Kollmorgen S300 User Manual

S300-S700 CANopen | 5 CANopen Drive Profile
5.3.1.2 Objects 1600-1603h: 1st - 4th RxPDO mapping parameter (DS301)
Index 1600h, 1601h, 1602h, 1603h for RxPDO 1 to 4.
Name receive PDO mapping
Object Code RECORD
Data Type PDO Mapping
Category mandatory
Subindex 0
Name number of entries
Data type UNSIGNED8
Category mandatory
Access rw
PDO Mapping not possible
Value Range 0: PDO is not active
1 - 8: PDO activated, mappings are taken only byte-wise
Default Value PDO1: 1, PDO2: 2, PDO3: 2, PDO4: 2
Subindex 1 - 8
Name PDO - mapping for the n-th application object
Category Conditional, depends on number and size of object be mapped
Access rw
PDO Mapping not possible
Value Range UNSIGNED32
Default Value See below
5.3.1.3 Default RXPDO definition
RXPDO 1:
Subindex Value Meaning
0 1 One PDO-mapping entry
1 60 40 00 10 Controlword
RXPDO 2:
Subindex Value Meaning
0 2 Two PDO-mapping entries
1 60 40 00 10 Controlword
2 60 60 00 08 Modes of Operation
RXPDO 3:
Subindex Value Meaning
0 2 Two PDO-mapping entries
1 60 40 00 10 Controlword
2 60 7A 00 20 Target Position (Mode PP)
RXPDO 4:
Subindex Value Meaning
0 2 Two PDO-mapping entries
1 60 40 00 10 Controlword
2 60 FF 00 20 Target Velocity (Mode PV)
52 Kollmorgen | kdn.kollmorgen.com | December 2019

Kollmorgen S300 Specifications

General

Brand	Kollmorgen
Model	S300
Category	Amplifier
Language	English