S300-S700 CANopen | 5 CANopen Drive Profile
5.2.1.44 Object 6502h: Supported drive modes (DS402)
A drive can support more then one and several distinct modes of operation. This object gives an
overview of the implemented operating modes in the device. This object is read only.
Index 6502h
Name supported drive modes
Object code VAR
Data type UNSIGNED32
Category optional
Access ro
PDO mapping possible
Value range UNSIGNED32
Default value 0x6D (ip hm tq pv pp)
31 16 15 7 6 5 4 3 2 1 0
manufacturer specific reserved ip hm reserved tq pv vl pp
MSB LSB
5.3 PDO Configuration
PDOs are used for process data communication. There are distinguished two types of PDOs:
Receive PDOs (RPDOs) and transmit PDOs (TPDOs).
The content of the PDOs is pre-defined (see descriptions on pages (➜ # 51) and (➜ # 53)). If the
data content is not appropriate for a special application the data objects in the PDOs can be
remapped freely.
One data entry in the PDOs looks like this:
MSB LSB
index (16 bit) sub-index (8 bit) data length in bits (8 bit)
The configuration procedure for a free mapping of a PDO looks like this (example for TPDO1):
1. Delete the actual mapping of the PDO by writing a 0 to the sub 0 of the mapping Object
COB-ID
Control
byte
Index
Sub-
index
Data Comment
Low byte High byte
601 2F 00 1A 00h 00 00 00 00 Delete actual mapping
2. Build the mapping with object dictionary objects (➜ # 103) which are mappable, e.g.
COB-ID
Control
byte
Index
Sub-
index
Data Comment
Low byte High byte
601 23 00 1A 01h 10 00 41 60 1st entry: CANopen status-
word with 16 bits
601 23 00 1A 02h 20 00 02 10 2nd entry: Manufacturer
status with 32 bits
3. Write the number of mapped objects to subindex 0 of the mapping Object.
COB-ID
Control
byte
Index
Sub-
index
Data Comment
Low byte High byte
601 2F 00 1A 00h 02 00 00 00 Check for the right number
of entries
Mapping shall be done before the network management is switched to OPERATIONAL.
50 Kollmorgen | kdn.kollmorgen.com | December 2019
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