Kollmorgen S300 Interface Manual page 123

Kollmorgen
Disable unused TPDOs
COB-ID
603
583
603
583
Disable unused RPDOs
COB-ID
603
583
603
583
Define mechanical resolution via Object 6092h, Sub-Index 01h and 02h. Default values are the
motion specific factors PGEARI and PGEARO:
COB-ID
603
583
603
583
After defining the PDOs they can be released with the NMT:
COB-ID
000
183
Now the homing can be set and started.
COB-ID
603
583
603
583
603
583
603
583
183
603
583
183
603
583
183
603
583
183
183
CANopen for S300/S700
11/2018
Index
Control
byte
Low byte High byte
23 02
60 02
23 03
60 03
Index
Control
byte
Low byte High byte
23 02
60 02
23 03
60 03
Index
Control
byte
Low byte High byte
23 93
60 93
23 93
60 93
Index
Control
byte
Low byte High byte
2F 60
60 60
2F 98
60 98
23 99
80 99
2B 40
60 40
2B 40
60 40
2B 40
60 40
2B 40
60 40
Sub-
Data
index
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
Sub-
Data
index
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
Sub-
Data
index
60 01 00 00 10 00
h
60 01 00 00 00 00
h
60 02 A0 8C 00 00
h
60 02 00 00 00 00
h
Data
01 03
40 02
Sub-
Data
index
60 00 06 00 00 00
h
60 00 00 00 00 00
h
60 00 0C 00 00 00 homing type 12, negative direc-
h
60 00 00 00 00 00
h
60 01 40 19 01 00 homing speed
h
60 01 31 00 09 06
h
60 00 06 00 00 00
h
60 00 00 00 00 00
h
21 02
60 00 07 00 00 00
h
60 00h 00 00 00 00
33 02
60 00 0F 00 00 00
h
60 00 00 00 00 00
h
37 02
60 00h 1F 00 00 00 start homing
60 00h 00 00 00 00
37 06
37 16
Appendix
Comment
disable TPDO3
disable TPDO4
Comment
disable RPDO3
disable RPDO4
Comment
2E20 increments
3600 user units
Comment
enable NMT
profile status
Comment
Operation mode = homing
tion (DS402)
72000 units/s=2s-1
Transition_2,"ready to switch
on".Shutdown
Transition_3,"switch on".Switch
on
Controlword: Operation Enable
response telegram
response: target reached
response: homing attained
123