Kollmorgen S300 Interface Manual page 124

Appendix
Finish homing with Controlword 1_RPDO
COB-ID
203
Switch to Profile Position Mode and set ramps for positioning
COB-ID
603
583
603
583
603
583
Setpoint
COB-ID
303
080
283
Set controlword with „new setpoint" by bit (bit 4)
COB-ID
203
Wait
COB-ID
183
Reset controlword with „new setpoint" by bit (bit 4) reset
COB-ID
203
183
Wait
COB-ID
183
080
283
124
11/2018
Index
Control
byte
Low byte High byte
2F 60
60 60
23 83
60 83
23 84
60 84
Data
0F 00
Sub-
Data
index
60 00 01 00 00 00
h
60 00 00 00 00 00
h
60 00 32 00 00 00
h
60 00 00 00 00 00
h
60 00 32 00 00 00
h
60 00 00 00 00 00
h
Data
20 4E 00 00
BB F8 FF FF
Data
1F 00
Data
37 12
Data
0F 00
37 02
Data
37 06
92 FC FF FF
Kollmorgen
Comment
Comment
Profile Positioning Mode
50ms acceleration time
50ms deceleration time
Comment
Pos 8CA0 =36000µm ;
V= 20000 µm/s
send a SYNC
Comment
Comment
setpoint acknowledge
Comment
reset Setpoint acknowledge
Comment
response: target reached
SYNC
response:
92 FC position
FF FF speed
CANopen for S300/S700