Example: Torque Mode Via Pdo - Kollmorgen S300 Interface Manual

Kollmorgen
5.3.6

Example: Torque Mode via PDO

It is useful to disable unused PDOs. The first TX_PDO shall transmit the actual current value with
every 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
000
603
583
603
583
603
583
203
080
183
603
583
CANopen for S300/S700
11/2018
Index
Control
byte
Low byte High byte
2F 60
60 60
2F 00
60 00
23 00
60 00
2F 00
60 00
2F 00
60 00
23 00
60 00
2F 00
60 00
2F 00
60 00
23 01
60 01
23 02
60 02
23 03
60 03
23 01
60 01
23 02
60 02
23 03
60 03
2B 40
60 40
2B 40
60 40
2B 40
60 40
2B 40
60 40
Sub-
Data
index
60 00 04 00 00 00
h
60 00 00 00 00 00
h
16 00 00 00 00 00
h
16 00 00 00 00 00
h
16 01 10 00 71 60
h
01
16 00 00 00 00
h
16 00 01 00 00 00
h
16 00 00 00 00 00
h
1A 00 00 00 00 00
h
1A 00 00 00 00 00
h
1A 01 10 00 77 60
h
01
1A 00 00 00 00
h
1A 00 01 00 00 00
h
1A 00 00 00 00 00
h
18 02 01 00 00 00
h
18 02 00 00 00 00
h
18 01 83 02 00 C0
h
18 01h 00 00 00 00
18 01 83 03 00 C0
h
18 01 00 00 00 00
h
18 01 83 04 00 C0
h
18 01 00 00 00 00
h
14 01 03 03 00 80
h
14 01 00 00 00 00
h
14 01 03 04 00 80
h
14 01 00 00 00 00
h
14 01 03 05 00 80
h
14 01 00 00 00 00
h
01 03
60 00 06 00 00 00
h
60 00h 00 00 00 00
60 00 07 00 00 00
h
60 00 00 00 00 00
h
60 00 0F 00 00 00
h
60 00 00 00 00 00
h
12 02
19 02
60 00 0F 01 00 00
h
60 00 00 00 00 00
h
Appendix
Comment
Mode of operation "Torque"
delete entry for the first RXPDO
mapping RXPDO1,
Object6071,Sub-Index 0 current
setpoint, data length 16bit
check number of mapped objects
delete entry for TXPDO1
mapping TXPDO1,
Object6077,Sub-Index 0 actual
current value, Data length16bit
number of mapped objects
set TXPDO1 to synchronous,
transmission 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 530 mA
send SYNC
actual value 537 mA
intermediate stop
119