Kollmorgen S300 Interface Manual page 129

Kollmorgen
Action
Do the RPDO2-mapping for both axis:
Axis 1:
COB-ID
Axis 2:
COB-ID
Now both axis react to the same COB-identifier 0x301, axis 1 takes byte 0 to 3 as IP setpoint, axis 2
takes byte 4 to 7.
The second TPDOs shall contain the actual position in increments and the manufacturer status.
Mapping configuration for axis 1:
COB-ID
The same has to be done for axis 2.
CANopen for S300/S700
Control
byte
Low byte
601 2F 01
581 60 01
601 23 01
581 60 01
601 23 01
581 60 01
601 2F 01
581 60 01
Control
byte
Low byte
602 2F 01
582 60 01
602 23 01
582 60 01
602 23 01
582 60 01
602 2F 01
582 60 01
602 23 01
582 60 01
Control
byte
Low byte
601 2F 01
581 60 01
601 23 01
581 60 01
601 23 01
581 60 01
601 2F 01
581 60 01
11/2018
Index
Sub-
index
High byte
16 00
h
16 00
h
16 01
h
16 01
h
16 02
h
16 02
h
16 00
h
16 00
h
Index
Sub-
index
High byte
16 00
h
16 00
h
16 01
h
16 01
h
16 02
h
16 02
h
16 00
h
16 00
h
14 01h
14 01h
Index
Sub-
index
High byte
1A 00
h
1A 00
h
1A 01
h
01
1A
h
1A 02
h
1A 02
h
1A 00
h
1A 00
h
Appendix
Data Comment
00 00 00 00
RPDO2: delete mapping
00 00 00 00
20 01 C1 60 RPDO2, entry 1:
00 00 00 00 IP setpoint axis 1
20 00 00 21
RPDO2, entry 2:
00 00 00 00 Dummy entry 4 bytes
02 00 00 00
RPDO2, enter number of
mapped objects
00 00 00 00
Data Comment
00 00 00 00
RPDO2: delete mapping
00 00 00 00
20 00 00 21 RPDO2, entry 1:
00 00 00 00 Dummy entry 4 bytes
20 01 C1 60
RPDO2, entry 2:
00 00 00 00 IP setpoint axis 2
02 00 00 00
RPDO2, enter number of
mapped objects
00 00 00 00
01 03 00 00 RPDO2: Set COB-ID
identical to axis 1
00 00 00 00
Data Comment
00 00 00 00
TPDO2: delete mapping
00 00 00 00
20 00 63 60 TPDO2, entry 1:
actual position in incre-
00 00 00 00
ments
20 00 02 10
TPDO2, entry 2:
00 00 00 00 Dummy entry 4 bytes
02 00 00 00 TPDO2, enter number of
mapped objects
00 00 00 00
129