Kollmorgen S300

S300-S700 CANopen | 5 CANopen Drive Profile
5.2.1.24 Object 2051h: Configuration of Position Registers
This object is used to enable and set the trigger type and the polarity of the 16 position registers.
Objects 2052h and 2053h are used to specify whether the absolute position, or the position rel-
ative to the actual position should be evaluated.
Index 2051h
Name Configuration of Position Registers
Object code ARRAY
Data type UNSIGNED32
Category optional
Subindex 0
Description Number of entries
Data type UNSIGNED8
Category optional
Access ro
PDO mapping not possible
Value range 3
Default value 3
Using subindex 1, the position registers 16 P1 .. P16 can be individually enabled or locked via the
assigned bits 0..15. The position register is locked by setting the relevant bit.
Subindex 1
Description Enable position registers
Category optional
Access rw
PDO mapping possible
Value range 0...65535
Default value 0
Subindex 2 defines the trigger type of the 16 position registers P1 - P16. If the corresponding bit is
set to 0, the position is constantly monitored. If it is set to 1, after the position register is activated,
the corresponding enable bit from subindex 1 is reset and monitoring is thus switched off.
Subindex 2
Description Position register mode
Category optional
Access rw
PDO mapping possible
Value range 0...65535
Default value 0
Subindex 3 is used to set the polarity for the monitoring of the 16 position registers P1 - P16. If it is
set to 0, overshooting of the position is monitored, if it is set to 1, the undershoot of the position of
the corresponding position register is monitored.
Subindex 3
Description Position register polarity
Category optional
Access rw
PDO mapping possible
Value range 0...65535
Default value 0
42 Kollmorgen | kdn.kollmorgen.com | December 2019