Example: Start Motion Task From The Internal Memory Of S300/S700 Via Sdo - Kollmorgen S300 Interface Manual

Kollmorgen
Homing type (6098)
COB-ID
603
583
603
583
603
583
603
583
603
583
603
583
603
583
603
583
603
583
Bit 12 in SDO 6041 indicates, whether homing is finished. Reading of the profile status isn't neces-
sary.
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.
COB-ID
603
583
603
583
603
583
603
583
603
583
603
583
603
583
CANopen for S300/S700
11/2018
Index
Control
byte
Low byte High byte
2F 60 60
60 60 60
40 41 60
4B 41 60
2B 40 60
60 40 60
2B 40 60
60 40 60
2B 40 60
60 40 60
40 41 60
4B 41 60
2B 40 60
60 40 60
40 41 60
4B 41 60
40 41 60
4B 41 60
Index
Control
byte
Low byte High byte
2F 60 60
60 60 60
2B 40 60
60 40 60
2B 40 60
60 40 60
2B 40 60
60 40 60
2B 80 20
60 80 20
2B 40 60
60 40 60
40 81 20
4B 81 20
Sub-
Data Comment
index
00 06 00 00 00
h
mode of operation = homing
00 00 00 00 00
h
00 00 00 00 00 read profile status, response:
h
00 40 02 00 00 0250h Voltage Enabled
h
00 06 00 00 00
Controlword Transition_2,"ready to
h
00 00 00 00 00 switch on". Shutdown
h
00 07 00 00 00
h
Transition_3, "switch on". switch on
00 00 00 00 00
h
00 0F 00 00 00
h
Transition_4,"operation enable"
00 00 00 00 00
h
00 00 00 00 00
h
read profile status
00 37 02 00 00
h
00 1F 00 00 00
h
Homing_operation_start
00 00 00 00 00
h
00 00 00 00 00 read profile status, response: hom-
h
00 37 02 00 00 ing not finished
h
00 00 00 00 00
read profile status, response: hom-
h
00 37 16 00 00 ing finished
h
Sub-
Data Comment
index
00 01 00 00 00
h
mode of operation= position
00 00 00 00 00
h
00 06 00 00 00
h
Shutdown
00 00 00 00 00
h
00 07 00 00 00
h
Switch On
00 00 00 00 00
h
00h 0F 00 00 00
Enable Operation
00h 00 00 00 00
00h 03 00 00 00
Select motion task 3
00h 00 00 00 00
00h 3F 00 00 00
Start with new SETPOINT and
00h 00 00 00 00 CHANGE_SET_IMMEDIATELY
00h 00 00 00 00 Read active motion task
response: Motion task 3 in opera-
00h 03 00 00 00
tion
Appendix
121