S300-S700 CANopen | 6 Appendix
SYNC telegram
COB-ID
301
Afterwards, both axes send back their incremental positions and the contents of their status
registers when the SYNC Object with the COB-ID for the 2nd TPDO is received:
COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Comment
181 23 01 00 00 00 00 03 44 position + manufacturer
status register for axis1
182 A5 02 00 00 00 00 03 44 position + manufacturer
status register for axis2
If an error occurs during operation, the axis concerned transmits an Emergency message, which
could appear like this:
Emergency Object
COB-
ID
Emergency error
Error
register
Category
Low High
081 10 43 08 01 00 00 00 00
motor temperature, tem-
perature,
manufacturer-specific
081 00 00 08 00 00 00 00 00
134 Kollmorgen | kdn.kollmorgen.com | December 2019
To Next Page
Loading...
