Test For Sync Telegrams - Kollmorgen S300 Interface Manual

Appendix
5.3.11

Test for SYNC telegrams

Configuration
Aims:
a) Assign Target Position and Profile Velocity to a PDO (2nd receive-PDO)
b) Assign Actual Position to a PDO (1st transmit-PDO), generated with every 2nd SYNC.
c) Assign Statusword and Manufacturer Status to a PDO (2nd transmit-PDO), generated with every
3rd SYNC.
Telegrams with the corresponding responses:
COB-ID
SYNC-Object
Emergency-Object
If, for instance, the resolver connector is disconnected, a serious error will be caused in the control-
ler. This results in an Emergency telegram.
COB-ID
081
081
126
Control
Byte Low byte
603 2F 01
583 60 01
603 23 01
583 60 01
603 23 01
583 60 01
603 2F 01
583 60 01
603 2F 00
583 60 00
603 23 00
583 60 00
603 2F 00
583 60 00
603 2F 00
583 60 00
603 2F 01
583 60 01
603 23 01
583 60 01
603 23 01
583 60 01
603 2F 01
583 60 01
603 2F 01
583 60 01
COB-ID Comment
Object 181 (TPDO 1) appears at every 2
080
Object 281 (TPDO 2) appears at every 3
Emergency error
Low High
10 43
00 00
11/2018
Index Sub-
High byte index
16 00
h
16 00
h
16 01
h
16 01
h
16 02
h
16 02
h
16 00
h
16 00
h
1A 00
h
1A 00
h
1A 01
h
1A 01
h
1A 00
h
1A 00
h
18 02
h
18 02
h
1A 00
h
1A 00
h
1A 01
h
1A 01
h
1A 02
h
1A 02
h
16 00
h
16 00
h
18 02
h
18 02
h
Error register
08 00 00 00 00
88 00 00 00 00
Kollmorgen
Data Comment
00 00 00 00
RPDO2: delete mapping
00 00 00 00
20 00 7A 60 RPDO2, entry 1:
00 00 00 00 target position
20 00 81 60 RPDO2, entry 2:
00 00 00 00 profile velocity
02 00 00 00 RPDO2: enter number of
00 00 00 00 mapped objects
00 00 00 00
TPDO1: delete mapping
00 00 00 00
20 00 64 60 TPDO1: entry 1:
00 00 00 00 Actual Position
01 00 00 00 TPDO1: enter number of
00 00 00 00 mapped objects
02 00 00 00 TPDO1: send with every 2nd
00 00 00 00 SYNC
00 00 00 00
TPDO2: delete mapping
00 00 00 00
10 00 41 60 TPDO2: entry 1:
00 00 00 00 Statusword
20 00 02 10 TPDO2: entry 2:
00 00 00 00 Manufacturer Status
02 00 00 00 TPDO2: enter number of
00 00 00 00 mapped objects
03 00 00 00 TPDO2: send with every 3rd
00 00 00 00 SYNC
nd
SYNC,
rd
SYNC.
motor temperature, temperature, man-
ufacturer specific
CANopen for S300/S700