Kollmorgen S300 Manual page 106

S300-S700 CANopen | 6 Appendix
106 Kollmorgen | kdn.kollmorgen.com | December 2019
Index Sub- Data Type
Index
2053h ARRAY
0 UNSIGNED8
1 INTEGER32
2 INTEGER32
3 INTEGER32
4 INTEGER32
5 INTEGER32
6 INTEGER32
7 INTEGER32
8 INTEGER32
9 INTEGER32
10 INTEGER32
11 INTEGER32
12 INTEGER32
13 INTEGER32
14 INTEGER32
15 INTEGER32
16 INTEGER32
2061h 0 UNSIGNED16
2080h 0 UNSIGNED16
2081h 0 UNSIGNED16
2082h 0 UNSIGNED32
2083h 0 UNSIGNED32
2090h ARRAY
0 UNSIGNED8
1 INTEGER32
2 INTEGER32
3 INTEGER32
4 INTEGER32
5 INTEGER32
6 INTEGER32
7 INTEGER32
8 INTEGER32
20A0h 0 INTEGER32
20A1h 0 INTEGER32
20A2h 0 INTEGER32
20A3h 0 INTEGER32
20A4h 0 UNSIGNED8
20B0h 0 INTEGER32
20B1h 0 UNSIGNED32
20B2h ARRAY
0 UNSIGNED8
1 INTEGER16
2 INTEGER16
2100h 0 UNSIGNED32
2101h 0 UNSIGNED32
2400h RECORD
0 UNSIGNED8
1-6 UNSIGNED32
2401h 0 UNSIGNED32
2402h 0 UNSIGNED32
2403h 0 UNSIGNED32
Access PDO Description
mapp.
Position registers, relative
ro - Number of entries
rw yes Position register 1, relative
rw yes Position register 2, relative
rw yes Position register 3, relative
rw yes Position register 4, relative
rw yes Position register 5, relative
rw yes Position register 6, relative
rw yes Position register 7, relative
rw yes Position register 8, relative
rw yes Position register 9, relative
rw yes Position register 10, relative
rw yes Position register 11, relative
rw yes Position register 12, relative
rw yes Position register 13, relative
rw yes Position register 14, relative
rw yes Position register 15, relative
rw yes Position register 16, relative
rw yes Current limitation for velocity mode
rw yes Motion task for profile position mode
rw yes Active motion task display
wo — Copy motion task
wo — Erase flash motion tasks
DP-Ram Variables, read only
ro - Number of entries
ro yes DP-Ram Variable 1
ro yes DP-Ram Variable 2
ro yes DP-Ram Variable 3
ro yes DP-Ram Variable 4
ro yes DP-Ram Variable 5
ro yes DP-Ram Variable 6
ro yes DP-Ram Variable 7
ro yes DP-Ram Variable 8
ro yes Latch position 1, positive edge
ro yes Latch position 1, negative edge
ro yes Latch position 2, positive edge
ro yes Latch position 2, negative edge
rw yes Latch control register
rw yes Trigger variable digital input 20
rw yes Controlword digital inputs 5 .. 20
Analog Inputs
ro — Number of entries
ro yes Voltage analog input 1
ro yes Voltage analog input 2
rw yes Write Dummy
ro yes Read Dummy
Safety card serial number
ro — Number of entries
ro — Safety card serial number part 1-6
ro yes Safety card status
ro yes Safety card I/O status
ro yes Safety card error register
ASCII
object
-
-
P1
P2
P3
P4
P5
P6
P7
P8
P9
P10
P11
P12
P13
P14
P15
P16
DPRILIMIT
—
MOVE
OCOPY
—
-
-
DPRVAR1
DPRVAR2
DPRVAR3
DPRVAR4
DPRVAR5
DPRVAR6
DPRVAR7
DPRVAR8
LATCH1P32
LATCH1N32
LATCH2P32
LATCH2N32
-
IN20TRIG
IN5 .. IN20
-
-
ANIN1
ANIN2
-
-
—
—
—
CSSTAT
CSIOSTAT
CSERR