Example: Jog Mode Via Pdo - Kollmorgen S300 Interface Manual

Appendix
5.3.5

Example: Jog Mode via PDO

It is useful to disable unused PDOs. In Operation Mode "Digital Velocity" a digital speed setpoint is
transmitted via RXPDO. Actual position and actual speed is read via a TXPDO triggered by SYNC.
COB-ID
603
583
603
583
603
583
603
583
603
583
603
583
603
583
603
583
603
583
603
583
603
583
603
583
603
583
603
583
603
583
000
603
583
603
583
603
583
203
080
183
603
583
118
Index
Control
byte
Low byte High byte
2F 60 60
60 60 60
2F 00 16
60 00 16
23 00 16
60 00 16
2F 00 16
60 00 16
2F 00 1A
60 00 1A
23 00 1A
60 00 1A
23 00 1A
60 00 1A
2F 00 1A
60 00 1A
2F 00 18
60 00 18
23 01 18
60 01 18
23 02 18
60 02 18
23 03 18
60 03 18
23 01 14
60 01 14
23 02 14
60 02 14
23 03 14
60 03 14
2B 40 60
60 40 60
2B 40 60
60 40 60
2B 40 60
60 40 60
2B 40 60
60 40 60
11/2018
Sub-
Data
index
00 03 00 00 00
h
00 00 00 00 00
h
00 00 00 00 00
h
00 00 00 00 00
h
01 20 00 FF 60 mapping RXPDO1, Object 60FF, Sub-In-
h
01 00 00 00 00
h
00 01 00 00 00
h
00 00 00 00 00
h
00 00 00 00 00
h
00 00 00 00 00
h
01 20 00 64 60 mapping TXPDO1/1, Object6064, Sub-In-
h
01
00 00 00 00
h
02 20 00 6C 60 mapping TXPDO1/2, Object606C, Sub-In-
h
02
00 00 00 00
h
00h 02 00 00 00
00h 00 00 00 00
02 01 00 00 00 set TXPDO1 to synchronous, transmission
h
02 00 00 00 00
h
01 83 02 00 C0
h
01 00 00 00 00
h
01 83 03 00 C0
h
01 00 00 00 00
h
01 83 04 00 C0
h
01 00 00 00 00
h
01 03 03 00 80
h
01 00 00 00 00
h
01 03 04 00 80
h
01 00 00 00 00
h
01 03 05 00 80
h
01 00 00 00 00
h
01 03
00 06 00 00 00
h
00h 00 00 00 00
00 07 00 00 00
h
00 00 00 00 00
h
00 0F 00 00 00
h
00 00 00 00 00
h
00 40
FE 45 01 00
A6 AB 1A 00
00 0F 01 00 00
h
00 00 00 00 00
h
Kollmorgen
Comment
mode of operation "Profile Velocity"
delete entries for the first RXPDO
dex 0 speed setpoint, data length 32bit
confirm number of mapped objects
delete entries for the first TXPDO
dex 0 current position value in SI units,
data length 32bit
dex 0 current speed value, data length
32bit
check number of mapped objects
with every SYNC
disable TPDO2, set bit 31 (80h)
disable TPDO3
disabled TPDO4
disabled RPDO2
disabled RPDO3
disabled RPDO4
enable NMT
shutdown
switch on
enable operation
setpoint V= 98,3 rpm
Calculated as follows:
4000h=16384dec=Ncmd;
10000=PGEARI;
(Ncmd/60)xPGEARI=V
(16384/10000)x60=98,3 rpm
send SYNC
response, position and Nact
Pos.= 00 01 45 FE = 83454 [Si units];
Nact = (001A AB A6) / 17894,4dec = 97,7
rpm
17894,4 is the const. factor.
intermediate stop
CANopen for S300/S700