Kollmorgen S300 Interface Manual page 130

Appendix
Here it is assumed that both drives accept new trajectory values with every SYNC command, and
have to return their incremen tal position and manufacturer status values. The communication para-
meters must be set accordingly.
Axis 1:
COB-ID
The other Tx-PDOs 3 and 4 should be switched off to minimize bus-load:
COB-ID
The same has to be done for axis 2.
In order to be able to make trajectory movements, both servo amplifiers must be operating in the
appropriate mode. This is set through Index 6060
COB-ID
The cycle interval for the IP-mode shall be 1 ms. This has to be defined with Object 60C1 sub 1 and
2:
COB-ID
The same has to be done for axis 2.
130
Control
byte
Low byte
601 2F 01
581 60 01
602 2F 01
582 60 01
601 2F 01
581 60 01
602 2F 01
582 60 01
Control
byte
Low byte
601 23 02
581 60 02
601 23 03
581 60 03
Control
byte
Low byte
601 2F 60
581 60 60
602 2F 60
582 60 60
Control
byte
Low byte
601 2F C2
581 60 C2
601 2F C2
581 60 C2
11/2018
Index
Sub-
index
High byte
14 02
h
14 02
h
14 02
h
14 02
h
18 02
h
18 02
h
18 02
h
18 02
h
Index
Sub-
index
High byte
18 01
h
18 01
h
18 01
h
18 01
h
:
h
Index
Sub-
index
High byte
60 00
h
60 00
h
60 00
h
60 00
h
Index
Sub-
index
High byte
60 01
h
60 01
h
60 02
h
02
60
h
Kollmorgen
Data Comment
01 00 00 00 RPDO2 axis 1, reaction on
every sync
00 00 00 00
01 00 00 00 RPDO2 axis 2, reaction on
00 00 00 00 every sync
01 00 00 00 TPDO2 axis 1, reaction on
00 00 00 00 every sync
01 00 00 00 TPDO2 axis 2, reaction on
every sync
00 00 00 00
Data Comment
81 03 00 C0
Switch off TPDO3
00 00 00 00
81 04 00 C0
Switch off TPDO4
00 00 00 00
Data Comment
07 00 00 00
Set IP mode for axis 1
00 00 00 00
07 00 00 00
Set IP mode for axis 2
00 00 00 00
Data Comment
01 00 00 00
Interpolation time unit 1
00 00 00 00
FD 00 00 00 Interpolation time index -3
->
00 00 00 00
Cycle time = 1 * 10
CANopen for S300/S700
-3
s