Kollmorgen S300 Interface Manual page 132

Appendix
RPDO 2 can now be used to supply trajectory data for both axes, e.g.:
COB-ID
301
In this example, the first axis receives a trajectory value of 500 increments (Bytes 0 ... 3) and the
second axis receives a trajectory value of 1000 increments.
The axes accept these values, and the positioning is made when the next SYNC telegram is recei-
ved.
SYNC telegram
COB-ID
Afterwards, both axes send back their incremental positions and the contents of their status regis-
ters when the SYNC Object with the COB-ID for the 2
COB-ID Byte 0
181
182
If an error occurs during operation, the axis concerned transmits an Emergency message, which
could appear like this:
Emergency Object
COB-ID
081
081
132
Byte 0 Byte 1
F4 01
080
Byte 1 Byte 2
23 01 00
A5 02 00
Emergency error
Low High
10 43
00 00
11/2018
Byte 2 Byte 3
00 00
nd
Byte 3 Byte 4 Byte 5
00 00 00
00 00 00
Error
Category
register
08 01 00 00 00 00
08 00 00 00 00 00
Byte 4 Byte 5 Byte 6
E8 03
TPDO is received:
Byte 6 Byte 7 Comment
position + manufacturer
03 44
status register for axis1
position + manufacturer
03 44
status register for axis2
motor temperature, temperature,
manufacturer-specific
CANopen for S300/S700
Kollmorgen
Byte 7
00 00