Kollmorgen S300 Manual page 125

Disable unused TPDOs
Index
COB- Control
Low High
ID byte
byte byte
603 23 02 18
583 60 02 18
603 23 03 18
583 60 03 18
Disable unused RPDOs
Index
COB- Control
Low High
ID byte
byte byte
603 23 02 14
583 60 02 14
603 23 03 14
583 60 03 14
Define mechanical resolution via Object 6092h, Sub-Index 01h and 02h. Default values are the
motion specific factors PGEARI and PGEARO:
Index
COB- Control
Low High
ID byte
byte byte
603 23 93 60
583 60 93 60
603 23 93 60
583 60 93 60
After defining the PDOs they can be released with the NMT:
COB-ID
000
183
Now the homing can be set and started.
Index
COB- Control
Low High
ID byte
byte byte
603 2F 60 60
583 60 60 60
603 2F 98 60
583 60 98 60
603 23 99 60
583 80 99 60
603 2B 40 60
583 60 40 60
183
603 2B 40 60
583 60 40 60
183
603 2B 40 60
583 60 40 60
183
603 2B 40 60
583 60 40 60
183
183
S300-S700 CANopen | 6 Appendix
Sub-
index Data Comment
01h 83 03 00 C0
disable TPDO3
01h 00 00 00 00
01h 83 04 00 C0
disable TPDO4
01h 00 00 00 00
Sub-
Data Comment
index
01h 03 04 00 80
disable RPDO3
01h 00 00 00 00
01h 03 05 00 80
disable RPDO4
01h 00 00 00 00
Sub-
Data Comment
index
01h 00 00 10 00
2E20 increments
01h 00 00 00 00
02h A0 8C 00 00
3600 user units
02h 00 00 00 00
Data Comment
01 03 enable NMT
40 02 profile status
Sub-
index Data Comment
00h 06 00 00 00 Operation mode = homing
00h 00 00 00 00
00h 0C 00 00 00 homing type 12, negative direction
(DS402)
00h 00 00 00 00
01h 40 19 01 00
homing speed 72000 units/s = 2s-1
01h 31 00 09 06
00h 06 00 00 00
Transition_2,"ready to switch on".
00h 00 00 00 00
Shutdown
21 02
00h 07 00 00 00
Transition_3,"switch on".
00h 00 00 00 00
Switch on
33 02
00h 0F 00 00 00
00h 00 00 00 00 Controlword: Operation Enable
37 02
00h 1F 00 00 00 start homing
00h 00 00 00 00 response telegram
37 06 response: target reached
37 16 response: homing attained
Kollmorgen | kdn.kollmorgen.com | December 2019 125