Kollmorgen S300 User Manual

5.3.2.3 Default TXPDO definition 55
5.4 Device control (dc) 56
5.4.1 Status Machine (DS402) 56
5.4.1.1 States of the Status Machine 56
5.4.1.2 Transitions of the status machine 57
5.4.2 Object Description 58
5.4.2.1 Object 6040h: Control word (DS402) 58
5.4.2.2 Object 6041h: Status word (DS402) 60
5.4.2.3 Object 6060h: Modes of Operation (DS402) 61
5.4.2.4 Object 6061h: Modes of Operation Display (DS402) 62
5.5 Factor Groups (fg) (DS402) 62
5.5.1 General Information 62
5.5.1.1 Factors 62
5.5.1.2 Relationship between Physical and Internal Units 62
5.5.2 Objects for position calculation 63
5.5.2.1 Object 6089h: position notation index (DS402) 63
5.5.2.2 Object 608Ah: Position Dimension Index (DS402) 63
5.5.2.3 Object 608Fh: Position encoder resolution (DS402) 64
5.5.2.4 Object 6091h: Gear Ratio (DS402) 65
5.5.2.5 Object 6092h: Feed constant (DS402) 66
5.5.2.6 Object 6093h: Position factor (DS402) 67
5.5.2.7 Object 6094h: Velocity encoder factor (DS402) 68
5.5.3 Objects for velocity calculations 69
5.5.3.1 Object 608Bh: velocity notation index (DS402) 69
5.5.3.2 Object 608Ch: velocity dimension index (DS402) 69
5.5.4 Objects for acceleration calculations 70
5.5.4.1 Object 608Dh: acceleration notation index (DS402) 70
5.5.4.2 Object 608Eh: acceleration dimension index (DS402) 70
5.5.4.3 Object 6097h: Acceleration factor (DS402) 71
5.6 Profile Velocity Mode (pv) (DS402) 72
5.6.1 General Information 72
5.6.2 Objects that are defined in this section 72
5.6.3 Objects that are defined in other sections 72
5.6.4 Object Description 72
5.6.4.1 Object 606Ch: Velocity actual value (DS402) 72
5.6.4.2 Object 60FFh: Target velocity (DS402) 72
5.7 Profile Torque Mode (tq) (DS402) 73
5.7.1 General Information 73
5.7.2 Objects that are defined in this section 73
5.7.3 Object Description 73
5.7.3.1 Object 6071h: Target torque (DS402) 73
5.7.3.2 Object 6073h: Max current (DS402) 73
5.7.3.3 Object 6077h: Torque actual value (DS402) 73
5.8 Position Control Function (pc) (DS402) 74
5.8.1 General Information 74
5.8.2 Objects that are defined in this section 74
5.8.3 Objects that are defined in other sections 74
5.8.4 Object Description 74
5.8.4.1 Object 6063h: position actual value* (DS402) 74
5.8.4.2 Object 6064h: position actual value (DS402) 75
5.8.4.3 Object 6065h: Following error window 75
5.8.4.4 Object 6067h: Position window (DS402) 75
5.8.4.5 Object 6068h: Position window time (DS402) 76
5.8.4.6 Object 60F4h: Following error actual value (DS402) 76
S300-S700 CANopen | Table of Contents
Kollmorgen | kdn.kollmorgen.com | December 2019 5

Kollmorgen S300 Specifications

General

Brand	Kollmorgen
Model	S300
Category	Amplifier
Language	English