 03 18 01h 00 00 00 00
The same has to be done for axis 2.
In order to be able to make trajectory movements, both servo amplifiers must be operating in the
appropriate mode. This is set through Index 6060h:
COB-
ID
Control
byte
Index
Sub-
index
Data Comment
Low
byte
High
byte
601 2F 60 60 00h 07 00 00 00
Set IP mode for axis 1
581 60 60 60 00h 00 00 00 00
602 2F 60 60 00h 07 00 00 00
Set IP mode for axis 2
582 60 60 60 00h 00 00 00 00
The cycle interval for the IP-mode shall be 1 ms. This has to be defined with Object 60C1 sub 1
and 2:
COB-
ID
Control
byte
Index
Sub-
index
Data Comment
Low
byte
High
byte
601 2F C2 60 01h 01 00 00 00
Interpolation time unit 1
581 60 C2 60 01h 00 00 00 00
601 2F C2 60 02h FD 00 00 00 Interpolation time index -3
=> Cycle time = 1 * 10 -3 s581 60 C2 60 02h 00 00 00 00
The same need to be done for axis 2.
132 Kollmorgen | kdn.kollmorgen.com | December 2019