Kollmorgen S300 User Manual

S300-S700 CANopen | 4 CANopen Communciation Profile
To write data, the control byte must be written in the manner shown below:
Client
Initiate Domain Download
Server
Byte
1 2 3 4 5 6 7 8
Bit
7 6 5 4 3 2 1 0
request cos = 1 X n e s m d indication
==> ==> ==> ==> ==> ==> ==> ==> ==> ==> ==> ==>
n,e and s are defined like in the reading case, m: index + sub-index, d: data field with 4 bytes The
data length of an object can be taken from the object dictionary in the appendix.
The control byte should be:
0x23 for a 4-byte access
0x27 for a 3-byte access
0x2B for a 2-byte access
0x2F for a 1-byte access
Client Server
Byte
1 2 3 4 5 6 7 8
Bit
7 6 5 4 3 2 1 0
confirm scs = 3 X m reserved response
<== <== <== <== <== <== <== <== <== <== <== <==
2. Index (Bytes 2 and 3):
The Index is the main entry in the Object Dictionary, and divides the parameters into groups.
(Example: Index 1018h is the Identity Object). As for all CAN data, the Index is stored with the
bytes in reverse order. Example: Index 6040h means Byte 2 = 40h, Byte 3 = 60h)
3. Subindex (Byte 4):
The Subindex divides the parameters within a group of parameters.
4. Data field (Bytes 5 ... 8):
These components are used for the exchange of user data. In read-request telegrams to the
S300/S700 they are set to 0. They have no content in a write confirmation from the S300/S700 if
the transfer was successful, but if the write operation was faulty they contain an error
code (➜ # 23).
4.4.5.2 Initiate SDO Download Protocol
The Initiate SDO Download protocol is used for write access to objects with up to 4 bytes of user
data (expedited transfer) or to initiate a segment transfer (normal transfer).
Expedited transfer is also used for objects that only have the character of a command (e.g. ASCII:
SAVE) and thus do not require any further user data.
4.4.5.3 Download SDO Segment Protocol
The Download SDO Segment protocol is used for write access to objects with more than 4 bytes
of user data (normal transfer). This service is not supported by S300/S700 at present, since there
are no objects that make use of more than 4 bytes of user data.
4.4.5.4 Initiate SDO Upload Protocol
The SDO Upload protocol is used for read access to objects with up to 4 bytes of user data (exped-
ited transfer) or to initiate a segment transfer (normal transfer).
4.4.5.5 Upload SDO Segment Protocol
The Upload SDO Segment protocol is used for read access to objects with more than 4 bytes of
user data (normal transfer). This service is not supported by S300/S700 at present, since there are
no objects that make use of more than 4 bytes of user data.
22 Kollmorgen | kdn.kollmorgen.com | December 2019

Kollmorgen S300 Specifications

General

Brand	Kollmorgen
Model	S300
Category	Amplifier
Language	English