Kollmorgen S300 Interface Manual page 105

Kollmorgen
Index
3500h
3500h+MAXCMD RECORD
6040h
6041h
6060h
6061h
6063h
6064h
6065h
6067h
6068h
606Ch
6071h
6073h
6077h
607Ah
607Ch
607Dh
607Fh
6080h
6081h
6083h
6084h
6085h
6086h
6089h
608Ah
608Bh
608Ch
608Dh
608Eh
608Fh
6090h
6091h
6092h
CANopen for S300/S700
Sub-
Data Type Access
Index
RECORD
0 UNSIGNED8
1 UNSIGNED32
2 UNSIGNED32
3 UNSIGNED32
4 UNSIGNED32
5 UNSIGNED32
6 UNSIGNED32
7 UNSIGNED32
8 UNSIGNED32
0 UNSIGNED16
0 UNSIGNED16
0 INTEGER8
0 INTEGER8
0 INTEGER32
0 INTEGER32
0 UNSIGNED32
0 UNSIGNED32
0 UNSIGNED16
0 INTEGER32
0 INTEGER16
0 UNSIGNED16
0 INTEGER16
0 INTEGER32
0 INTEGER32
ARRAY
0 UNSIGNED8
1 INTEGER32
2 INTEGER32
0 UNSIGNED32
0 UNSIGNED32
0 UNSIGNED32
0 UNSIGNED32
0 UNSIGNED32
0 UNSIGNED32
0 INTEGER16 Rww
0 INTEGER8
0 UNSIGNED8
0 INTEGER8
0 UNSIGNED8
0 INTEGER8
0 UNSIGNED8
ARRAY
0 UNSIGNED8
1 UNSIGNED32
2 UNSIGNED32
ARRAY
0 UNSIGNED8
1 UNSIGNED32
2 UNSIGNED32
ARRAY
0 UNSIGNED8
1 UNSIGNED32
2 UNSIGNED32
ARRAY
0 UNSIGNED8
1 UNSIGNED32
2 UNSIGNED32
11/2018
PDO
Description
mapp.
ASCII Command MAXCMD
ro — Number of entries
ro — Value
ro — Lower limit value
ro — Upper limit value
ro — Default value
ro — Parameter format
ro — Parameter control data
ro — reserved
ro — reserved
Last entry of the ASCII Object Chanel
w yes control word
ro yes status word
rw yes Modes of Operation
ro yes Modes of Operation Display
ro yes Position actual value (increments)
ro yes Position actual value (position units)
rw — Following error window
rw — Position window
rw — Position window time
ro yes Velocity actual value
rw yes Target torque
rw — Max current
ro yes Torque actual value
rw yes Target position
rw — Reference offset
Software position limit
ro — Number of entries
rw — Software position limit 1
rw — Software position limit 2
rw — Max profile velocity
rw — Max motor speed
rw yes Profile Velocity
rw yes Profile Acceleration
rw yes Profile Deceleration
rw — Quick stop deceleration
yes Motion profile type
rw — Position Notation index
rw — Position Dimension index
rw — Velocity Notation index
rw — Velocity Dimension index
rw — Acceleration Notation index
rw — Acceleration Dimension index
Position encoder resolution
ro — Number of entries
rw — Encoder increments
rw — Motor revolutions
Velocity encoder resolution
ro — Number of entries
rw — Encoder increments per second
rw — Motor revolutions per second
Gear ratio
ro — Number of entries
rw — Motor revolutions
rw — Shaft revolutions
Feed constant
ro — Number of entries
rw — Feed
rw — Shaft revolutions
Appendix
ASCII
object
MAXCMD
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
PFB
PEMAX
PEINPOS
INPT1
—
—
MIPEAK
—
O_P
ROFFS
SWE1
SWE2
PVMAX
VLIM
O_V
O_ACC (pp)
/ACC (pv)
O_DEC (pp) /
DEC (pv)
DECSTOP
O_C
—
—
—
—
—
—
—
—
PGEARO
BUSP7
—
—
—
—
—
—
—
—
—
—
PGEARI
—
105