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Kollmorgen S300 Interface Manual

Can-bus fieldbus interface
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CAN-Bus
Fieldbus Interface for S300 / S700
Edition 11/2018
Translation of the original manual
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Keep them for future reference.
File s300700can_e.***

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Summary of Contents for Kollmorgen S300

  • Page 1 CAN-Bus Fieldbus Interface for S300 / S700 Edition 11/2018 Translation of the original manual For safe and proper use, follow these instructions. Keep them for future reference. File s300700can_e.***...
  • Page 2 Technical changes to improve the performance of the equipment may be made without prior notice ! All rights reserved. No part of this work may be reproduced in any form (by photocopying microfilm or any other method) or processed, copied or distributed by electronic means, without the written permission of Kollmorgen Europe GmbH.

  • Page 3: Table Of Contents

    Object 1008h: Manufacturer Device Name (DS301) ........30 CANopen for S300/S700...
  • Page 4 Relationship between Physical and Internal Units........62 CANopen for S300/S700...
  • Page 5 Homing Mode Sequence ............84 CANopen for S300/S700...
  • Page 6 Basic testing of the connection to the S300/S700 controls ....... .

  • Page 7: About This Manual

    About this manual This manual describes the setup, range of functions and software protocol of the Kollmorgen S300/S700 servo amplifiers with the CANopen communication profile. It forms part of the complete documentation for the S300/S700 families of servo amplifiers. The installation and setup of the servo amplifier, as well as all standard functions, are described in the corresponding instructions manual.

  • Page 8: Use As Directed

    1000 m Light-emitting diode Megabyte NSTOP Limit switch for CCW (left) rotation Personal Computer Process Data Object PSTOP Limit switch for CW (right) rotation Volatile memory Incremental position encoder RXPDO Receive PDO Service Data Object TXPDO Transmit PDO CANopen for S300/S700...

  • Page 9: Basic Features Implemented By Canopen

    A BUSOFF is only signaled by the S300/S700 if another CAN node is connected and at least one object was successfully transmitted to start off with. The BUSOFF condition is signaled by the error message F23.

  • Page 10: Installation / Setup 2.1 Important Notes

    Software limit-switches are not a substitute for the hardware limit-switches in the machine. Assemble the servo amplifier as described in the instructions manuals for S300/S700. Observe all NOTICE safety instructions in the instructions manual that belong to the servo amplifier. Follow all the notes on mounting position, ambient conditions, wiring, and fusing.

  • Page 11: Setting The Station Address And The Transmission Rate

    Using the ASCII command sequence (bb = baud rate in kbit/s): CBAUD bb Þ SAVE Þ COLDSTART. Coding of the transmission rate in the LED display: Coding Baud Rate in kbit/s Coding Baud Rate in kbit/s 1000 CANopen for S300/S700...

  • Page 12: Canopen Interface (X6)

    For EMC reasons, the SubD connector housing must fulfill the following requirements: — metal or metalized housing — provision for cable shielding connection on the housing, large-area connection Master CANL CANL CANL CANH CANH CANH Shield Shield * according to line impedance about 120W CANopen for S300/S700...

  • Page 13: Guide To Setup

    Start up communication It is required, that the software protocol described in Chapter 4 is implemented in the master. Adjust the transmission rate of the S300/S700 to match the master. WARNING Automatic Start! Risk of death or serious injury for humans working in the machine. The drive performing un- planned movements during commissioning cannot be ruled out.
  • Page 14 CANopen communication profile This chapter describes the basic services and communication objects of the CANopen communica- tion profile DS 301, which are used in the S300/S700. It is assumed that the basic operating functions of the communication profile are known, and available as reference documentation.

  • Page 15: Construction Of The Communication Object Identifier

    1793..1919 ..77F (100E tx = direction of transmission: S300/S700 Þ Master rx = direction of transmission: Master Þ S300/S700 Definition of the used data types This chapter defines the data types that are used. Each data type can be described by bit- sequences.

  • Page 16: Basic Data Types

    Mixed data types combine basic data types (INTEGERn, UNSIGNEDn, REAL). Two types of mixed data are distinguished: STRUCT This data type is composed of elements with different data types. ARRAY This data type is composed of elements of the same data type. CANopen for S300/S700...

  • Page 17: Extended Data Types

    Unconfirmed services PDO Confirmed services SDO All services require faultless operation of the Data Link and Physical Layer. S300/S700 supports communication objects that are described in detail in the following sections: Network Management Objects (NMT) Synchronization Object (SYNC) Emergency Object (EMCY)

  • Page 18: Network Management Objects (Nmt)

    115. You can use the SYNC object to start motion task of several axes simultaneously for example. 3.4.3 Time-Stamp Object (TIME) This communication object is not supported by S300/S700. 3.4.4 Emergency Object (EMCY) EMCY is event-triggered and generated by an internal fault/error situation. This object is transmitted afresh for every error.

  • Page 19: Application Of The Emergency Object

    After initialization, the error-free status is taken up if no errors are detected. No error signal is generated in this condition. The S300/S700 detects an internal error and indicates this in the first three bytes of the emergency telegram (error code in Bytes 0,1 and error register in Byte 2).

  • Page 20: Service Data Objects (Sdo)

    Object Dictionary. A description of the complete Object Dictionary for S300/S700 can be found from p. 101. Data exchange with the S300/S700 is governed by the CMS multiplexed domain protocols standard, as described in the CAN standard DS 202.

  • Page 21: Initiate Sdo Download 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.

  • Page 22: Abort Sdo Protocol

    Transmission is carried out unconfirmed without a protocol "overhead”. This communication object uses the unconfirmed communication service. PDOs are defined via the Object Dictionary for the S300/S700. Mapping is made during the configu- ration phase, with the help of SDOs. Length is defined with the mapped objects.

  • Page 23: Transmission Modes

    PDO can be transmitted again via the inhibit time (Communication parameter, sub-in- dex 03 Event Timer driven If a PDO shall be sent within a defined time interval, even if it doesn’t change, this interval can be defined by a special SDO. CANopen for S300/S700...

  • Page 24: Nodeguard

    = toggle Bit, changes its status with every slave telegram s = status of the NMT slave status machine Node guarding is carried out by the Master through RTR telegrams with the COB-ID 700 + slave node address. CANopen for S300/S700...

  • Page 25: Heartbeat

    Heartbeat Producer Heartbeat Time Consumer Time 6 ... 0 request indication indication indication r: reserved (always 0) s: state of the Heartbeat Producer Heartbeat 0: BOOTUP Consumer 4: STOPPED Time 5: OPERATIONAL 127: PRE-OPERATIONAL Heartbeat Event CANopen for S300/S700...

  • Page 26: Canopen Drive Profile 4.1 Emergency Messages

    Serial EEPROM (F09) 6320 Parameter error 7111 Braking error/fault (F11) 7122 Commutation error (F25) 7181 Could not enable S300/S700 7303 Feedback device error (F04) 7305h Signal failure digital encoder input (F10) 8182 CAN bus off (F23) 8331 t (torque fault, F15)

  • Page 27: General Definitions

    Error reasons to be signaled:If a bit is set to 1 the specified error has occurred. The generic error is signaled at any error situation. Description Description generic error communication error (overrun, error state) current device profile specific voltage reserved (always 0) temperature manufacturer specific CANopen for S300/S700...

  • Page 28: Object 1002H: Manufacturer Status Register (Ds301)

    1 = one of the actual errors will lead to a coldstart of the drive, if resetted 1 = digital input 1 set 1 = digital input 2 set 1 = digital input 3 set 1 = digital input 4 set 1 = digital input hardware enable set reserved reserved CANopen for S300/S700...

  • Page 29: Object 1003H: Predefined Error Field (Ds301)

    Data type UNSIGNED8 mandatory Category Access PDO mapping not possible 0 ... 8 Value range Default value Subindex 1...8 Description Standard error field (Þ p.26) optional Category Access PDO mapping not possible UNSIGNED32 Value range Default value CANopen for S300/S700...

  • Page 30: Object 1005H: Cob-Id Of The Sync Message (Ds301)

    The device name consists of four ASCII characters in the form S3xx, whereby xx stands for the power stage current. Index 1008 Name Manufacturer Device Name Object code Data type Visible String Category Optional Access const not possible PDO mapping Value range S301 - S3xx Default value CANopen for S300/S700...

  • Page 31: Object 1009H: Manufacturer Hardware Version

    Nodeguard object (Þ p. 24). If the value of the object Guard Time is set to zero, then the response monitoring is inactive. Index 100C Name Guard Time Object code Data type UNSIGNED16 conditional; Category mandatory, if heartbeat not supported Access PDO mapping not possible Value range UNSIGNED16 Default value CANopen for S300/S700...

  • Page 32: Object 100Dh: Lifetime Factor (Ds301)

    Storing of parameters is only done if a special signature ("save") is written to subindex 1. "save" is equivalent to the unsigned32 - number 65766173 CANopen for S300/S700...

  • Page 33: Object 1011H: Restore Default Parameters

    11/2018 4.2.1.13 Object 1011h: Restore default parameters With this object the default values of parameters according to the communication or device profile are restored. The S300/S700 gives the possibility to restore all default values. Index 1011 Name restore default parameters...

  • Page 34: Object 1016H: Consumer Heartbeat Time

    The producer heartbeat time defines the cycle time of the heartbeat in ms. If it’s 0, it is not used. Index 1017 Producer heartbeat time Name Object code Data type UNSIGNED16 conditional; Category mandatory, if guarding is not supported Access PDO mapping not possible Value range UNSIGNED16 Default value CANopen for S300/S700...

  • Page 35: Object 1018H: Identity Object (Ds301)

    Category optional Access PDO mapping not possible Value range UNSIGNED32 Default value Subindex 4 gives the serial number of the drive. Subindex Description Serial Number optional Category Access PDO mapping not possible UNSIGNED32 Value range Default value CANopen for S300/S700...

  • Page 36: Object 1026H: Os Prompt

    Category mandatory Access PDO mapping possible Value range UNSIGNED8 Default value — Subindex 2 is used to receive one character from the drive. Subindex Description StdOut mandatory Category Access PDO mapping possible UNSIGNED8 Value range Default value CANopen for S300/S700...

  • Page 37: Object 2000H: Manufacturer Warnings

    -Multiturn overflow: Max. number of turns exceeded 18 ... 30 n19- n31: reserved n32 -firmware is an unreleased beta version * = these warning messages result in a controlled shut-down of the drive (braking by emergency stop ramp) CANopen for S300/S700...

  • Page 38: Object 2014-2017H: 1St-4Th Mask 1 To 4 For Transmit-Pdo

    Subindex Description Number of entries Data type UNSIGNED8 optional Category Access PDO mapping not possible Value range Default value Subindex 1...8 Description DP-Ram Variables 9...16 optional Category Access PDO mapping possible INTEGER32 Value range Default value CANopen for S300/S700...

  • Page 39: Object 2040H: Gearing Factor For Electronic Gearing

    PDO mapping possible Value range INTEGER32 1024 Default value Subindex 2 gives the movement of the slave in dependancy of the master pulses. Subindex Description Gearing Output Category optional Access PDO mapping possible Value range UNSIGN32ED Default value CANopen for S300/S700...

  • Page 40: Object 2041H: Electric Gearing Actual Value

    Subindex 3 displays the synchronisation status (engaged/disengaged) of the slave axis of the elec- tric gearing. For an explanation, see the example on page 127 Subindex Description Internal control word for electric gearing Category optional Access PDO mapping possible Value range 0, 1, 2, 5, 6 Default value CANopen for S300/S700...

  • Page 41: Object 2051H: Configuration Of Position Registers

    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 Position register polarity Description Category optional Access possible PDO mapping Value range 0...65535 Default value CANopen for S300/S700...

  • Page 42: Object 2052H: Position Registers, Absolute

    The subindexes 1 to 16 are used to contact the positions of the position registers P1...P16 to be monitored. Subindex 1...16 Description Positions registers 1..16, relative optional Category Access PDO mapping possible INTEGER32 Value range Default value CANopen for S300/S700...

  • Page 43: Object 2061H: Current Limitation For Velocity Mode

    Index 2081 Name Active motion task display Object code Data type UNSIGNED16 Category optional Access possible PDO mapping Value range 1 ... 300 Default value CANopen for S300/S700...

  • Page 44: Object 2082H: Copy Motion Tasks

    Subindex Number of entries Description Data type UNSIGNED8 Category optional Access PDO mapping not possible Value range Default value Subindex 1...8 Description DP-Ram Variables 9...16 Category optional Access PDO mapping possible Value range INTEGER32 Default value CANopen for S300/S700...

  • Page 45: Object 20A0H: Latch Position 1, Positive Edge

    2 as a latch input (IN2MODE 26). Index 20A2 Name Latch position 2, positive edge Object code Data type INTEGER32 Category optional Access possible PDO mapping Value range INTEGER32 Default value CANopen for S300/S700...

  • Page 46: Object 20A3H: Latch Position 2, Negative Edge

    0...15 Default value Edge Bit in Object 1002 Enable positive edge on digital input 1 Enable negative edge on digital input 1 Enable positive edge on digital input 2 Enable negative edge on digital input 2 reserviert CANopen for S300/S700...

  • Page 47: Object 20B0H: Trigger Variable Digital Input 20

    The lower 16 bits of this object can be used to control the digital software inputs 5 to 20. Index 20B1 Name Control word digital inputs 5 .. 20 Object code UNSIGNED32 Data type Category optional Access PDO mapping possible 0...65535 Value range Default value CANopen for S300/S700...

  • Page 48: Object 20B2H: Analog Inputs

    Value range INTEGER16 Default value Subindex 2 returns the digital value of analog input 2 (10 V ~ 2000h). Subindex Voltage analog input 2 Description Category optional Access possible PDO mapping Value range INTEGER16 Default value CANopen for S300/S700...

  • Page 49: Object 2100H: Write Dummy

    Object code Data type UNSIGNED32 optional Category Access PDO mapping possible Value range UNSIGNED32 Default value 16 15 manufacturer pos. limit neg. limit interlock interlock home switch specific switch switch The switch have to be "active high". CANopen for S300/S700...

  • Page 50: Object 6502H: Supported Drive Modes (Ds402)

    3. Write the number of mapped objects to subindex 0 of the mapping Object. Index Control Sub- COB-ID Data Comment byte index Low byte High byte 02 00 00 00 Check for the right number of entries Mapping shall be done before the network management is switched to OPERATIONAL. CANopen for S300/S700...

  • Page 51: Receive Pdos (Rxpdo)

    0 to 240, which cause a SYNC-telegram-controlled interpretation of the PDO contents. Values of 1 to 240 mean, that 0 to 239 SYNC-telegrams are ignored, before one is interpreted. The value 0 means, that only the next SYNC-telegram is interpreted. CANopen for S300/S700...

  • Page 52: Objects 1600-1603H: 1St - 4Th Rxpdo Mapping Parameter (Ds301)

    Two PDO-mapping entries 60 40 00 10 Controlword 60 7A 00 20 Target Position (Mode PP) RXPDO 4: Subindex Value Meaning Two PDO-mapping entries 60 40 00 10 Controlword 60 FF 00 20 Target Velocity (Mode PV) CANopen for S300/S700...

  • Page 53: Transmit Pdos (Txpdo)

    UNSIGNED16 (n*1/10ms) Default Value Subindex Name reserved optional Category Access PDO Mapping not possible Value Range Default Value Subindex event timer Name Category optional Access not possible PDO Mapping Value Range UNSIGNED16 (0=not used, n*1/10ms) Default Value CANopen for S300/S700...

  • Page 54: Objects 1A00-1A03H: 1St - 4Th Txpdo Mapping Parameter (Ds301)

    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 PDO Mapping not possible Value Range UNSIGNED32 See below Default Value CANopen for S300/S700...

  • Page 55: Default Txpdo Definition

    Value Meaning Two PDO-mapping entries 60 41 00 10 Statusword 60 64 00 20 Position actual value TXPDO 4: Subindex Value Meaning Two PDO-mapping entries 60 41 00 10 Statusword 60 6C 00 20 Velocity actual value CANopen for S300/S700...

  • Page 56: Device Control (Dc)

    11/2018 Device control (dc) The device control of the S300/S700 can be used to carry out all the motion functions in the corre- sponding modes. The control of the S300/S700 is implemented through a mode-dependent status machine. The status machine is controlled through the control word (Þ...

  • Page 57: Transitions Of The Status Machine

    Event Action Reset Initialization Initialization completed successfully. none S300/S700 is ready to operate. Bit 1 Disable Voltage and Bit 2 Quick Stop are set in the control word (Shut- none down command). DC-link voltage may be present. Output stage is switched on (enabled),...

  • Page 58: Object Description

    Disable Switch on Operation Voltage Shutdown 2, 6, 8 Switch on Disable Voltage 7, 9, 10, 12 Quick Stop 7, 10, 11 Disable Operation Enable Operation 4, 16 Fault Reset Bits marked by an X are irrelevant. CANopen for S300/S700...
  • Page 59 Bit 9,10 These bits are reserved for the drive profile (DS402). Bit 13, 14, 15 These bits are manufacturer-specific, and reserved at present. CANopen for S300/S700...

  • Page 60: Object 6041H: Statusword (Ds402)

    Bit 11: internal_limit_active This bit specifies that a movement was or is limited. In different modes, different warnings cause the bit to be set. The following assignments exist: Mode of operation Warnings which set Bit 11 n04, n06, n07, n10, n11, n14 0x1 (PP), 0x88 n03, n08, n09, n20 CANopen for S300/S700...

  • Page 61: Object 6060H: Modes Of Operation (Ds402)

    Digital velocity control mode Analogue velocity control mode Digital current control mode Analog current control mode Electronic gearing reserved reserved reserved Motion task mode Profile position mode Profile velocity mode Profile torque mode Homing mode Interpolated position mode CANopen for S300/S700...

  • Page 62: Object 6061H: Modes Of Operation Display (Ds402)

    For a unit with decimal scaling and notation index < 64, the notation index defines the expo- nent/decimal place of the unit. For a unit with non-decimal scaling and notation index > 64, the notation index defines the sub- index of the physical dimension of the unit. CANopen for S300/S700...

  • Page 63: Objects For Position Calculation

    Relationship between the Object-values and the manufacturer-specific parameter PUNIT: Value of Object608Ah ASCII parameter PUNIT SI unit 9...1 Manufacturer specific increments The parameter PUNIT can be stored in the drive. The values of Object 6089h and 608Ah are initiali- zed by that parameter. CANopen for S300/S700...

  • Page 64: Object 608Fh: Position Encoder Resolution (Ds402)

    Value Range Default Value Subindex Encoder increments Name Category mandatory Access possible PDO Mapping Value Range UNSIGNED 32 Default Value 2^20 Subindex Name Motor revolutions Category mandatory Access PDO Mapping possible Value Range UNSIGNED 32 Default Value CANopen for S300/S700...

  • Page 65: Object 6091H: Gear Ratio (Ds402)

    Value Range Default Value Subindex Motor revolutions Name Category mandatory Access possible PDO Mapping Value Range UNSIGNED 32 Default Value Subindex Name Shaft revolutions Category mandatory Access PDO Mapping possible Value Range UNSIGNED 32 Default Value CANopen for S300/S700...

  • Page 66: Object 6092H: Feed Constant (Ds402)

    Value Range Default Value Subindex Feed Name Category mandatory Access possible PDO Mapping Value Range UNSIGNED 32 Default Value Subindex Name Shaft revolutions Category mandatory Access PDO Mapping possible Value Range UNSIGNED 32 Default Value CANopen for S300/S700...

  • Page 67: Object 6093H: Position Factor (Ds402)

    Subindex Numerator (position encoder resolution * gear ratio) Name Category mandatory Access possible PDO Mapping Value Range UNSIGNED 32 Default Value Subindex Name Feed constant Category mandatory Access PDO Mapping possible Value Range UNSIGNED 32 Default Value CANopen for S300/S700...

  • Page 68: Object 6094H: Velocity Encoder Factor (Ds402)

    4.5.2.7 Object 6094h: Velocity encoder factor (DS402) Object 6094 is supported as read-only object just for compatibility reasons. It converts the velocity to the internal S300/S700 data format (increments). Scaling according to object 6093 subindices 1 and 2. Index 6094...

  • Page 69: Objects For Velocity Calculations

    SI unit turn/min m/min m/min The parameter VUNIT can be stored in the drive. The values for Objects 608Bh and 608Ch are initialized by this parameter. Only the described values for VUNIT are possible with the profile DS402. CANopen for S300/S700...

  • Page 70: Objects For Acceleration Calculations

    3, 4, 5 The parameter ACCUNIT can be stored in the drive. The values for Objects 608Dh and 608Eh are initialized by this parameter. Only the described values for ACCUNIT are possible with the profile DS 402. CANopen for S300/S700...

  • Page 71: Object 6097H: Acceleration Factor (Ds402)

    Numerator (velocity unit * velocity encoder factor) Name Category mandatory Access possible PDO Mapping Value Range UNSIGNED 32 Default Value Subindex Name Divisor (acceleration unit * second) Category mandatory Access PDO Mapping possible Value Range UNSIGNED 32 Default Value CANopen for S300/S700...

  • Page 72: Profile Velocity Mode (Pv) (Ds402)

    The scaling of this value depends on the factor velocity encoder resolution (Object 6094 Index 60FF Name target velocity Object code Data type INTEGER32 Mode Access PDO mapping possible Unit increments ) ... (2 Value range Default value — EEPROM CANopen for S300/S700...

  • Page 73: Profile Torque Mode (Tq) (Ds402)

    The torque actual value corresponds to the instantaneous torque in the drive motor. The value is given per thousand of rated torque. Index 6077 Name Torque actual value Object code Data type INTEGER16 Category optional Access PDO mapping possible Value range INTEGER16 Default value CANopen for S300/S700...

  • Page 74: Position Control Function (Pc) (Ds402)

    The resolution is defined with Object 608F as power-of-two number (see PRBASE command). Index 6063 Name position actual value Object code INTEGER32 Data type Mode pc, pp Access possible PDO mapping PRBASE Unit increments (1 turn = 2 Value range ) ... (2 Default value EEPROM CANopen for S300/S700...

  • Page 75: Object 6064H: Position Actual Value (Ds402)

    If the actual value of the position encoder is within the position window, this target position is regarded as reached. The status word bit "Target reached” goes to 1. Index 6067 Name Position window Object code UNSIGNED32 Data type Category optional Access PDO mapping possible UNSIGNED32 Value range Default value 4000 position units CANopen for S300/S700...

  • Page 76: Object 6068H: Position Window Time (Ds402)

    This object returns the current value of the following error in units defined by the user. Index 60F4 Name Following error actual value Object code Integer32 Data type Category optional Access PDO mapping possible INTEGER32 Value range Default value CANopen for S300/S700...

  • Page 77: Interpolated Position Mode (Ip) (Ds402)

    RECORD Interpolation data configuration record Interpolation data configuration record rw 4.9.3 Object description 4.9.3.1 Object 60C0h: Interpolation sub mode select In the S300/S700 the linear interpolation between position setpoints is supported. The only allowed value is 0. Index 60C0 Interpolation sub mode select...

  • Page 78: Object 60C1H: Interpolation Data Record

    11/2018 4.9.3.2 Object 60C1h: Interpolation data record In the S300/S700 a single setpoint is supported for the interpolated position mode. For the linear interpolation mode each interpolation data record simply can be regarded as a new position set- point. After the last item of an interpolation data record is written to the devices input buffer, the pointer of the buffer is automatically incremented to the next buffer position.

  • Page 79: Object 60C2H: Interpolation Time Period

    -123 ... 63 Value range Default value 4.9.3.4 Object 60C3h: Interpolation sync definition In the S300/S700 the generally used SYNC-object is used for synchronization purposes. Therefore only a fixed value is accepted for subindex 1. Index 60C3 Name Interpolation sync definition...

  • Page 80: Object 60C4H: Interpolation Data Configuration

    CANopen Drive Profile Kollmorgen 11/2018 4.9.3.5 Object 60C4h: Interpolation data configuration Only a single position setpoint is supported in the S300/S700. Therefore only the value 1 in Subin- dex 5 is possible. All other subindices are set to 0. Index 60C4 Name...

  • Page 81: Homing Mode (Hm) (Ds402)

    All subsequent absolute motion tasks take account of the refer- ence offset. Index 607C Name home offset Object code Data type INTEGER32 Mode Access PDO mapping possible Unit user-defined ) ... (2 Value range Default value EEPROM CANopen for S300/S700...

  • Page 82: Object 6098H: Homing Method (Ds402)

    NREF = 5, DREF= 0 homing within a single turn, positive count direction NREF = 5, DREF= 1 set reference point at present position NREF = 0 36..127 reserved — CANopen for S300/S700...

  • Page 83: Description Of The Homing Methods

    1/8 * Object 6099 sub 1 Default value 4.10.4.4 Object 609Ah: homing acceleration (DS402) Index 609A Name homing acceleration Object code Data type UNSIGNED32 Mode Access PDO mapping possible Unit acceleration units Value range 0 ... (2 Default value EEPROM CANopen for S300/S700...

  • Page 84: Homing Mode Sequence

    INTEGER16 dc (Þ p.56) 6041 status word UNSIGNED16 dc (Þ p.56) 6093 ARRAY position factor UNSIGNED32 fg (Þ p.62) 6094 ARRAY velocity encoder factor UNSIGNED32 fg (Þ p.62) 6097 ARRAY acceleration factor UNSIGNED32 fg (Þ p.62) CANopen for S300/S700...

  • Page 85: Object Description

    Description min position limit mandatory Category Access PDO mapping possible INTEGER32 Value range Default value 0 (switched off) Subindex max position limit Description Category mandatory Access possible PDO mapping Value range INTEGER32 Default value 0 (switched off) CANopen for S300/S700...

  • Page 86: Object 607Fh: Max Profile Velocity (Ds402)

    The application of the setpoint depends on the operation mode (pp, pv) that is set. Index 6081 Name profile velocity Object code Data type UNSIGNED32 Mode pp, pv Access PDO mapping possible Unit speed units 0 ... (2 Value range Default value EEPROM CANopen for S300/S700...

  • Page 87: Object 6083H: Profile Acceleration (Ds402)

    The units are the same as for the profile acceleration ramp and the profile deceleration ramp. Index 6085 Quick stop deceleration Name Object code Data type UNSIGNED32 Mode Access PDO mapping not possible acceleration units Unit Value range 0 ... (2 Default value CANopen for S300/S700...

  • Page 88: Object 6086H: Motion Profile Type (Ds402)

    (608Dh, 608Eh). It is converted to position increments per s² using the acceleration factor (6097h). Index 60C5 Name Max acceleration Object code Data type UNSIGNED32 Category optional Access PDO mapping possible UNSIGNED32 Value range Default value CANopen for S300/S700...

  • Page 89: Functional Description

    After reaching the target_position, the drive device immediately processes the next target position, which results in a move where the velocity of the drive normally is not reduced to zero after achieving a setpoint. With S300/S700, this is only possible if trapezoidal ramps are used.
  • Page 90 The velocity is not reduced to zero when the first setpoint is reached. Moving to a single target position The drive moves to the target position, whereby the velocity is reduced to zero. Reaching the target position is signaled by the bit for target_reached in the status word. CANopen for S300/S700...

  • Page 91: Appendix 5.1 The Object Channel

    — Default value — Subindex Description read upper limit value Unit see corresponding ASCII command Access PDO mapping not possible Data type see corresponding ASCII command Value range see corresponding ASCII command EEPROM — — Default value CANopen for S300/S700...
  • Page 92 0x00200000 Variable is read-only, must not be written to over the bus. Subindex 7 / 8 Description reserved Unit — Access PDO mapping not possible Data type UNSIGNED32 Value range 0 ... 2 EEPROM — Default value — CANopen for S300/S700...

  • Page 93: Ascii Command Reference

    Variable rw Position Control Loop: Proportional Gain 3545 (hex) GPFFV Variable rw Position Control Loop: Feed Forward for Velocity 3548 (hex) Variable rw Velocity Control Loop: Proportional Gain 354B (hex) GVFR Variable rw PI-PLUS Actual Velocity Feedforward CANopen for S300/S700...
  • Page 94 MDBSET Command Set Actual Motor Data Set 358C (hex) VLIM Variable rw Max. Velocity 358D (hex) Command Start Homing 358E (hex) MICONT Variable rw Motor Continuous Current Rating 358F (hex) MIPEAK Variable rw Motor Peak Current Rating CANopen for S300/S700...
  • Page 95 Variable rw Line Phase Mode 35CE (hex) PNOID Variable ro PROFIBUS ID 35CF (hex) POSCNFG Variable rw Axes Type 35D0 (hex) PPOTYP Variable rw Profibus PPO Type 35D1 (hex) PRBASE Variable rw Position Resolution 35D2 (hex) Variable ro 20-bit Position Feedback CANopen for S300/S700...
  • Page 96 VLIMN Variable rw Max. Negative Velocity 3626 (hex) VMUL Variable rw Velocity Scale Factor 3627 (hex) VOSPD Variable rw Overspeed 3628 (hex) VREF Variable rw Speed for Homing 3629 (hex) VSCALE1 Variable rw SW1 Velocity Scaling Factor CANopen for S300/S700...
  • Page 97 Variable rw Selection of the Source of the Latch Inputs 3682 (hex) STAGECODE Variable ro Power Stage Identification 3683 (hex) SYNCSRC Variable rw 3686 (hex) Variable rw Winding Resistance of the Stator Phase-Phase 3691 (hex) SERCSET Variable rw Set Sercos Settings CANopen for S300/S700...
  • Page 98 Variable rw integral part threshold for velocity set point 38A7 (hex) GPTNTH2 Variable rw integral part threshold for velocity actual value 36CC (hex) GPTNTH3 Variable rw integral part threshold for following error 38AF (hex) GPDELAY Variable rw delay for external position set point CANopen for S300/S700...
  • Page 99 Variable rw Velocity threshold 5 for servo pump loop 38F5 (hex) QTAB1TN Variable rw Integral gain 1 for servo pump loop 38F6 (hex) QTAB2TN Variable rw Integral gain 2 for servo pump loop 38F7 (hex) QTAB3TN Variable rw Integral gain 3 for servo pump loop CANopen for S300/S700...
  • Page 100 Variable ro Voltage supply from the HIPERFACE DSL 391B (hex) HDSLVEL Variable ro Actual velocity taken from the HIPERFACE DSL 391C (hex) HDSLTIME Variable ro Operation-hour counter taken from HIPERFACE DSL 391D (hex) HDSLROTAT Variable ro Rotation counter taken from HIPERFACE DSL CANopen for S300/S700...

  • Page 101: Object Dictionary

    1601h UNSIGNED8 — Number of entries — 1...8 UNSIGNED32 — Mapping for n—th application object — RECORD RXPDO3 mapping parameter — 1602h UNSIGNED8 — Number of entries — 1...8 UNSIGNED32 — Mapping for n—th application object — CANopen for S300/S700...
  • Page 102 Mask TxPDO Channel 3 — 2016h UNSIGNED32 — Mask (Byte 0..3) — UNSIGNED32 — Mask (Byte 4..7) — ARRAY — Mask TxPDO Channel 4 — 2017h UNSIGNED32 — Mask (Byte 0..3) — UNSIGNED32 — Mask (Byte 4..7) — CANopen for S300/S700...
  • Page 103 Position register 11, relative INTEGER32 Position register 12, relative INTEGER32 Position register 13, relative INTEGER32 Position register 14, relative INTEGER32 Position register 15, relative INTEGER32 Position register 16, relative 2061h UNSIGNED16 Current limitation for velocity mode DPRILIMIT CANopen for S300/S700...
  • Page 104 Error Stack – Parameter 3 Error 1...128 — RECORD Error Stack – Error Parameter 4 — 240Bh UNSIGNED8 — Number of entries — 1-128 UNSIGNED32 — Error Stack – Parameter 4 Error 1...128 — 240Ch UNSIGNED32 Safety card actual speed — CANopen for S300/S700...
  • Page 105 UNSIGNED8 — Number of entries — 6091h UNSIGNED32 — Motor revolutions — UNSIGNED32 — Shaft revolutions — ARRAY Feed constant — UNSIGNED8 — Number of entries — 6092h UNSIGNED32 — Feed PGEARI UNSIGNED32 — Shaft revolutions — CANopen for S300/S700...
  • Page 106 60C5h UNSIGNED32 — Max acceleration /deceleration — 60C4h UNSIGNED8 — Buffer clear — 60F4h INTEGER32 Following error actual value 60FDh UNSIGNED32 Digital inputs IN1 .. IN4 60FFh INTEGER32 Target velocity 6502h UNSIGNED32 — Supported drive modes — CANopen for S300/S700...

  • Page 107: Canopen Sdos For Safety Expansion Card S1/S2/S1-2/S2-2

    OK message if configuration data download was successful Bit is set if safety card status is ‘STARTUP’ Bit is set if safety card status is ‘RUN’ Bit is set if safety card status is ‘STOP’ Bit is set if safety card status is ‘CONFIG’ CANopen for S300/S700...

  • Page 108: Object 2402H: Safety Card I/O Status

    Status 2 pole output ‘Safe Brake Control’ (external brake) Status output ‘STO SIL3’ (second switch off line) Status input ‘SS1 SIL3/Reset’ Brake ramp control SS2 (0=drive control, 1=PLC control) Brake ramp control SS1 (0=drive control, 1=PLC control) Emergency stop ramp with SS1 (0=not active, 1=active) CANopen for S300/S700...

  • Page 109: Object 2403H: Safety Card Error Register

    Error with write/delete in flash memory Time synchronization of channels A and B Watchdog triggered Data / parameter check (data transmission / configuration) Timeout during transmission of data/parameter Error CRC check Error device data check (serial numkber, version) Fatal error system software CANopen for S300/S700...

  • Page 110: Object 2404H: Safety Card Error Stack Error Number

    Access PDO mapping not possible Value range 0...128 Default value Subindex 1 to 128 Description Safety card error stack error time X Data type UNSIGNED32 optional Category Access PDO mapping not possible Value range UNSIGNED32 Default value CANopen for S300/S700...

  • Page 111: Object 2406H: Safety Card Error Stack Error Index

    Access PDO mapping not possible Value range 0...128 Default value Subindex 1 to 128 Description Safety card error stack error info X Data type UNSIGNED32 optional Category Access PDO mapping not possible Value range UNSIGNED32 Default value CANopen for S300/S700...

  • Page 112: Object 2408H: Safety Card Error Stack Error Parameter 1

    Value range 0...128 Default value Subindex 1 to 128 Description Safety card error stack error parameter 2 of error X Data type UNSIGNED32 Category optional Access PDO mapping not possible Value range UNSIGNED32 Default value CANopen for S300/S700...

  • Page 113: Object 240Ah: Safety Card Error Stack Error Parameter 3

    Value range 0...128 Default value Subindex 1 to 128 Description Safety card error stack error parameter 4 of error X Data type UNSIGNED32 Category optional Access PDO mapping not possible Value range UNSIGNED32 Default value CANopen for S300/S700...

  • Page 114: Object 240Ch: Actual Speed

    Appendix Kollmorgen 11/2018 5.2.13 Object 240Ch: Actual speed Actual speed in 4096/Second. Index 240C Name Safety card actual speed Object code Data type UNSIGNED32 optional Category Access PDO mapping possible Value range UNSIGNED32 Default value — CANopen for S300/S700...

  • Page 115: Examples

    Basic testing of the connection to the S300/S700 controls When the S300/S700 is switched on, a boot-up message is transmitted over the bus. The telegram continues to be transmitted, as long as it has not yet found a suitable receiver in the bus system.

  • Page 116: Example: Operating The Status Machine

    The status machine must be used sequentially during boot-up period. Leaving out a status is not possible. When the S300/S700 is switched on and the boot-up message has been detected, communication via SDOs can be initiated. For example: all the parameters can be read out or written to, or the sta- tus machine for the drive can be controlled.

  • Page 117: Example: Jog Mode Via Sdo

    00 00 00 00 0F 00 00 00 enable operation 00 00 00 00 90 01 00 00 setpoint 400 mA 00 00 00 00 0F 01 00 00 intermediate Stop 00 00 00 00 CANopen for S300/S700...

  • Page 118: Example: Jog Mode Via Pdo

    Pos.= 00 01 45 FE = 83454 [Si units]; FE 45 01 00 Nact = (001A AB A6) / 17894,4dec = 97,7 A6 AB 1A 00 17894,4 is the const. factor. 0F 01 00 00 intermediate stop 00 00 00 00 CANopen for S300/S700...

  • Page 119: Example: Torque Mode Via Pdo

    00 00 00 00 0F 00 00 00 enable operation 00 00 00 00 12 02 setpoint 530 mA send SYNC 19 02 actual value 537 mA 0F 01 00 00 intermediate stop 00 00 00 00 CANopen for S300/S700...

  • Page 120: Example: Homing Via Sdo

    5.3.7 Example: Homing via SDO When the S300/S700 is operated as a linear axis, a reference/homing point must be defined before positioning tasks can be executed. This must be done by executing a homing run in the Homing mode (0x6).

  • Page 121: Example: Start Motion Task From The Internal Memory Of S300/S700 Via Sdo

    5.3.8 Example: Start Motion Task from the internal memory of S300/S700 via SDO This example needs a defined motion task (can be done with the setup software) saved in the ser- voamplifier and homing must be done before starting absolute motion tasks.

  • Page 122: Example: Using The Profile Position Mode

    The second TPDO should be sent with every SYNC by the servoamplifier. Index Control Sub- COB-ID Data Comment byte index Low byte High byte 01 00 00 00 TPDO2 with every SYNC 00 00 00 00 CANopen for S300/S700...
  • Page 123 33 02 0F 00 00 00 00 00 00 00 Controlword: Operation Enable 37 02 1F 00 00 00 start homing 00 00 00 00 response telegram 37 06 response: target reached response: homing attained 37 16 CANopen for S300/S700...
  • Page 124 Reset controlword with „new setpoint“ by bit (bit 4) reset COB-ID Data Comment 0F 00 37 02 reset Setpoint acknowledge Wait COB-ID Data Comment 37 06 response: target reached SYNC response: 92 FC FF FF 92 FC position FF FF speed CANopen for S300/S700...

  • Page 125: Example: Ascii Communication

    00 00 00 00 36 00 00 00 send ASCII code "6" 00 00 00 00 0D 00 00 00 send ASCII code "CR" 00 00 00 00 0A 00 00 00 send ASCII code "LF" 00 00 00 00 CANopen for S300/S700...

  • Page 126: Test For Sync Telegrams

    If, for instance, the resolver connector is disconnected, a serious error will be caused in the control- ler. This results in an Emergency telegram. Emergency error COB-ID Error register High 00 00 00 00 motor temperature, temperature, man- ufacturer specific 00 00 00 00 CANopen for S300/S700...

  • Page 127: Application: Electric Gearing

    Synchronisation is deactivated via DECR. Using IN20TRIG, a position offset to the master position can also be assigned. IN20MODE 51: IN20TRIG can be used to specify a travel distance to which the slave should be synchronised. Synchronisation is deactivated via DECR. CANopen for S300/S700...

  • Page 128: Application: External Trajectory With Interpolated Position Mode

    The other data can be made ignored by using dummy entries (Object 2100 sub 0). For this purpose both axes have to react on the same RPDO-COB-ID. CANopen for S300/S700...
  • Page 129 20 00 02 10 TPDO2, entry 2: 00 00 00 00 Dummy entry 4 bytes 02 00 00 00 TPDO2, enter number of mapped objects 00 00 00 00 The same has to be done for axis 2. CANopen for S300/S700...
  • Page 130 01 00 00 00 Interpolation time unit 1 00 00 00 00 FD 00 00 00 Interpolation time index -3 -> 00 00 00 00 Cycle time = 1 * 10 The same has to be done for axis 2. CANopen for S300/S700...
  • Page 131 37 12 IP-mode enable The configuration above now enables a cyclical sequence, as shown in the diagram: 400 µs Sync Control Sync Drive Drive Control t cycle e.g. 2 axes 1 ms per axis at 1 MBaud cycle CANopen for S300/S700...
  • Page 132 If an error occurs during operation, the axis concerned transmits an Emergency message, which could appear like this: Emergency Object Emergency error Error COB-ID Category register High 00 00 00 00 motor temperature, temperature, 00 00 00 00 manufacturer-specific CANopen for S300/S700...

  • Page 133: Index

    2407h ....111 6502h ....50 CANopen for S300/S700...
  • Page 134 Profile Position Mode ..84 Profile Velocity Mode ..72 Profile torque mode... 73 CANopen for S300/S700...
  • Page 135 Kollmorgen Appendix 11/2018 This page has been deliberately left blank. CANopen for S300/S700...
  • Page 136 We are committed to quality customer service. In order to serve in the most effective way, please contact your local sales representative for assistance. If you are unaware of your local sales representative, please contact the Customer Support. Europe KOLLMORGEN Internet www.kollmorgen.com/en-gb Archiv www.wiki-kollmorgen.eu Support https://kdn.kollmorgen.com/ E-Mail technik@kollmorgen.com...

This manual is also suitable for:

S700

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